JP2006072617A - Vehicle operation support system - Google Patents

Vehicle operation support system Download PDF

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Publication number
JP2006072617A
JP2006072617A JP2004254228A JP2004254228A JP2006072617A JP 2006072617 A JP2006072617 A JP 2006072617A JP 2004254228 A JP2004254228 A JP 2004254228A JP 2004254228 A JP2004254228 A JP 2004254228A JP 2006072617 A JP2006072617 A JP 2006072617A
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vehicle
turn
intersection
information
time
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JP2004254228A
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Japanese (ja)
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Koji Kato
浩二 加藤
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Denso Corp
株式会社デンソー
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Abstract

PROBLEM TO BE SOLVED: To accurately notify a driver of a traveling vehicle that there is a risk of an accident between vehicles in an intersection in a traveling direction.
A control unit mounted on a vehicle calculates an expected arrival time to a destination intersection based on a distance between the current position of the host vehicle and the intersection, a speed of the host vehicle, and an acceleration / deceleration. (A1), and travel information including time information indicating the estimated arrival time and current vehicle position information is transmitted through the transmission / reception unit (A2). The control unit travels the host vehicle when the host vehicle and the other vehicle are in a relationship between the straight vehicle and the right turn vehicle within the intersection and the right turn vehicle is in a running state (A4: YES, A5: NO). Based on the comparison between the information and the traveling information of the other vehicle received through the transmission / reception unit, it is determined whether or not there is a risk that the own vehicle collides with the other vehicle in the intersection (A6), and it is determined that there is a risk of the collision. In such a case, a danger notification operation is performed toward the driver of the host vehicle (A7).
[Selection] Figure 2

Description

  The present invention relates to a vehicle driving support system for preventing a vehicle-to-vehicle accident such as a collision between a straight-ahead vehicle and a right-turn vehicle that have entered into an intersection from opposite directions.

  Conventionally, traffic lights have been installed as a basic means for preventing traffic accidents in intersections, and vehicle drivers (and pedestrians) are obligated by the Road Traffic Law to follow the signals displayed by these traffic lights. Yes. However, accidents in intersections cannot always be prevented if the vehicle driver observes the traffic lights. For example, when assuming an accident between vehicles at an intersection, in particular, a collision accident between a straight-ahead vehicle and a right-turn vehicle entering the intersection from opposite directions, the display of the traffic lights recognized by both vehicle drivers is `` blue (However, in the case of a traffic light of a general form), the action for avoiding a collision within the intersection of the vehicles is left to the judgment of each driver of the vehicles. For this reason, in reality, a vehicle collision accident caused by a judgment error of the vehicle driver is in a continuous situation. In particular, the number of traffic fatal accidents by road shape is the largest in intersections, and by accident type, there are the most frequent accidents between vehicles (see the 2003 White Paper on Traffic Safety). Collision between a straight vehicle and a right turn vehicle at an intersection is a big problem because it is likely to lead to a fatal accident.

As a means for solving such a problem, for example, as seen in Patent Document 1, an oncoming straight vehicle approaching an intersection is detected by an image sensor, and created based on a detection signal by the image sensor. There is provided a system configured to transmit alarm information to a vehicle that is going to turn right at an intersection through a roadside machine.
Further, for example, as seen in Patent Document 2, a spot service area for providing right-turn collision prevention information is set in front of an intersection, and the position calculation of the own vehicle is started on the vehicle side that recognizes this area. In addition, travel information about vehicles traveling on the opposite lane toward the intersection is obtained from roadside equipment installed in the area, and when the vehicle travels at the current speed, the host vehicle stays in the intersection. To determine whether or not the time zone in which the vehicle in the opposite lane stays in the intersection overlap, and if it is determined that they overlap (that is, if there is a risk of collision) There is provided a system configured to emit an alarm (buzzer sound).
JP 2000-113396 A JP 2002-269699 A

  However, in the case of the system described in Patent Document 1, since the vehicle that is going to turn right at the intersection is simply notified of the presence of the oncoming straight vehicle, it can be notified whether there is a real danger of a collision. However, there is a problem that the reliability as a vehicle collision prevention system is low. Further, in the case of the system described in Patent Document 2, since the spot service area is set at a location away from the intersection, there is a situation in which it is impossible to cope with a change in the state of the vehicle (acceleration, etc.) after passing through the area. Therefore, even when there is no risk of collision with another vehicle at the intersection when the vehicle passes the spot service area, a new risk that arises due to a change in the state of the vehicle (acceleration, etc.) after passing the spot. There is a problem that the state cannot be notified and the reliability becomes insufficient.

  The present invention has been made in view of the above circumstances, and its purpose is to accurately determine that there is a risk of a vehicle-to-vehicle accident occurring at an intersection in the direction of travel for a driver of a traveling vehicle. It is in providing the driving assistance system for vehicles which can be alert | reported to.

  According to the means of the first aspect, in the traveling vehicle, the expected arrival time to the intersection located in the traveling direction of the host vehicle is calculated by real-time calculation in the calculation means. Since such real-time calculation is performed based on the current position of the host vehicle and the distance to the intersection, the speed and acceleration / deceleration of the host vehicle, the expected arrival time includes an acceleration operation or a deceleration operation of the vehicle. Even in this case, the information is accurate. The control means performs an operation of repeatedly transmitting from the communication means travel information including the time information indicating the estimated arrival time, the current position information of the vehicle, and the traveling direction information. It is received through the communication means on the vehicle side in another vehicle located within a predetermined distance range from the vehicle. The control means collides with the other vehicle in the intersection located in the traveling direction of the own vehicle based on the comparison between the running information about the own vehicle and the running information about the other vehicle received through the communication means. The presence / absence of danger is judged, and when it is judged that there is a danger of collision, a danger notification operation is performed for the driver of the host vehicle. In this case, since the estimated arrival time for the host vehicle and other vehicles included in the travel information provided for the comparison is accurate information as described above, there is a risk of collision between the host vehicle and other vehicles within the intersection. As a result, it is possible to accurately notify the driver of the own vehicle that there is a risk of a car-to-vehicle accident occurring at an intersection in the traveling direction. It is.

  According to the second aspect of the present invention, when there is a risk of collision between a straight traveling vehicle and a right turn vehicle traveling in opposite directions within an intersection, this is accurately notified to the driver of the vehicle. become able to.

  According to the third aspect of the present invention, the right turn indicating the time required for the vehicle to make a right turn at the intersection when the control means determines the risk that the straight vehicle and the right turn vehicle traveling in opposite directions will collide with each other. Since the time data is also reflected, it becomes possible to more accurately notify the driver of the vehicle of the danger of the straight vehicle and the right turn vehicle colliding.

  According to the fourth aspect of the present invention, the right turn time data is obtained on the basis of the time required for the vehicle to actually make a right turn. Therefore, accurate data can be obtained even when different.

  According to the fifth aspect of the present invention, when the right turn time data is reflected in the determination of the risk of collision between the straight vehicle and the right turn vehicle, it is possible to take into account the size of the intersection for which the right turn required time is sampled. Therefore, it is useful for making the judgment accurate.

(First embodiment)
A first embodiment of the present invention will be described below with reference to FIGS. The present embodiment is intended for preventing collision between a straight-ahead vehicle and a right turn vehicle at a signalized intersection, and “intersection” in the following description means “signal intersection”.
FIG. 1 shows the configuration of an in-vehicle unit mounted on a vehicle in order to construct a vehicle driving support system according to the present embodiment by a combination of functional blocks.

In FIG. 1, a control unit 1 (corresponding to an arithmetic means and a control means) includes a CPU, a ROM storing a control program, a RAM for a working area, an I / O interface, etc. (all not shown). It is configured by a computer and receives signals from the speed detection unit 2, the position detection unit 3, the acceleration / deceleration detection unit 4, and the signal generation unit 5.
The speed detection unit 2 is configured by a known vehicle speed sensor that generates a pulse-shaped detection signal indicating the vehicle speed, and gives the detection signal to the control unit 1.

  The position detection unit 3 includes, for example, a position detection unit (including a GPS receiver, a gyro sensor, a vehicle speed sensor (the speed detection unit 2 can be used)) and a map database (DVD) for a car navigation device mounted on a vehicle. -ROM, hard disk, etc.) and is provided with the vehicle current position information acquired in real time by the position detection unit to the control unit 1, and a map around the current position indicated by the vehicle current position information Data (data capable of recognizing distance information to the signalized intersection) is provided to the control unit 1. The position detection unit 3 may be provided as a dedicated device in the vehicle driving support system, and the position detection unit includes, for example, RTK-GPS using an electronic reference point, correction data from a known station, and the like. It is also possible to use a device capable of highly accurate positioning such as D-GPS.

The acceleration / deceleration detection unit 4 is constituted by an acceleration sensor arranged to detect an acceleration / deceleration acting in the traveling direction of the vehicle, and gives a detection signal to the control unit 1.
The signal generator 5 is configured by using, for example, a turn signal switch and a brake switch (stop lamp switch) of a vehicle, and outputs a left turn instruction signal and a right turn instruction signal output in response to the operation of the turn signal switch. The left turn determination signal and the right turn determination signal are supplied to the control unit 1 and the brake on signal output in response to the operation of the brake switch is supplied to the control unit 1.

On the other hand, the transmission / reception unit 6 (corresponding to the communication means) is provided for performing vehicle-to-vehicle communication (bidirectional data communication) with another vehicle located within a predetermined distance range from the host vehicle. The driving information is transmitted from the unit 1 as described below, and the driving information received from another vehicle is given to the control unit 1.
The notification unit 7 is provided to execute an operation of notifying the vehicle driver of the danger of a collision with another vehicle in an intersection existing in the vehicle traveling direction in response to a command from the control unit 1. Therefore, the danger notification operation is performed audibly using, for example, a buzzer or a speaker. It should be noted that the danger notification operation by visual means (for example, a display for a car navigation device, a dedicated display, etc.) may be performed simultaneously.

  A right turn time storage unit 8 (corresponding to storage means) provided so as to be accessible from the control unit 1 is configured to accumulate right turn time data provided from the control unit 1. That is, when the host vehicle makes a right turn at the intersection, the control unit 1 determines the time required for the right turn (for example, the time from the stop at the right turn standby position near the center of the intersection until the right turn is completed) of the vehicle. Sampling is performed every time a right turn is performed, and the sampled time is stored in the right turn time storage unit 8 as right turn time data. In short, the right turn time data as described above has different properties depending on the performance of the vehicle, the driver's habits, etc. even when the target intersection is the same size. A right turn time storage unit 8 is provided to reflect the function.

  In this case, actually, the right turn time data varies depending on the size of the target intersection, so the right turn time storage unit 8 stores the rank of the size of the intersection obtained by referring to the map data (for example, several stages). Each right turn time data is accumulated in a state classified for each time. In practice, the right turn time data is used as average value data corresponding to the number of samplings. The right turn time storage unit 8 is configured using, for example, a RAM storage area in the control unit 1, but a dedicated memory element such as a flash memory card may be prepared.

2 and 3 show portions related to the gist of the present invention among the contents of processing by the control unit 1, and these will be described below together with related operations.
FIG. 2 shows the contents of the normal running process that is effective when the host vehicle goes straight through the intersection. In the normal running process, for example, in a state where a detection signal is input from the speed detection unit 2 and neither a right turn determination signal nor a left turn determination signal is input from the signal generation unit 5 (normal driving state), It is executed in synchronization with the clock cycle set in the control unit 1.

  In FIG. 2, when the normal running process is executed, first, the distance and speed between the current position of the own vehicle obtained from the output from the position detection unit 3 and the intersection are calculated based on the estimated arrival time to the intersection of the own vehicle. Calculation is performed by real-time calculation using the speed of the host vehicle obtained from the detection signal from the detection unit 2 and the acceleration / deceleration of the host vehicle obtained from the detection signal from the acceleration / deceleration detection unit 4 (step A1). The estimated arrival time to the intersection is, for example, the time required for the host vehicle to enter the intersection, the time required for the host vehicle to reach the center of the intersection, and the time required for the host vehicle to exit the intersection. Any of these may be calculated, but in this embodiment, the time to reach the center of the intersection is calculated.

  Next, an operation of transmitting traveling information of the host vehicle from the transmission / reception unit 6 is performed (step A2). Specifically, this travel information includes time information indicating the expected arrival time at the intersection calculated in step A1, and whether the host vehicle is a straight vehicle at the intersection (whether the vehicle is a straight vehicle or not is a left turn from the signal generator 5). Straight-running information indicating that the vehicle can be determined by the presence or absence of a determination signal and a right turn determination signal), vehicle current position information acquired by the position detection unit 3 and traveling direction information of the host vehicle, and a right turn stored in the right turn time storage unit 8 It includes time data, vehicle stop information indicating that the host vehicle is stopped (determined based on a detection signal from the speed detection unit 2 and a brake-on signal from the signal generation unit 5), and the like. Note that such a transmission operation is repeatedly performed in accordance with the execution of step A2.

  After this, it is determined whether or not the intersection arrival prediction time for the oncoming vehicle (other vehicle traveling from the opposite direction to the host vehicle toward the intersection) has been obtained (step A3). In this case, the travel information from another vehicle (however, as described later, when the other vehicle is a right turn vehicle, the right turn information is included instead of the straight traveling information, and the vehicle is a left turn vehicle. Will be included instead of straight-ahead information), and the control unit 1 analyzes the received travel information when the travel information is received by the transmission / reception unit 6. Determine whether there is an oncoming vehicle that is about to enter the intersection (can be determined based on the current vehicle position information and traveling direction information in the travel information), the expected arrival time of the oncoming vehicle (indicated by time information), etc. To do.

When it is determined as “NO” in the above step A3 (when there is no oncoming vehicle), the process returns to step A1, but in the state determined as “YES”, whether or not the oncoming vehicle is a right turn vehicle. Is determined based on the presence or absence of right turn information in the received travel information (step A4).
If the oncoming vehicle is a right turn vehicle, it is determined whether or not the right turn vehicle is stopped at a position nearer than the right turn standby position near the center of the intersection (step A5). Note that the vehicle current position information and the vehicle stop information in the received travel information are used to determine such a vehicle stop state.

  If the right-turn vehicle is in a running state (“NO” in step A5), it is determined whether there is a risk that the right-turn vehicle and the host vehicle (straight vehicle) collide at an intersection (step A6). . For example, such determination is performed by setting a determination time zone in which a predetermined allowance time is added to each of the predicted arrival time at the intersection of the own vehicle and the expected arrival time at the intersection of the right turn vehicle, and each determination time zone is set. Can be based on whether or not they overlap each other.

If it is determined in step A6 that there is a risk that the host vehicle will collide with the right turn vehicle, driving the notification unit 7 may cause the driver of the host vehicle to collide with the right turn vehicle within the intersection. An operation for notifying this is started (step A7), and then the process returns to step A1.
Also, if the oncoming vehicle is a straight or left turn vehicle ("NO" in step A4), if the oncoming vehicle is a right turn vehicle, the right turn vehicle is stopped at a position on the near side of the right turn waiting position in the intersection. (NO in step A5) and when it is determined that there is no risk of collision between the host vehicle and the right turn vehicle (NO in step A6), the notification unit 7 notifies the danger of collision. It is determined whether or not the operation to be executed is being executed (step A8). Then, when the danger notification operation is not executed, the process directly returns to step A1, and when the danger notification operation is being executed, the process returns to step A1 after executing step A9 for stopping the notification operation.

FIG. 3 shows the contents of the right turn processing when the host vehicle turns right at the intersection. This right turn processing is performed by, for example, the clock set in the control unit 1 when the host vehicle is in a state of making a right turn at a destination intersection (a state in which a right turn determination signal is input from the signal generation unit 5). It is executed in synchronization with the cycle.
In FIG. 3, when the right turn process is executed, first, an estimated arrival time to the intersection of the host vehicle is detected as a distance and speed between the current position of the host vehicle obtained from the output from the position detection unit 3 and the intersection. Calculation is performed by real-time calculation using the speed of the own vehicle obtained from the detection signal from the unit 2 and the acceleration / deceleration of the own vehicle obtained from the detection signal from the acceleration / deceleration detection unit 4 (step B1). In the present embodiment, the time until the host vehicle reaches the center of the intersection (the right turn standby position near the center of the intersection) is calculated as the expected intersection arrival time.

  Next, an operation of transmitting traveling information of the host vehicle from the transmission / reception unit 6 is performed (step B2). Specifically, the travel information includes time information indicating the expected arrival time at the intersection calculated in step B1, right turn information indicating that the host vehicle is a right turn vehicle at the intersection, and the vehicle current acquired by the position detection unit 3. It includes position information, traveling direction information of the host vehicle, right turn time data stored in the right turn time storage unit 8, vehicle stop information indicating that the host vehicle is stopped, and the like. Note that such a transmission operation is repeatedly performed according to the execution of step B2.

  After this, it is determined whether or not an intersection arrival prediction time for an oncoming vehicle (another vehicle traveling from the opposite direction to the host vehicle toward the intersection) has been obtained (step B3). In this case, as described above, the travel information is also transmitted from another vehicle, and the control unit 1 receives the travel information when the travel information is received by the transmission / reception unit 6. By analyzing, the presence / absence of an oncoming vehicle (determined based on the vehicle current position information and traveling direction information in the travel information), the expected arrival time of the intersection of the oncoming vehicle (indicated by time information), and the like are determined. It is.

When it is determined “NO” in step B3 (when there is no oncoming vehicle), the process returns to step B1. However, when it is determined “YES”, whether or not the oncoming vehicle is a right-turn vehicle. Is determined based on the presence or absence of right turn information in the received travel information (step B4).
If the oncoming vehicle is not a right turn vehicle, that is, if the oncoming vehicle is a straight or left turn vehicle and may collide with the own vehicle that is about to turn right within the intersection, the own vehicle is near the center of the intersection. It is determined whether or not the vehicle is stopped at a position in front of the right turn standby position (step B5).

  If the host vehicle is in a running state (“NO” in step B5), it is determined whether or not there is a risk that the host vehicle (right turn vehicle) and an oncoming vehicle (straight or left turn vehicle) will collide at an intersection. (Step B6). As described above, such a determination is made for a determination in which a predetermined allowance time is added to each of the estimated arrival time at the intersection of the own vehicle and the estimated arrival time at the intersection of the oncoming vehicle (straight-running vehicle or left turn vehicle). Each time zone can be set, and the determination can be made based on whether or not the time zones for determination overlap each other.

If it is determined in step B6 that there is a risk of a collision with the oncoming vehicle, the notifying unit 7 is driven, so that the driver of the own vehicle is in contact with the oncoming vehicle (straight-turn vehicle or left-turn vehicle) within the intersection. An operation for notifying that there is a danger of a collision is started (step B7), and then the process returns to step B1.
On the other hand, if the host vehicle is stopped at a position nearer than the right turn standby position near the center of the intersection ("YES" in step B5), it is assumed that the host vehicle has started a right turn from the right turn standby position Then, it is determined whether or not there is a risk that the host vehicle collides with the oncoming vehicle (step B8). Such a determination can be made, for example, by comparing the right turn time data of the host vehicle stored in the right turn time storage unit 8 with the expected arrival time at the intersection of the oncoming vehicle.

  If it is determined in step B8 that there is a risk that the host vehicle (right turn vehicle) collides with an oncoming vehicle (straightly traveling vehicle or left turn vehicle), it is determined whether the host vehicle has started moving (step B9). When the host vehicle keeps the stop state without moving, the process returns to Step B8. When the host vehicle starts moving, the informing unit 7 is driven to drive the oncoming vehicle (straight vehicle or left turn) to the driver of the host vehicle within the intersection. An operation for notifying that there is a risk of collision with the vehicle) is started (step B10), and thereafter, the process returns to step B1.

  Further, when the oncoming vehicle is a right turn vehicle (“YES” in step B4), when it is determined that there is no risk of collision between the host vehicle in the running state (right turn vehicle) and the oncoming vehicle (“NO” in step B6). )), And even if the host vehicle that is in a stopped state at a position before the right turn standby position near the center of the intersection starts a right turn, there is no risk of a collision with the oncoming vehicle ("NO" in step B8). It is judged whether the alerting | reporting part 7 is performing danger alerting | reporting operation | movement (step B11). Then, when the danger notification operation is not executed, the process directly returns to step B1, and when the danger notification operation is being executed, the process returns to step B1 after executing step B12 for stopping the notification operation.

Note that the right turn processing as described above is terminated when the host vehicle completes the right turn at the intersection and passes through the intersection, and accordingly returns to the state in which the normal travel time processing is executed.
Although not shown, when the host vehicle is about to turn left at the intersection (a state where a left turn determination signal is input from the signal generator 5), a left turn process is performed. In this left turn processing, the expected arrival time to the center of the intersection of the host vehicle is calculated by using the distance to the intersection obtained from the output from the position detection unit 3, the speed of the host vehicle obtained from the detection signal from the speed detection unit 2, A step of calculating by real-time calculation using the acceleration / deceleration of the own vehicle obtained from the detection signal from the acceleration / deceleration detecting unit 4; own vehicle running information (vehicle current position information and own vehicle traveling direction information; The time information shown, including left turn information indicating that the vehicle is a left turn vehicle at the intersection), and the like. The danger notification operation is not performed. Such a left turn process is terminated when the vehicle completes a left turn at the intersection and passes through the intersection, and the process returns to the state in which the normal running process is executed.

  In short, according to the configuration of the present embodiment described above, the control unit 1 may collide with an oncoming vehicle that is about to turn right at the intersection when the host vehicle is going straight ahead at the intersection located in the traveling direction. A comparison between the predicted arrival time of the host vehicle (straight vehicle) to the intersection and the estimated arrival time of the other vehicle (right turn vehicle) obtained by inter-vehicle communication through the transmission / reception unit 6 When it is determined that there is a collision risk, the vehicle driver is informed of the danger through the notification unit 7. Such a danger notification operation is not performed when the right-turn vehicle is stopped.

  In addition, when the host vehicle tries to turn right at the intersection, the control unit 1 determines whether or not there is a risk of colliding with an oncoming vehicle trying to go straight (or turn left) at the intersection. Judgment is made based on a comparison between the estimated arrival time to the intersection and the estimated arrival time to the intersection of another vehicle (straight vehicle or left turn vehicle) acquired by inter-vehicle communication through the transmission / reception unit 6. If it is determined that there is a danger notification operation for the vehicle driver through the notification unit 7. When the host vehicle is stopped at a position near the right turn standby position near the center of the intersection, the above warning is only given if there is a risk of collision with the oncoming vehicle when the host vehicle starts making a right turn from the right turn standby position. If there is no such danger, the danger notification operation is not performed.

  In this case, the estimated arrival time, which is a criterion for determining the risk of collision between vehicles, is performed based on the current position of the vehicle and the distance to the intersection, the speed of the vehicle, and the acceleration / deceleration. Even if there is, etc., it will be accurate information that followed it. Therefore, the control unit 1 can accurately determine the risk of a collision between the own vehicle and another vehicle in the intersection, and as a result, in the intersection in the traveling direction with respect to the driver of the own vehicle. Therefore, it is possible to accurately notify that there is a risk of an accident between vehicles.

  In addition, when the host vehicle (right turn vehicle) is about to start a right turn from a state where it stops at a position before the right turn standby position near the center of the intersection, there is a risk that the host vehicle will collide with an oncoming vehicle (straight-turn vehicle or left turn vehicle) When determining the presence or absence of the vehicle, right turn time data indicating the time required for the host vehicle to make a right turn at the intersection is also reflected. Be able to do. Moreover, since the right turn time data is obtained based on the time required for the vehicle to actually make a right turn, the right turn time data is accurate even when the right turn time varies depending on the performance of the vehicle, the driver's habit, etc. The danger notification operation becomes even more accurate.

  As described above, when the right turn time data is stored in a state in which the right turn time data is classified for each rank of the intersection, the right turn time data is stored between the straight traveling vehicle and the right turn vehicle. When reflecting in the determination of the collision risk, it is possible to take into account the size of the intersection that is the sampling target of the time required for the right turn, which is useful for making the determination accurate.

(Second Embodiment)
In the above embodiment, in a state where the right turn vehicle is stopped in the intersection for a right turn, it is configured to notify the danger of a collision with the oncoming vehicle only on the right turn vehicle side. By referring to the right turn time data acquired from the right turn vehicle, the risk of a collision with the right turn vehicle may be determined, and the danger notification operation may be performed based on the determination result.

That is, FIG. 4 shows a second embodiment of the present invention. Hereinafter, only portions different from those of the first embodiment will be described. FIG. 4 shows the contents of the normal running process (the process shown in FIG. 2 in the first embodiment), and the same parts as in FIG. I will omit it.
In FIG. 4, when it is determined in step A4 that the oncoming vehicle is a right turn vehicle, step A10 is executed to acquire right turn time data from the travel information received from the right turn vehicle, and then the process proceeds to step A5. If it is determined as “YES” in Step A5, that is, if the right turn vehicle that is the oncoming vehicle is stopped at a position nearer than the right turn standby position near the center of the intersection, the right turn vehicle will wait for the right turn. If it is assumed that the vehicle has started moving from the position (right turn has started), it is determined whether there is a risk of collision between the right turn vehicle and the host vehicle (step A11). Such a determination can be made, for example, by comparing the right turn time data acquired from the right turn vehicle with the expected arrival time at the intersection of the host vehicle.

  If it is determined in step A11 that there is a risk that the host vehicle (straightly traveling vehicle) collides with the oncoming vehicle (right turn vehicle), it is determined whether or not the right turn vehicle has started moving (step A12). When the right turn vehicle keeps the stop state without moving, the process returns to step A11. When the right turn vehicle starts moving, the alarm unit 7 is driven to cause the driver of the own vehicle to collide with the right turn vehicle within the intersection. An operation for notifying that there is a start is started (step A13), and thereafter, the process returns to step A1. If it is determined in step A11 that there is no risk of a collision, the control after step A8 is executed.

(Other embodiments)
In addition, the present invention is not limited to the embodiments described above and shown in the drawings, and can be modified or expanded as described below, for example.
In each of the above embodiments, an example of preventing collision between a straight vehicle and a right turn vehicle at a signalized intersection has been described. It is also possible to prevent collisions. In this case, travel information (time information indicating the expected arrival time to the vehicle intersection) is received through the transmission / reception unit 6 as to whether or not there is another vehicle entering the intersection from a direction crossing the traveling direction of the host vehicle. Etc.) and the intersection arrival prediction time of the other vehicle is determined based on the travel information, and the encounter time is determined based on the result of comparing the determination time with the estimated intersection arrival time determined for the own vehicle. The risk of collision can be determined.

  A function of outputting a right turn determination signal to the signal generator 5 when the vehicle approaches a right turn target intersection in the guide route when the route guidance operation is being performed by the car navigation device is added. May be. When such a configuration is adopted, the right turn processing shown in FIG. 3 may be selectively executed every time the own vehicle travels to a predetermined distance range before the intersection on the guide route. It becomes possible.

1 is a functional block diagram schematically showing the overall configuration of a first embodiment of the present invention. Flow chart showing the contents of normal running processing by the control unit Flow chart showing the contents of right turn processing by the control unit FIG. 2 equivalent diagram showing a second embodiment of the present invention.

Explanation of symbols

1 is a control unit (calculation unit, control unit), 2 is a speed detection unit, 3 is a position detection unit, 4 is an acceleration / deceleration detection unit, 5 is a signal generation unit, 6 is a transmission / reception unit (communication unit), and 7 is a notification unit. , 8 indicates a right turn time storage unit (storage means).

Claims (5)

  1. A communication means for performing inter-vehicle communication with other vehicles located within a predetermined distance range from the own vehicle;
    A calculation means for sequentially calculating an estimated arrival time to an intersection located in the traveling direction of the host vehicle by real-time calculation based on a distance between the current position of the host vehicle and the intersection, the speed of the host vehicle, and acceleration / deceleration;
    While performing the operation | movement which repeatedly transmits from the said communication means the traveling information containing the time information which shows the estimated arrival time calculated by this calculating means, the present position information of the own vehicle, and the traveling direction information, the traveling information about the own vehicle On the basis of the comparison with the travel information about the other vehicle received through the communication means, it is determined whether there is a risk that the own vehicle collides with the other vehicle in the intersection, and it is determined that there is a risk of the collision. A vehicle driving support system comprising a control means for performing a danger notification operation toward the driver of the host vehicle.
  2.   The control means is configured to include right-turn information or straight-ahead information within the intersection of the own vehicle in the travel information transmitted from the communication means, and the travel information about the own vehicle and the other vehicle. Based on the travel information, it is determined whether the host vehicle and the other vehicle are in a relationship between a straight-ahead vehicle and a right-turn vehicle that enter the intersection from opposite directions. The vehicle driving support system according to claim 1, wherein it is determined whether there is a risk that the vehicle collides with another vehicle.
  3. The vehicle driving support system according to claim 2,
    The control means is configured to include, as the right turn time data, the time required for the host vehicle to make a right turn at the intersection in the travel information transmitted from the communication means. A vehicle driving support system configured to be reflected in the determination of the risk of a collision between a vehicle traveling straight and a vehicle turning right.
  4.   4. The vehicle driving support system according to claim 3, further comprising storage means for storing a right turn required time sampled every time the host vehicle makes a right turn as the right turn time data.
  5. 5. The vehicle driving according to claim 4, wherein the right turn time data is stored in the storage unit in a state classified according to the size of an intersection that is a sampling target of the right turn required time. Support system.
JP2004254228A 2004-09-01 2004-09-01 Vehicle operation support system Withdrawn JP2006072617A (en)

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JP2006202061A (en) * 2005-01-20 2006-08-03 Toyota Central Res & Dev Lab Inc Collision risk determination device, method, and program, and collision risk reporting device, method, and program
JP2008065480A (en) * 2006-09-05 2008-03-21 Mazda Motor Corp Driving support system for vehicle
JP2008293143A (en) * 2007-05-23 2008-12-04 Sumitomo Electric Ind Ltd Traffic signalling control system, traffic signal control unit, onboard device, and traffic signal control method
JP2009176056A (en) * 2008-01-24 2009-08-06 Sumitomo Electric Ind Ltd Information providing device, information providing system, vehicle, and information providing method
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US8300617B2 (en) 2007-07-11 2012-10-30 Nec Corporation Subscriber station, time division multiplexing system and transmission timing control method suitable for wireless communication in synchronous PtoMP scheme
JP2015087893A (en) * 2013-10-30 2015-05-07 三菱電機株式会社 Vehicle travel support device and vehicle travel support method
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JP4691993B2 (en) * 2005-01-20 2011-06-01 株式会社豊田中央研究所 Collision risk determination device and method, collision risk determination program, collision risk notification device and method, and collision risk notification program
JP2006202061A (en) * 2005-01-20 2006-08-03 Toyota Central Res & Dev Lab Inc Collision risk determination device, method, and program, and collision risk reporting device, method, and program
JP2008065480A (en) * 2006-09-05 2008-03-21 Mazda Motor Corp Driving support system for vehicle
JP2008293143A (en) * 2007-05-23 2008-12-04 Sumitomo Electric Ind Ltd Traffic signalling control system, traffic signal control unit, onboard device, and traffic signal control method
US8300617B2 (en) 2007-07-11 2012-10-30 Nec Corporation Subscriber station, time division multiplexing system and transmission timing control method suitable for wireless communication in synchronous PtoMP scheme
JP2009176056A (en) * 2008-01-24 2009-08-06 Sumitomo Electric Ind Ltd Information providing device, information providing system, vehicle, and information providing method
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CN109003467A (en) * 2017-06-07 2018-12-14 华为技术有限公司 A kind of method, apparatus and system preventing vehicle collision

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