JP2006155319A - Travelling support device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a travelling support device which can show the display state of a signaler 56 for an opposite lane at an intersection easily. <P>SOLUTION: The travelling support device acquires the information showing the display state of a signaler 56 for the opposite lane when the device detects that a vehicle exists within the intersection and is in the state of waiting for right turn, and transmits the signaler display information to the driver. This embodiment acquires the signaler display information of the signaler 56 for the opposite lane by image processing the image of the signaler imaged by a camera based on the shape and colors thereof, and transmits the display state and/or the change of the display state to the driver by a sound or image. <P>COPYRIGHT: (C)2006,JPO&NCIPI

Description

  The present invention relates to a driving support device, and for example, relates to a status notification of a traffic signal when turning right at an intersection.

Various techniques for notifying the driver of the display state of signals at intersections have been proposed as devices for assisting vehicle travel.
For example, in Patent Documents 1 and 2, the display of a traffic light is acquired from a camera image or a wireless traffic light, and lighting information is displayed on the in-vehicle device.
In Patent Document 3, lighting information is notified by voice.

JP 2004-171459 A JP 2001-167384 A JP 2001-118194 A

All of the prior arts described in the above patent documents provide information on signals ahead of the traveling direction of the host vehicle.
However, when turning right at an intersection, for example, when turning right at an intersection where a time-difference type traffic signal is installed, not only a traffic light (traffic signal for an approach lane) arranged for a lane where the vehicle has entered the intersection, There is a case where it is desired to know signal information of a traffic light (opposite lane traffic light) arranged for an opposite lane of the intersection (an opposite lane with respect to a lane entering the intersection).
For example, when there is a vehicle traveling on the opposite lane when turning right at the intersection, if you are moving to the center of the intersection and stopping, or if you are moving to the center of the intersection while slowing down, the time difference signal will enter Even if the traffic signal for the direction lane is blue, the traffic signal for the opposite lane may turn red first. Moreover, even if the traffic signal for the approach lane changes to red, the traffic signal for the oncoming lane may be blue.

However, since the driver of the vehicle in the conventional intersection could not know the change even if the oncoming traffic signal was changed to red, the signal display was changed because the oncoming vehicle stopped. It was necessary to make a right turn after indirectly recognizing this. For this reason, the waiting time in the intersection has been prolonged.
In addition, the vehicles in the intersection need to complete a right turn smoothly when the traffic light for the approach lane changes to red, but the traffic signal for the oncoming lane may be blue. I couldn't judge whether it was okay.

  Accordingly, an object of the present invention is to provide a driving support device that can easily know the display state of the traffic signal for the oncoming lane at the intersection.

(1) Claim 1
A position determining means for determining whether or not the vehicle is located in an intersection; and when the position determining means determines that the vehicle is located in the intersection, a traffic light arranged for the opposite lane of the intersection is A driving support apparatus comprising: display information acquiring means for acquiring display information indicating what kind of display is being performed; and notifying means for notifying a driver of the vehicle of the acquired display information of the traffic light.
(2) Claim 2
The display information acquisition means further acquires display information indicating what kind of display the traffic signal for the approach lane arranged for the lane that has entered the intersection, and the notification means includes the acquired oncoming lane and The travel support apparatus according to claim 1, wherein display information of a traffic light for an approach lane is announced.
(3) Claim 3
3. The display device according to claim 1, further comprising an imaging unit that is mounted on a vehicle and that images the traffic light, and wherein the display information acquisition unit acquires display information from an image of the captured traffic signal. Driving support device.
(4) Claim 4
2. The vehicle according to claim 1, further comprising a right turn detection unit that detects a right turn of the vehicle, wherein the display information acquisition unit acquires display information of a traffic light when a right turn is detected by the right turn detection unit. The driving support device according to any one of 3.
(5) Claim 5
And a storage means for storing signal type information, wherein the display information acquisition means acquires the display information of the traffic light when the signal type of the intersection is a time difference type signal. The driving assistance device according to any one of claims 1 to 4.

  According to the present invention, since the display information indicating what the traffic lights arranged for the oncoming lane of the intersection where the vehicle is located displays is notified to the driver, the driver can The display state of the traffic signal for the oncoming lane can be easily known.

Hereinafter, a preferred embodiment of the driving support apparatus of the present invention will be described in detail with reference to FIGS. 1 to 6.
(1) Outline of Embodiment When the driving support device detects that the vehicle is located in the intersection and is in a right turn waiting state, the driving support device displays signal display information indicating the display state of the signal of the oncoming traffic signal. Acquire and notify the driver of the signal display information.

In this embodiment, the signal display information of the traffic signal for the oncoming lane is acquired by image processing from the shape and color of the traffic signal image captured by the camera, and the signal display information transmitted from the traffic signal itself and its peripheral devices is received. Earn by doing.
Further, in the present embodiment, not only the traffic signal for the oncoming lane but also the signal display information of the traffic signal for the approaching lane is acquired, and the display state and / or the change of the display state is notified to the driver by sound or image.
In this way, by changing the signal display information of the traffic signal for the approach lane and the signal for the oncoming lane separately according to sound, the departure timing can be known even when waiting for a right turn, and the driver can drive more smoothly. Will be able to.

(2) Details of Embodiment FIG. 1 shows a configuration of a driving support device.
As shown in FIG. 1, the travel support apparatus includes a navigation control unit 11.
The navigation control unit 11 includes a speed sensor 12, a blinker operation sensor 13, a current position detection unit 14, an image processing unit 15, a route search unit 16, a route guidance processing unit 17, and an I / F (interface) management unit 18. It is connected.
A front camera 19 and a rear camera 20 are connected to the image processing unit 15, and a monitor 22 that functions as a display unit and a speaker 23 are connected to the I / F management unit 18.
The travel support apparatus further includes road data 21 and is used in the route search unit 16 and the route guidance processing unit 17.

The navigation control unit 11 is a control unit that controls each unit in order to realize a navigation function for performing various types of guidance such as a travel route and a current position on the vehicle and a travel support function in the present embodiment.
The navigation control unit 11 is configured by a computer system including a CPU, a ROM, a RAM, and the like, and functions according to a navigation overall processing program and a driving support program stored in the ROM.
In the present embodiment, the driving support device partially uses the functions of the navigation device, but may be configured by a computer system independent of the navigation device. In this case, the driving support control unit performs various processes performed by the navigation control unit 11 regarding the driving support of the present embodiment.

The speed sensor 12 detects the traveling speed of the vehicle.
The turn signal operation sensor 13 detects the operation state of the turn signal, and in this embodiment, detects whether or not an operation for instructing a right turn is being performed.

In the present embodiment, the navigation control unit 11 functions as a right turn detection unit.
That is, the navigation control unit 11 determines that the current position of the vehicle detected by the current position detection unit 14 is within the intersection from the road data 21, and the vehicle speed detected by the speed sensor 12 is equal to or lower than the predetermined vehicle speed V. A right turn is detected when a turn right instruction is operated by the turn signal operation sensor 13.
The navigation control unit 11 may detect a right turn when the turn signal operation sensor 13 is instructing a right turn instruction, and may detect a right turn when the turn signal is instructed within an intersection. May be. Furthermore, a right turn may be detected when the vehicle speed is below a predetermined vehicle speed at the intersection.

  The current position detection unit 14 is for detecting the current position (absolute coordinate value composed of latitude and longitude) of the vehicle on which the navigation device (running support device) is mounted, and the position of the vehicle using an artificial satellite. One or a plurality of GPS (Global Positioning System) receivers for measuring the position, a geomagnetic sensor, a gyro sensor, a speed sensor, and the like that detect the geomagnetism and determine the direction of the vehicle are used.

A front camera 19 disposed in front of the vehicle and a rear camera 20 disposed in the rear of the vehicle are connected to the image processing unit 15.
The front camera 19 images the traffic light for the own vehicle approach lane disposed at the intersection where the vehicle is located, and the rear camera 20 captures the traffic light disposed for the opposite lane of the intersection.
The image processing unit 15 specifies the image of the traffic light from the image data captured by both cameras 19 and 20 by image processing, and the specified traffic light displays any display (red lighting display, yellow lighting display, blue lighting display). Get display information about whether or not you are.

The front camera 19 and the rear camera 20 function as an imaging unit, and the image processing unit 15 functions as a display information acquisition unit.
In this embodiment, two cameras, the front camera 19 and the rear camera 20, are mounted. However, one camera equipped with a fish-eye lens or a wide-angle lens is arranged, and an image captured by this one camera is automatically used. You may make it image both the traffic signal for a vehicle approach lane, and the traffic signal arrange | positioned for an oncoming lane.
In this case, the image processing unit 15 acquires display information of both traffic lights from the captured image by image processing.

  The route search unit 16 realizes a function as a navigation device, and uses the road data stored in the road data 21 to search for a travel route from the current position (or departure point) to the input destination.

The route guidance processing unit 17 realizes a function as a navigation device, and performs route guidance corresponding to the current position of the vehicle detected by the current position detection unit 14.
For example, when guiding the travel route searched by the route search unit 16, a map around the current vehicle location is read from the road data 21 and displayed on the monitor 22, and the travel route and the current vehicle location searched for the route are monitored 22 To display. Further, the speaker 23 is guided by outputting a voice for guiding a traveling direction such as “go straight ahead / right direction / left direction /” at the next intersection.
When the travel route is not searched, the route guidance is performed by displaying a map of the current vehicle location and its surroundings on the monitor 22.

  The route search unit 16 and the route guidance processing unit 17 are executed as the route search unit 16 and the route guidance processing unit 17 by the CPU of the navigation control unit 11 executing the route search processing program and the route guidance processing program stored in the ROM. It is supposed to function.

  A monitor 22, a speaker 23, and other devices are connected to the I / F (interface) management unit 18, and control of each device is performed under the control of the navigation control unit 11.

The monitor 22 functions as a display unit, and functions as a notification unit by displaying a display state of a traffic light in addition to a map and a travel route.
As the monitor 22, various display devices such as a liquid crystal display device and a CRT are used. The monitor 22 may have a function as an input device such as a touch panel.

The speaker 23 functions as voice guidance means when performing route guidance by voice, and also functions as notification means when performing travel support in the present embodiment.
One or a plurality of speakers 23 may be disposed in the vehicle and may also be used as an audio speaker.

The road data 21 stores map information displayed on the monitor 22 and road data used for route search.
The road data 21 also functions as a storage means by storing signal type information indicating whether or not the traffic light arranged at each intersection is a time difference signal.

Next, a right turn support process in the travel support apparatus configured as described above will be described.
FIG. 2 shows a state where the vehicle is waiting for a right turn at the intersection.
As shown in FIG. 2, the vehicle 50 is provided with a front camera 19 and a rear camera 20.
When the navigation control unit 11 of the driving support apparatus mounted on the vehicle 50 detects a right turn in the intersection, the front camera 19 images the traffic signal 55 for the approach lane, and the rear camera 20 disposed at the rear of the vehicle is opposed. The traffic signal 56 for lanes is imaged, and the display information of both traffic signals 55 and 56 is acquired.

Detection of the traffic signal 55 for the approach lane and the traffic signal 56 for the oncoming lane is detected from the shape and display color of the traffic signal by image recognition.
By storing the position data (location and height) of the traffic light in the road data 21 and using this, it becomes possible to more accurately identify the image area of the traffic light and acquire the display information. In this case, the image area of the traffic light can be specified more accurately by using the camera mounting height, the vehicle position, and the angle with respect to the vehicle approach lane. The angle of the vehicle can be detected from the output signal of the steering angle sensor or from the direction information from the gyro direction sensor.
In addition, the road data 21 stores the shape information (vertical or horizontal type, number of arrow lamps, etc.) of the traffic lights arranged, and the use of this information further improves the system for specifying the image area of the traffic lights. .

  Then, the navigation control unit 11 determines whether or not the display information of the traffic light has changed, and when there is a change, outputs a sound (including sound) corresponding to the change content, thereby displaying the signal. Notify the driver of the condition.

FIG. 3 shows the timing for detecting that the display information has changed for the traffic signal 55 for the approach lane and the traffic signal 56 for the oncoming lane.
In the case of the traffic signal 55 for the approach lane, it is shown in FIG.
That is, in the case of a traffic light without an arrow lamp, the navigation control unit 11 detects that the yellow lighting state has changed to the red lighting state, and sets the sound pattern to be output as a notification sound in this case as A.
On the other hand, in the case of a signal with an arrow lamp, the navigation control unit 11 detects that the yellow lighting state has changed to the lighting state of red and the arrow lamp, and in this case, the sound pattern to be output as the notification sound is B. And
Further, it is detected from a signal with an arrow lamp device that the red and arrow lamps are switched from a lighting state to a yellow lighting state, and a sound pattern output as a notification sound in this case is C.

In the case of the traffic signal 56 for the oncoming lane, it is shown in FIG.
In other words, in the case of a traffic light without an arrow lamp, the navigation control unit 11 detects that the yellow lighting state has changed to the red lighting state, and sets the sound pattern to be output as a notification sound in this case to D.
On the other hand, in the case of a signal with an arrow lamp device, the navigation control unit 11 detects that the yellow lighting state has changed to the lighting state of red and the arrow lamp, and in this case, the sound pattern to be output as the notification sound is E And

Next, details of the right turn support processing by the travel support device will be described with reference to FIG.
The navigation control unit 11 first detects whether or not the vehicle is waiting for a right turn (steps 11 to 14).
That is, the navigation control unit 11 detects (identifies) the current position of the vehicle from the vehicle position (position coordinates) detected by the current position detection unit 14 and the road data stored in the road data 21 ( Step 11), it is determined whether or not the vehicle is located within the intersection (Step 12).

When the vehicle is located within the intersection (step 12; Y), the navigation control unit 11 determines whether or not the vehicle speed detected by the speed sensor 12 is equal to or lower than the predetermined vehicle speed V (step 13).
In this embodiment, the predetermined vehicle speed V = 10 km / h is set as the speed at which the vehicle is supposed to turn right at the intersection, but other speeds may be used.
When the vehicle is not located within the intersection (step 12; N) or when the vehicle speed considered to be straight ahead is higher than the predetermined vehicle speed (step 13; N), the camera 19, which will be described later, is returned by returning to the main routine. Thus, unnecessary image pickup by 20 is prevented.

When the vehicle speed is equal to or lower than the predetermined vehicle speed V (step 13; Y), the navigation control unit 11 determines whether or not the winker operation sensor 13 detects the operation of the right turn winker (step 14).
The navigation control unit 11 also returns to the main routine when the right turn turn signal is not lit (step 14; N).
On the other hand, if the turn signal for the right turn is lit (operated) (step 14; Y), it can be determined that the vehicle is waiting for the right turn, so the navigation control unit 11 has entered the intersection that is currently waiting for the right turn. It is determined from the signal type information stored in the road data 21 whether or not both traffic lights arranged in the lane and the opposite lane are time difference type traffic lights (step 15).

If the traffic signal is not a time difference signal (step 15; N), the navigation control unit 11 does not need to image the oncoming traffic signal 56 behind the vehicle, and returns to the main routine.
On the other hand, when it is a time difference type traffic signal (step 15; Y), the navigation control part 11 acquires the display information of the traffic signal 55 for approach lanes (step 16).

That is, the navigation control unit 11 instructs imaging by the front camera 19.
In the image picked up by the front camera 19, the image processing unit 15 specifies the traffic signal 55 for the approach lane by image recognition, and supplies the navigation control unit 11 with the display information (lighted color or / and arrow) of the traffic signal. .
The navigation control unit 11 acquires the display information of the approach lane signal 55 from the image processing unit 15 (step 16), and determines whether or not the display of the approach lane signal 55 has changed (step 17).

If the display changes (step 17; Y), the navigation control unit 11 outputs a change sound indicating that the display of the traffic signal 55 for the approach lane has changed from the speaker 23 (step 18).
That is, the navigation control unit 11 outputs any one of sounds A to C as the change sound according to the change state shown in FIG.

After outputting the changing sound and when there is no change in the display of the approach lane traffic light 55 (step 17; N), the navigation control unit 11 acquires the display information of the oncoming lane traffic light 56 (step 19). .
That is, the navigation control unit 11 instructs the rear camera 20 to capture an image, and displays the display information obtained by image recognition from the captured image of the rear camera 20 in the same manner as the acquisition of the display information of the traffic signal for the approach lane. (Step 19), and it is determined whether or not the display of the oncoming traffic signal 56 has changed (step 20).

When the display changes (step 20; Y), the navigation control unit 11 outputs a change sound indicating that the oncoming traffic signal 56 has changed from the speaker 23 (step 21).
That is, the navigation control unit 11 outputs a sound of D or E as the change sound according to the change state shown in FIG.

Next, the navigation control unit 11 determines whether or not the vehicle has passed the intersection from the current position information from the current position detection unit 14 (step 22). If not (step 22; N), the process proceeds to step 16. Go back and continue to monitor the signal display change.
On the other hand, when the vehicle has passed the intersection (step 22; Y), the navigation control unit 11 returns to the main routine.

FIG. 5 is a flowchart for explaining another process and modification of the right turn support process described in FIG.
The navigation control unit 11 determines whether or not the vehicle is waiting for a right turn through a right turn determination process (step 31).
In this right turn determination process, a right turn waiting state is determined based on a combination of one or more of the following three conditions (a) to (c).
(A) The current vehicle position is in an intersection (b) The vehicle speed is equal to or lower than a predetermined vehicle speed V (determining whether to stop or slow down)
(C) The turn signal is being emitted from the turn signal operation sensor 13 to the right.

That is, the navigation control unit 11 determines that it is in a right turn waiting state in any of the following (1) to (4) (step 32; Y).
(1) When all of the conditions (a) to (c) are satisfied,
(2) When (a) and (b) are satisfied,
(3) When (a) and (c) are satisfied,
(4) When traveling along the travel route searched by the route search unit 16 and (a) is satisfied,

Next, when the navigation control unit 11 determines in the right turn determination process that the vehicle is waiting for a right turn, the navigation control unit 11 acquires display information of the traffic light (step 33).
As this display information, when acquiring the display information of the traffic signal 56 for oncoming lanes, it is possible to acquire both the display information of the traffic signal 55 for approaching traffic and the traffic signal 56 for oncoming traffic.
For the right turn support, it is sufficient to acquire the display information of the traffic signal 56 for the oncoming lane and the notification thereof. However, depending on the installation position of the traffic signal and the vehicle position, the display information and the notification of the traffic signal 55 for the approaching lane are also provided. Even if it is difficult to check the display state of the traffic signal 55 for the approach lane from the driver's seat, the driver can recognize the display state of the traffic signal 55 for the approach lane.

Here, as a method of acquiring the display information of the traffic signal, a method of acquiring from both the captured images of the front camera 19 and the rear camera 20, and both of the captured images from one camera mounted with a wide-angle lens or a fisheye lens. Either a method of acquiring display information of a traffic light or a method of acquiring display information transmitted from a traffic light or a display information transmitter disposed in the vicinity thereof can be employed.
Moreover, you may acquire signal color change timing information from a surrounding vehicle. In this case, a server of an external information center may be used, or inter-vehicle communication may be used.

The navigation control unit 11 notifies the driver of the acquired signal display information (step 34).
That is, the navigation control unit 11 can detect changes in the display information shown in FIG. 3 and output sounds A to E, but the number of sounds output by grouping the changes in display information. It may be possible to facilitate the recognition of the state by reducing.
For example, the timing at which the host vehicle can travel in the right-turnable direction (in the case of B, D, and E), the timing at which the vehicle can no longer travel (in the case of C), and the timing that has any possibility (in the case of A) Different sounds may be output at each of the three timings.

  Further, instead of sound, guidance by voice such as “the signal of the oncoming lane has changed to red” may be provided.

Furthermore, the direction in which the sound can be heard may be changed by sound field control or the like.
For example, the notification sound of the color change of the traffic signal 55 for the approaching lane is heard from the front, and the color change of the traffic signal 56 for the oncoming lane is heard from the rear.
In addition, the notification of the color change of the traffic signal 55 for the approach lane is output from the speaker on the driver's seat side, and the notification of the color change of the traffic signal 56 for the oncoming lane is output from the speaker on the rear seat side. You may make it distinguish.
As a result, it is possible to easily recognize whether the notification is for the approach lane traffic light 55 or the opposite lane traffic light 56.

As for the notification of the display information of the traffic light, the display information of the signal may be displayed on the monitor 22 in addition to sound and voice.
FIG. 6 shows the notification state of the display state displayed on the monitor 22.
As shown in FIG. 6, the monitor 22 displays an approach lane traffic signal display 65 at the top of the screen and an oncoming lane traffic signal display 66 at the bottom of the screen.
And in order to distinguish both signals easily, while displaying the vehicle 60 between the both displays 65 and 66, the arrow which shows the right turn direction is displayed.
In the example of FIG. 6, it is shown that the traffic signal 55 for approach lanes is displayed in blue, and the traffic signal 56 for oncoming lanes is displayed in red.

Thus, when displaying the display information on the monitor 22 as an image, the current display state of the traffic light is displayed as the display information, and the display state is also changed in accordance with the detection of the display change.
When there is a display change, sounds corresponding to A to E shown in FIG. 3 or the above three timings may be output together with the display on the monitor 22 according to the change. .

Further, when displaying the traffic signal state on the monitor 22, only the oncoming traffic signal display 66 may be displayed, or the display of the vehicle 60 and the oncoming traffic signal 56 display may be displayed. .
Further, in the example shown in FIG. 6, the traffic signal displays 65 and 66 display an image without an arrow lamp, but when the traffic signal arranged at the intersection has an arrow lamp, the signal with the arrow lamp is displayed. Display an image.

  In the example shown in FIG. 6, signal images in each display state prepared in advance are displayed corresponding to the detected display information, but the captured image of the traffic signal area detected by the image processing unit 15 is cut out. It may be displayed on the monitor 22.

  Note that the embodiments and modifications described above may be combined with each other.

  As described above, according to the present embodiment and its modification, when it is determined that the vehicle is located in the intersection and is in a right turn waiting state, at least the display information of the oncoming lane signal is displayed to the driver. Since the notification is made, the driver can make a right turn smoothly according to the display information.

1 is a configuration diagram of a driving support device according to an embodiment of the present invention. It is explanatory drawing showing the state which the vehicle is waiting for the right turn in the intersection. It is explanatory drawing showing the timing which detects that display information changed about the traffic signal for approach lanes, and the traffic signal for oncoming lanes. It is a flowchart showing the right turn assistance process by a driving assistance device. It is a flowchart for demonstrating the other process and modification of a right turn assistance process. It is explanatory drawing showing the state of notification of the display state displayed on a monitor.

Explanation of symbols

DESCRIPTION OF SYMBOLS 11 Navigation control part 12 Speed sensor 13 Winker operation sensor 14 Current position detection part 15 Image processing part 16 Route search part 17 Route guidance process part 18 I / F part 19 Front camera 20 Rear camera 21 Road data 22 Monitor 23 Speaker

Claims (5)

Position judging means for judging whether or not the vehicle is located in the intersection;
When it is determined by the position determination means that the vehicle is located within the intersection, display information acquisition means for acquiring display information indicating what kind of display the traffic light arranged for the opposite lane of the intersection is;
A notifying means for notifying a driver of the vehicle of the acquired signal display information;
A driving support device comprising:
The display information acquisition means further acquires display information as to what kind of display the traffic signal for the approach lane arranged for the lane that has entered the intersection,
The notification means notifies the display information of the traffic signals for the acquired oncoming lane and approach lane,
The travel support apparatus according to claim 1, wherein
Equipped with an imaging means mounted on a vehicle for imaging the traffic light;
The travel support apparatus according to claim 1, wherein the display information acquisition unit acquires display information from the captured image of the traffic light.
A right turn detection means for detecting a right turn of the vehicle,
The display information acquisition means acquires display information of a traffic light when a right turn is detected by the right turn detection means.
The driving support apparatus according to any one of claims 1 to 3, wherein the driving support apparatus is any one of the above.
Storage means for storing signal type information,
The said display information acquisition means acquires the display information of a traffic signal, when the signal classification of the said intersection is a time difference type signal, The display information of any one of Claims 1-4 characterized by the above-mentioned. Driving support device.

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