JP2005352607A - Warning device for moving body - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a warning device for a moving body that prevents an unnecessary warning, specially, when the local vehicle is given priority and gives an accurate warning of a collision against a transmission-side moving body. <P>SOLUTION: Disclosed is the warning device that gives a warning of a collision of the local vehicle against another moving body based upon position information on the moving bodies sent and received between moving body terminals that the moving bodies have. When the warning of the collision is given by deciding the possibility of the collision at an intersection based upon received position coordinates of the other moving body, detected position coordinates of the local moving body, and map information, priority relation, depending upon a state of signals between the other moving body and local moving body at the intersection for which the collision possibility is decided and priority relation under traffic regulations, is decided based upon the map information or it is confirmed whether the other moving body is in a speedy reducing state or brake operation state and when the local moving body is given priority and/or when the other moving body is in the speed reducing state or brake operation state, the warning is restricted. <P>COPYRIGHT: (C)2006,JPO&NCIPI

Description

  The present invention is an alarm device for a moving body that warns of a collision between moving bodies, particularly in a moving body such as a vehicle, by transmitting and receiving position information of a current position between a plurality of moving bodies using short-range radio, The present invention relates to an alarm device for a moving body that warns of a collision between moving bodies.

  As collisions between moving bodies, in particular, collisions between vehicles, most of them are collisions at the intersection. Therefore, knowing from what direction and at what timing other vehicles are entering the intersection is a powerful solution for preventing a collision accident at the encounter.

  One way for the driver to know from which direction and at what timing other vehicles are entering the intersection is to obtain the driving information of the vehicles near the intersection from AHS (Advanced Cruise-Asist Highway Systems). There is a way to do it. However, it is expensive and expensive to install AHS at intersections with a small amount of traffic or at intersections on narrow roads. However, there are many cases where there is no signal at intersections where traffic is small or intersections on narrow roads, and the risk of a collision accident at the encounter is high.

Therefore, recently, a system has been developed for exchanging information by inter-vehicle communication using short-range wireless to confirm the position, traveling direction, and speed of other vehicles. For example, in Patent Document 1, operation information of operation switches, position information, speed information, yaw rate, lateral acceleration, and other vehicle travel state information, and image information captured by other vehicles are communicated from other vehicles. And a technique for displaying information such as the traveling state and relative position of other vehicles existing in the vicinity of the host vehicle, image information, road conditions, signs, and the like on an alarm / display unit is disclosed. In Patent Document 1, position information from another vehicle is information for determining a traveling road of the other vehicle.
JP-A-11-195196

  However, if a collision warning is issued from the intersection position and arrival time based on position information from other vehicles, unnecessary warnings are frequently generated even if there is no possibility of collision when operating normally. It will end up. For example, if the traveling direction of the host vehicle is blue and the other traveling direction is red at an intersection with a traffic light, the alarm is useless and it becomes an obstacle to driving. Even when there is no traffic light, even when priority / non-priority is given to approaching an intersection, it is usually a hindrance to issue a collision warning with a vehicle in a priority direction. As shown in FIG. 5, the priority / non-priority of the approach to the intersection is blue / red (see FIG. 5 (a)) of the above traffic lights, and / or has a stop line ((( b)), main line (thick road) / branch line (thin road) (see FIG. 5C), and the like. In addition, there are junctions at interchanges and junctions from parking lots (garages), and these are stipulated in road regulations as a priority relationship.

  In view of the above-described conventional problems, the present invention prevents unnecessary alarms, particularly unnecessary alarms when the host vehicle is prioritized, and accurately executes a collision alarm with a mobile unit on the transmission side for safety. Provided is an alarm device for a moving body with improved performance.

  In order to solve such a problem, the alarm device of the present invention is an alarm that warns of a collision between another mobile body and its own mobile body based on position information of the mobile body transmitted and received between mobile terminals of the mobile body. A device for storing map information; detecting means for detecting the position coordinates of the current position of the own mobile body; and receiving the position coordinates of the other mobile body transmitted from the mobile terminal of the other mobile body A receiving means, a warning means for determining a collision possibility at an intersection based on the received position coordinates of the other moving body, the detected position coordinates of the moving body and the map information, and performing a warning of the collision; When it is determined that the determination means for determining the priority relationship between the other moving body and the own moving body at the intersection for determining the collision possibility based on the map information, and the own moving body is in a priority relationship. , A regulator that regulates the execution of alarms by the alarm means Characterized in that it comprises and.

  Here, the determination unit includes a reception unit that receives a signal state of an intersection that determines the possibility of collision, and determines a priority relationship based on the state of the received signal. Further, the restricting means restricts the execution of the alarm by delaying the alarm by the alarm means. Further, the regulating means determines that the other moving body is not prioritized over the own moving body based on information from the other moving body, and confirms whether or not the collision warning for the own moving body is regulated. 1st confirmation means to carry out, and regulation is not performed when regulation is confirmed by the collision warning to the self-moving body. The restricting means includes second confirmation means for confirming whether the other moving body is in a deceleration state or a brake operation state based on information from the other moving body, and confirms whether the deceleration state or the brake operation state is present. If this is not done, the alarm is not regulated.

  According to the present invention, by restricting the execution of an alarm when the own mobile body is prioritized, an unnecessary alarm is prevented, and a collision alarm with a mobile body on the transmission side is accurately executed to increase safety. Can be improved.

  According to the second aspect of the present invention, the priority relationship is determined from the state of the traffic signal, thereby preventing an unnecessary alarm at an intersection where the traffic signal is present and accurately executing a collision alarm with the mobile unit on the transmission side. Thus, safety can be improved.

  According to the third aspect of the invention, in the case of priority, the collision warning is delayed, thereby preventing unnecessary warnings and improving the safety by accurately executing the collision warning with the mobile unit on the transmission side. be able to.

  According to the invention of claim 4, when the other moving body recognizes that its own priority is given and restricts the collision warning, it does not regulate the collision warning of the own moving body. Even when both the moving body and the other moving body recognize that they are prioritized, it is possible to prevent the two moving bodies from colliding with each other and improve safety.

  According to the invention according to claim 5, by confirming the deceleration or brake operation state of the vehicle to be collided, the collision alarm is accurately executed when the moving body on the transmission side is not performing the stop operation, and safety is ensured. Can be improved.

  Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the drawings. However, the relative arrangement of components, the display screen, and the like described in this embodiment are not intended to limit the scope of the present invention only to those unless otherwise specified.

  In the following embodiments, a vehicle is described as an example of a moving body. However, a technique for performing an alarm for preventing a collision of a plurality of moving bodies can be applied to another moving body, a ship, an airplane, a person, and the like. Therefore, the same effect can be achieved and is included in the present invention.

<Configuration example of collision alarm system for moving body of this embodiment>
FIG. 1 shows a configuration example of a system composed of a plurality of moving bodies having the moving body collision alarm device of the present embodiment. FIG. 1 shows a configuration including one moving object collision alarm device, and the other moving object collision alarm devices are simplified to 101 to 10n. Note that map matching in the present embodiment includes a function of specifying a road on which the vehicle is moving from the position coordinates of the vehicle and map information. The position information used below is basically the position coordinates of the vehicle.

  In FIG. 1, 10 is an ECU for controlling the vehicle. The ECU is composed of a CPU for arithmetic processing, a ROM for storing fixed data and programs, a RAM for temporarily storing data and programs, and the like. Reference numeral 11 denotes various sensors necessary for control of the ECU 10 and includes sensors such as engine control. Sensors used in the collision warning process of this example are vehicle speed sensors, brake switches, turn signal switches, and the like. Reference numeral 12 denotes a GPS / navigation system that detects position information of the vehicle and controls a collision warning in cooperation with the ECU 10. The GPS / navigation system 12 stores map information.

  Reference numeral 13 denotes an information providing unit including an image output unit and an audio output unit for providing navigation information and performing a collision warning in this example, and has a warning unit as a part thereof in this example. Reference numeral 14 denotes an information storage unit that stores data to be transmitted / received by inter-vehicle communication, intersection information, and the like, and may be shared with the RAM of the ECU 10. A configuration example of the information storage unit 14 in this example will be described below with reference to FIG.

  Reference numeral 15 denotes an inter-vehicle communication unit capable of inter-vehicle communication at a short distance, for example, 200 m. Any method may be used for such inter-vehicle communication. However, if a simple method is used, a fixed-length method is preferable for transmission data, and a variable-length method is preferable if the amount of transmission data is to be reduced. These selections are selected in relation to communication capability, ECU processing capability, and the like.

<Configuration example of information storage unit>
FIG. 2 is a diagram illustrating a configuration example of the information storage unit 14. Note that FIG. 2 shows only data that is directly used in the processing of this embodiment, but other data can be transmitted and received. Further, since the received data is the same as the transmitted data, details are not shown. Note that a mobile unit having only a function of transmitting data does not require a reception data storage area, whereas a mobile unit having only a function of receiving data and issuing a collision warning does not need a transmission data storage area.

  21 is a storage area for storing the vehicle state quantity of the host vehicle. In this example, for example, the position (latitude and longitude) 211 of the own vehicle detected by GPS, the vehicle speed 212 obtained from the vehicle speed sensors of the various sensors 11a and 11b, the vehicle orientation sensor or the vehicle obtained from the movement of the position. The direction 213 and the like are stored. The position (latitude, longitude) 211 of the host vehicle may be position information obtained by map-matching information detected by GPS based on map information.

  Reference numeral 22 denotes a storage area for storing the operation state of the driver of the host vehicle. In this example, for example, a brake signal 221 indicating whether or not the brake is stepped on, a blinker signal 222 indicating whether the blinker is blinking, right or left, and the like are stored.

  Reference numeral 24 denotes a reception data storage area for storing data received from other vehicles, which has the same data as the transmission data storage area.

  Reference numeral 25 denotes a storage area for storing intersection information with which the vehicle obtained from the positions of the host vehicle and other vehicles and the map information may meet. The intersection information includes the intersection position 251a, the priority relationship (priority / non-priority) of the vehicle at the intersection 251b, the presence / absence of a traffic signal at the intersection, and the own vehicle traveling. A direction signal state (blue / yellow / red) 251c and a pointer 251d to the reception data of the target vehicle encountered at the intersection are included. The pointer 251d points to data received from the corresponding vehicle in the image data storage area 24 as shown in FIG. Similar data is stored for each of the intersection ID (2) 252,..., And the intersection ID (n) 25n.

  For example, as shown in FIG. 6, the number of intersection information is an intersection within a radius of 200 m from the own vehicle, more preferably within 200 m on the route in the traveling direction of the own vehicle (or within a predetermined time, for example, 9, 10 seconds, etc. It is only necessary to have information on intersections that meet other vehicles (within the distance reached). These correspond to the communicable distance between vehicles, the distance and time range targeted by the vehicle that performs the collision warning, and the storage capacity can be reduced by reducing the number of intersection information.

  For example, intersections A, B, and C are stored for the vehicle 41, intersection D is stored for the vehicle 44, and intersection C is stored for the vehicle 50. For example, when the vehicle 44 is being navigated so as to turn left at the intersection D, the intersection F may be stored or not. However, in order to avoid complicated processing, only the intersection in the traveling direction is stored. It is preferable to store the intersection F after turning left at the intersection D.

  The transmission data shown in FIG. 2 is an example, and may include information with which the arrival time at each intersection can be recognized or calculated more accurately. For example, a road situation (for example, congestion situation) in front of the host vehicle may be considered.

<Operation Example of the Collision Warning System for Moving Objects of this Embodiment>
Hereinafter, the operation example by the structure of the collision alarm system for moving bodies of the said embodiment is demonstrated.

  FIG. 3 is a flowchart showing an example of an operation procedure of the moving object collision warning system of the present embodiment. In the following description, a plurality of items on the right side of FIG.

  On the transmission side, the vehicle position is detected by GPS in step S31 and stored in the transmission data storage area of the information storage unit 14. Note that the storage of other transmission data is omitted. Here, it is assumed that preparation of transmission data as shown in FIG. 2 is completed.

  In step S32, the transmission data stored in the transmission data storage area is transmitted. This transmission does not determine the transmission partner, but broadcasts to an unspecified number of other parties existing in, for example, a 200 m square.

  Note that the transmission in step S34 is performed, for example, every 100 ms. In the flowchart of FIG. 3, the transmission side is described as a loop, which is a schematic diagram. Actually, there is a procedure of inserting a subroutine in the middle of other control or measuring 100 ms. Here, it is not shown in order to avoid complexity.

  On the receiving side, first, in step S41, the vehicle position is detected by GPS and stored in the transmission data storage unit of the information storage unit 14. In step S42, it is determined whether or not there is reception. If there is no reception, the process proceeds to the next process. If there is reception, in step S43, data including the current position information is received and stored in the received data storage unit. In FIG. 3, only one transmission-side vehicle is illustrated, but reception is performed from a plurality of vehicles within a 200 m range.

  In step S44, the own vehicle position detected in step S41 and the received other vehicle position are input on the map. Further, in step S44, an intersection where the own vehicle meets the target other vehicle is extracted from the map. In this intersection extraction, each intersection is extracted on the assumption that each vehicle travels straight on the road on which the vehicle is traveling. Therefore, other vehicles having no intersection in front of the traveling road are deleted from the target of the collision warning. Further, for example, when the vehicle 51 is making a left turn or right turn turn signal with respect to the host vehicle 50 of FIG. In this case, it may be deleted. Furthermore, it is possible to determine that there is no possibility of encounter collision based on information such as left turn or right turn prohibition from map information, or information on roads with many lanes or roads with separation zones. The above example is a few examples of the condition of the intersection to be deleted, and various other conditions can be considered. The determination of the possibility of collision of these encounters is determined from the relationship between the accuracy of the alarm and the burden on the ECU in relation to the comparison and calculation of the following arrival times.

  In step S45, it is determined whether or not there is a traffic signal at the extracted intersection. If there is a traffic signal, in step S46, the status of the traffic signal is received by wireless road-to-vehicle communication or the like. On the other hand, if there is no traffic light, traffic regulation information is acquired from the navigation map in step S47. From such traffic regulation information, it is possible to recognize a priority relationship at an intersection where there is no traffic light.

  In step S48, it is determined from the state of the traffic signal or the traffic regulation information whether or not the vehicle is prioritized at the intersection. If priority is not given, normal alarm processing is performed in step S51. If the host vehicle has priority, it is determined in step S49 whether the corresponding other vehicle is decelerating or in a brake operating state. If the corresponding other vehicle decelerates or brakes are operated, it is determined that the corresponding other vehicle is operating with recognition of non-priority, and the possibility of a collision is low. Regulate alarms even if conditions are met. If the corresponding other vehicle is not in a deceleration state or a brake operating state, there may be a case where non-priority is not noticed or neglected, so that the routine proceeds to step S51 and normal alarm processing is performed.

  In the above-described determination of the priority of the own vehicle in step S48, the priority of the own vehicle may be confirmed by referring not only to the state of the traffic signal or the traffic regulation information but also to other information particularly in the case of the judgment based on the traffic regulation information. desirable. For example, the priority of the own vehicle may be confirmed because the other vehicle is not prioritized based on the received data from the corresponding other vehicle. FIG. 4 shows a detailed flowchart of an example of alarm processing in steps S50 and S51. In FIG. 3, steps S50 and S51 are schematically illustrated as separately provided. However, in the alarm regulation in step S50, a restriction flag is set and the same flow in FIG. 4 can be entered.

  First, in step S501, the arrival times of the traffic signal are calculated from the current positions and speeds of the host vehicle and the other vehicle. In step S502, it is determined based on the flag set in step S50 whether the alarm is restricted. If the alarm is restricted, the process is terminated. On the other hand, if the alarm is not regulated, it is determined in step S503 whether or not the difference between the arrival time of the own vehicle and the arrival time of the other vehicle is less than the threshold value Th. If it is less than the threshold value Th, an alarm is executed in step S504. If it is equal to or greater than the threshold Th, the process is terminated.

  When the process is terminated from step S502 due to alarm regulation, the alarm in step S504 is not performed even if the difference in arrival time is small. For example, if the other vehicle is in a deceleration or brake operation state as in step S49 of FIG. 3 or if the other vehicle recognizes non-priority as described above, the alarm regulation condition is as follows. When entering the vehicle, the difference in arrival time between the vehicle and the other vehicle widens. Therefore, if the flow of FIG. The alarm is only executed when the alarm restriction is released and the difference in arrival time is less than the threshold value Th.

  If the data received from the other vehicle in step S43 includes intersection information, arrival time, etc., the calculation of the other vehicle is omitted in step S501.

  In step S501, the arrival time may be calculated more accurately based on data such as other vehicle conditions of other vehicles, driver operations, and road conditions.

<Specific example of collision warning>
FIG. 7 shows an example when the collision warning is performed on the screen. FIG. 6 is an example of a bird's-eye view of road conditions when the host vehicle is the vehicle 50. In FIG. 6, 51 to 60 are other vehicles within a radius of 200 m from the vehicle 50, and A to G are intersections. There are signals at intersections A and B.

  FIG. 7A is an example of a collision warning output on the navigation screen when there is no alarm restriction in the present embodiment in the vehicle 50 of FIG. Within 200 m ahead of the traveling road of the vehicle 50, there are intersections F, D, and B in the traveling order. Among these, the vehicle 57 from the right and the vehicle 56 from the left are met at the intersection F, and the vehicle 54 is met from the right at the intersection D. At the intersection B, the vehicle 51 from the left and the vehicle 52 from the right meet, but there is a signal at the intersection B, so it is not displayed. In FIG. 6, the entire area within 200 m ahead of the road is displayed. However, when the host vehicle speed is low, it is useless to display up to 200 m, and each display becomes fine and difficult to see. For example, when the speed of the host vehicle is low, a position reached a predetermined time ahead (for example, 9 seconds or 10 seconds ahead) may be displayed.

  FIG. 7B shows that in this embodiment, the vehicles 54 and 57 can be confirmed to be in a non-priority deceleration or braking operation state, but the non-priority vehicle 56 cannot confirm the deceleration or braking operation state. It is an example of the collision warning output to a navigation screen.

  If it can be confirmed that the vehicle 56 is also decelerated or braked, the collision warning screen is not displayed (no alarm). That is, it is possible to perform an accurate alarm without unnecessary alarms. In particular, in the case of an alarm based on sound, an accurate alarm that eliminates unnecessary alarms is necessary to improve safety.

  Although the present invention is not an invention relating to the way of alarming, it will not be described in detail, but for example, it is possible to display it in an identifiable manner according to the difference in possibility of collision or urgency. For example, the distance to the intersection, the speed and braking state of other vehicles, the left and right directions on a wide road, and the like are conditions for determining the possibility and the degree of urgency.

  Further, the collision warning is not limited to the screen display, and for example, in the case of high urgency, other methods such as warning by sound or vibrating the seat are possible.

<Other embodiments>
In the above embodiment, the system has been described in which both the own vehicle and the other vehicle transmit / receive position information to / from each other and can issue a collision warning to each other. A collision warning is possible, but there are cases in which the vehicle cannot transmit position information, or the vehicle that can use transmission / reception information for a collision warning and the vehicle that cannot perform the transmission are not bidirectional but unidirectional. The present invention also includes these.

It is a figure showing an example of composition of a collision warning system concerning this embodiment. It is a figure which shows the structural example of the information storage part of FIG. It is a flowchart which shows the operation example of the transmission side vehicle and the receiving side vehicle in the collision warning system which concerns on this embodiment. It is a flowchart which shows the detail of the alarm process (S50, S51) of FIG. It is a figure which shows the example of the priority relationship in an intersection. It is a bird's-eye view of a road situation for explaining operation of a collision warning system concerning this embodiment. It is a figure which shows the example of a display of the collision warning which concerns on this embodiment.

Claims (5)

Based on the position information of the mobile body that is transmitted and received between the mobile terminals that the mobile body has, an alarm device that warns of a collision between another mobile body and the mobile body,
Storage means for storing map information;
Detecting means for detecting the position coordinates of the current position of the mobile body;
Receiving means for receiving the position coordinates of the other mobile body transmitted from the mobile terminal of the other mobile body;
Warning means for determining the possibility of a collision at an intersection based on the received position coordinates of the other moving body, the detected position coordinates of the own moving body and the map information, and performing a collision warning;
Determination means for determining a priority relationship between the other moving object and the own moving object at the intersection for determining the collision possibility based on the map information;
An alarm device comprising: a regulation unit that regulates execution of an alarm by the alarm unit when it is determined that the self-moving body has a priority relationship.   2. The alarm device according to claim 1, wherein the determination unit includes a reception unit that receives a signal state of an intersection that determines the possibility of collision, and determines a priority relationship based on the state of the received signal. .   The alarm device according to claim 1, wherein the restricting unit restricts the execution of the alarm by delaying the alarm by the alarm unit.   The restricting means determines that the other moving body is not prioritized over the own moving body based on information from the other moving body, and confirms whether or not the collision warning for the own moving body is restricted. The alarm device according to claim 1, further comprising: 1 confirmation means, wherein the restriction of the warning is not performed when the restriction is confirmed in the collision warning with respect to the mobile body.   The restricting means has second confirmation means for confirming whether or not the other moving body is in a deceleration state or a brake operation state based on information from the other moving body, and the deceleration state or the brake operation state is not confirmed. The alarm device according to claim 1 or 4, wherein the alarm is not regulated.

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