JP2006182207A - Operation assistance system - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an operation assistance system performing detection and display/informing of various kinds of information of existence of other vehicles, a position, the traveling state and existence of danger of collision or the like at the inside of prospect/the outside of prospect of a periphery of the own vehicle. <P>SOLUTION: A traveling position of the own vehicle in the future is predicted from information of the own vehicle traveling state such as the own vehicle position, the own vehicle traveling speed and the own vehicle traveling direction specified with the peripheral other vehicles at a constant period and at the same timing. The result is transmitted to other vehicles at the periphery of the own vehicle together with the own vehicle position information by inter-vehicle communication. The safe operation assistance is performed by also obtaining the similar information from other vehicles, display it on the own vehicle display picture and informing the own vehicle driver of existence/traveling state/existence of danger of collision or the like of the peripheral other vehicles. When existence of other vehicles having danger of collision is predicted, warning of the matter is performed to the corresponding other vehicles. <P>COPYRIGHT: (C)2006,JPO&NCIPI

Description

  The present invention identifies and predicts the existence / prediction behavior of the vehicle and other vehicles around the vehicle, and the vehicle and other vehicles respectively identify and predict the results, and communicate the results to each other via inter-vehicle communication. The present invention relates to a driving support system that performs safe driving support by informing the driver.

  Conventionally, the detection of other vehicles around the own vehicle is mainly based on radar or a camera. However, these alone can only detect a limited area, for example, only in front of the host vehicle, and it is difficult to obtain correct surrounding information. In order to solve this problem, methods such as using a plurality of radars or cameras or combining both of them have been proposed. However, in addition to the complexity and cost of the system, these methods have a fatal defect that it is impossible to detect an out-of-sight vehicle.

  A method of applying road-to-vehicle communication or vehicle-to-vehicle communication has also been proposed as a method for detecting an out-of-sight vehicle, but this also cannot be avoided due to the complexity of the system and detection ambiguity.

Patent Publication 2002-104015 Patent Publication 2002-511922 Patent Publication 2001-315603 Patent Publication 2003-132498 Japanese Patent Publication No. 2004-231010 Patent Publication 2000-339591 Patent Publication 2004-062381

  The present invention provides a driving support system that can detect and predict the presence of other vehicles in the vicinity of the own vehicle, the running state, the risk of a collision with the own vehicle, including other vehicles that are out of sight, and has a relatively simple configuration. It is something to be offered.

The system has a basic configuration including a vehicle position specifying function, a position specifying timing generation function, a vehicle-to-vehicle communication function, and a display function.
The own vehicle position specifying function includes a GPS receiver or the like that can accurately specify the current position of the vehicle. However, since it is necessary to match the position specifying timing with the other vehicle when specifying the position of the own vehicle, the synchronization is also calibrated by, for example, the GPS clock function, and the position specifying timing synchronized with the other vehicle is output every certain period T. This is done by the specific timing generation function.

In addition, there is a method of converting GPS to DGPS in order to improve the vehicle position specifying accuracy. In this case, it is most efficient and effective to receive the GPS position correction information from the road-to-vehicle communication roadside base station using the vehicle-to-vehicle communication reception function. In this case, the road-side communication roadside base station transmits the position correction information from the roadside to the vehicle traveling on the road in the same communication form and method as the vehicle-to-vehicle communication, and the vehicle side uses the vehicle-to-vehicle communication reception function. Receive.
Further, when the position cannot be specified by the GPS receiver, it is also necessary to supplement the position between them with an optical gyroscope or the like.

  The inter-vehicle communication function allows transmission and reception of communication formats and forms that allow simultaneous communication with multiple vehicles within and outside the line of sight within a certain distance from the vehicle, such as a spectrum spread method in a frequency band of several hundred MHz or less. The vehicle position information specified by the own vehicle position specifying function is transmitted to other vehicles, and the position information from each of the other surrounding vehicles is received.

  The display function provides safe driving support by integrating and displaying the position information of the own vehicle and other vehicles and notifying the driver of the presence of other vehicles around the own vehicle and the relative positional relationship with respect to the own vehicle.

The above is the most basic system configuration, but by adding the following functions to these, the effect of driving support can be improved.
That is, a vehicle position information storage function, a vehicle travel speed detection function, a vehicle travel direction detection function, a travel position prediction calculation function, and an approach detection function are added to the basic system configuration.

  The own vehicle position information storage function is the own vehicle position information within the past fixed time nT specified by the own vehicle position specifying function, that is, time (t−nT), (t− (n−1) T),. The vehicle position information specified in (t−2T), (t−T), t (where t is the current time, T is the vehicle position specifying period, and n is the number of times of the vehicle position specified in the past) is stored.

  The own vehicle traveling speed detection function detects own vehicle traveling speed information at the current time t, and the own vehicle traveling direction detection function detects own vehicle traveling direction information such as the own vehicle steering angle at the current time t.

  The travel position prediction calculation function includes vehicle position information from the time (t−nT) stored in the vehicle position information storage function to the current time t, the vehicle travel speed detection function, and the vehicle travel direction. From the own vehicle traveling speed information and the own vehicle traveling direction information detected by the detection function within the predetermined time mT, that is, from time (t + T), (t + 2T),... (T + (m−1) T), ( t + mT) (where t is the current time, T is the vehicle position specifying period, and m is the vehicle position prediction frequency).

  The approach detection function compares the predicted travel position calculated by the travel position prediction calculation function of the own vehicle with the same type of information transmitted from another vehicle by inter-vehicle communication, and any of the surrounding other vehicles It is judged whether it is approaching or there is a danger of collision, and the judgment result is limited to other vehicles that are judged to be approaching, and the information is combined with the own vehicle information for the display / alarm function of the own vehicle In addition to output, if another vehicle that is in danger of colliding with the vehicle is detected, the vehicle's display / alarm function alerts the driver of the vehicle and notifies the corresponding other vehicle via inter-vehicle communication. To do.

  In this case, when reporting the risk of collision to another vehicle, the position information or a part thereof transmitted from the corresponding other vehicle by inter-vehicle communication is used as ID information.

  Further, as a display method on the display device, in addition to a method of displaying the vehicle position and other vehicle position of the past, present, and prediction results, a map of a corresponding scale is displayed, and the vehicle position / others are displayed thereon. It is also possible to display the vehicle position information.

  In addition, the existing car navigation function can be added to the driving support system to make a broader driving support system.

  In the above description, the vehicle position specification is performed in synchronization with the other vehicle. However, a method may be considered in which the vehicle position specification cycle is the same as that of the other vehicle and the vehicle position specification timing is not particularly synchronized. However, in this case, it is necessary to transmit the time information of the own vehicle position specifying timing together with the own vehicle position information to the other vehicle and correct the timing deviation at the time of display.

  According to the present invention, the own vehicle driver can accurately grasp the existence / running state of other vehicles that travel around the own vehicle, and can safely drive the own vehicle or avoid danger such as collision with other vehicles.

  It is desirable to use GPS as the vehicle position specifying function. In addition to the advantage that the GPS positioning function can be highly accurate by converting the position of the vehicle by GPS using position correction information using road-to-vehicle communication, the GPS timing function can synchronize the timing of positioning with other vehicles. This is because there are also advantages.

  In addition, the inter-vehicle communication function for this system enables non-line-of-sight communication in addition to line-of-sight communication, so that it is not a frequency band of several tens GHz or more normally assumed for vehicle-to-vehicle communication, but a band of several hundred MHz or less. It is desirable to use It is also desirable that the communication method is a method capable of simultaneous communication with a plurality of other vehicles, such as a spread spectrum method.

  FIG. 1 shows the configuration of a vehicle-to-vehicle communication applied driving support system embodiment 1 according to the present invention, and FIG.

In FIG.
1 is a GPS unit 2 via a bus line 13, a position data correction / complementation unit 3, a position data storage unit 4, a clock unit 5, a speed sensor unit 6, a steering angle sensor unit 7, a travel position prediction unit 8, a transmission unit 9, A control unit that performs operation control and input / output data control of the reception unit 10, the display / alarm unit 11, and the approach detection unit 12,

  2 is a GPS unit that identifies the current position of the host vehicle and outputs the current position data of the host vehicle at a certain period T at a timing synchronized with other peripheral vehicles specified by the clock unit 5 based on the control of the control unit 1;

  3 corrects the current position data of the vehicle, which is the output of the GPS section 2, with the position correction data received from the roadside-to-vehicle communication roadside base station received by the receiving section 10, and the current position data of the own vehicle is normally corrected in the GPS section 2. If not obtained, a position data correction / complementation unit that complements the current position data of the vehicle with a built-in optical gyro, etc.

  4 is a position data storage unit for storing the current position data of the host vehicle, which is output from the position data correction / complementation unit 3, for the past fixed time nT, that is, (n + 1) data (+1 is data specified at the current time t);

  Reference numeral 5 denotes a clock unit that outputs an accurate vehicle position specifying timing at a fixed period T for specifying the own vehicle position in the GPS unit 2 in synchronization with other surrounding vehicles, and the time is a clock from the GPS unit. Calibrated by information.

  6 is a speed at which the traveling speed of the host vehicle is identified at a constant period T and output traveling speed data in synchronization with the position identifying timing in the GPS section 2 under the control of the control section 1 under the control of the control section 1. Sensor part,

  7, under the control of the control unit 1, in accordance with an instruction from the clock unit 5, the vehicle steering angle is specified as the vehicle traveling direction information at every fixed period T in synchronization with the position specifying timing in the GPS unit 2 and is steered. Steering angle sensor unit that outputs angle data,

  8 is (t + T), (t + 2T) from the vehicle position data stored in the position data storage unit 4, the traveling speed data output from the speed sensor unit 6, and the steering angle data output from the steering angle sensor unit 7. ... a travel position prediction unit that calculates the predicted vehicle travel position of (t + mT) and outputs it to the transmission unit 9, the display / alarm unit 11, and the approach detection unit 12.

  However, the travel position prediction here assumes that the host vehicle will continue to travel constantly at the travel speed at time t, and the travel direction is the past travel direction when the steering angle data at time t is 0. On the extension, when the steering angle data is other than 0, it is predicted that the vehicle travels with a corresponding deviation from the extension in the past traveling direction.

  9, the vehicle position data from the past to the future prediction, which is the output of the travel position prediction unit 8, and a warning to that effect when the approach detection unit 8 detects a collision risk are fixed together with the ID of the target other vehicle Vehicle-to-vehicle communication transmitter for transmitting to other vehicles at period T,

  10 receives and displays the other vehicle position data from the past to the future prediction of each other vehicle sent from the other vehicle, and the presence / absence information of the possibility of a collision with the own vehicle, and the display / alarm unit 11; An inter-vehicle communication receiving unit that outputs to the approach detection unit 12 and receives position correction data from the road-to-vehicle communication roadside base station and provides the position data correction / complementation unit 3 via the control unit 1;

  11 is the vehicle position data from the past to the future of the vehicle that is the output of the position data storage unit 4 and the running state prediction unit 8, and the proximity detection unit 12 in the vicinity of other vehicle position data that is the output of the reception unit 10. The other vehicle position data determined to be approaching to the host vehicle is input and displayed and when the danger of collision is detected by the approach detection unit 12, the display is output and a sound warning is given.・ Alarm unit,

  12 compares the predicted position data of the own vehicle that is the output of the traveling position predicting unit 8 and the predicted position data of the other vehicle that is the output of the receiving unit 10, and identifies and collides with another vehicle approaching the own vehicle. The proximity detector that detects the danger of

  13 shows a control signal from the control unit 1 as a GPS unit 2, a position data correction / complementation unit 3, a position data storage unit 4, a clock unit 5, a speed sensor unit 6, a steering angle sensor unit 7, a travel position prediction unit 8, A bus line that transmits to the transmission unit 9, the reception unit 10, the display / alarm unit 11, the approach detection unit 12, and transmits input / output data between the units;

Reference numeral 100 denotes the control unit 1, the GPS unit 2, the position data correction / complementation unit 3, the position data storage unit 4, the clock unit 5, the speed sensor unit 6, the steering angle sensor unit 7, the travel position prediction unit 8, and the transmission unit 9. , A first driving support system configuration example including a receiving unit 10, a display / alarm unit 11, an approach detecting unit 12, and a bus line 13.
It is.

In FIG.
A is the car,
B is another vehicle that runs on the vehicle's rear side adjacent lane,
C is another vehicle that runs on the front opposite lane of the vehicle,
D is another vehicle that travels in the direct lane ahead
E is an intersection where own vehicle A and other vehicle D may collide,
In addition, the vehicle rear arrow in the own vehicle A, the other vehicle B, the other vehicle C, and the other vehicle D indicates the travel trajectory between the past 0 to T and T to 2T, the vehicle front arrow indicates the future 0 to T, T to Each of the predicted traveling trajectories between 2T and 2T to 3T is represented.

From such a display, in addition to the other vehicle C that can be visually observed, the driver of the vehicle has the other vehicle B running on the left rear side of the vehicle that is a blind spot, on the straight lane outside the front field of view. If another vehicle D is present and the vehicle travels in this state, it can be known that there is a possibility of a collision at point E after 3T.
Further, regarding the oncoming vehicle C, it is also possible to determine the presence or absence of a collision risk from the predicted traveling locus.

  FIG. 3 shows the configuration of a vehicle-to-vehicle communication applied driving support system embodiment 2 according to the present invention, and FIG.

  In the first embodiment, the predicted future vehicle position is predicted from the past vehicle position data, speed data, and steering angle data. However, in the second embodiment, this is simply an extension of the past vehicle position. The speed sensor unit 6, the steering angle sensor unit 7, the traveling position prediction unit 8, and the approach detection unit 12 in FIG.

In FIG. 3, the control unit 1, the GPS unit 2, the position data correction / complementation unit 3, the position data storage unit 4, the clock unit 5, the transmission unit 9, the reception unit 10, the display / alarm unit 11, and the bus line 13 are Since it is basically the same as in the case of FIG. Reference numeral 200 denotes a second driving support system configuration example.
A display example of the display / alarm unit 11 in the second embodiment is as shown in FIG. That is, the predicted own vehicle position and the predicted other vehicle position cannot be displayed, but only the past own vehicle position, the other vehicle position, and their extension lines are displayed.

  FIG. 5 shows a configuration of a third embodiment of the inter-vehicle communication applied driving support system according to the present invention, and FIG. 6 shows an example of a display screen of the third embodiment.

  In the third embodiment, only the current own vehicle position and the other vehicle position are displayed as a simplified form of the second embodiment. In this case, the position data storage unit 4 in the configuration example of the second embodiment shown in FIG. 3 is not necessary, and the output of the position data correction / complementation unit 3 is directly transmitted without passing through the position data storage unit 4 as in the first and second embodiments. This is input to the unit 9 and the display / alarm unit 11.

In FIG. 5, the control unit 1, the GPS unit 2, the position data correction / complementation unit 3, the clock unit 5, the transmission unit 9, the reception unit 10, the display / alarm unit 11, and the bus line 13 are basically shown in FIG. And since it is the same in the case of FIG. 3, description is abbreviate | omitted. Reference numeral 300 denotes a third driving support system configuration example.
The display / alarm unit 11 display example in the third embodiment simply displays the current host vehicle position and the other vehicle position as shown in FIG.

  The driving support system according to the present invention eliminates blind spots while driving, and at the same time allows the driver to know the presence of other nearby vehicles traveling outside the field of view, the driving state, and whether there is a danger of a collision. Safe driving is possible.

Configuration example of embodiment 1 of driving support system applying inter-vehicle communication according to the present invention Example of a display screen in the configuration example of Example 1 of the driving support system applying the inter-vehicle communication shown in FIG. Configuration example of embodiment 2 of driving support system applying inter-vehicle communication according to the present invention Example of display screen in configuration example of embodiment 2 of driving support system applying inter-vehicle communication shown in FIG. Configuration example of embodiment 3 of driving support system applying inter-vehicle communication according to the present invention 6 is an example of a display screen in a configuration example of Example 3 of the driving support system applying the inter-vehicle communication illustrated in FIG. 5.

Explanation of symbols

In FIG. 1, FIG. 3, FIG.
1: Control unit 2: GPS unit 3: Position data correction / complement unit 4: Position data storage unit 5: Clock unit 6: Speed sensor unit 7: Steering angle sensor unit 8: Traveling position prediction unit 9: Transmission unit 10: Reception Unit 11: Display / alarm unit 12: Approach detection unit 13: Bus line 100: First driving support system configuration example 200: Second driving support system configuration example 300: Third driving support system configuration example

2, 4, and 6,
A: Own vehicle B: Other vehicle C: Other vehicle D: Other vehicle E: Expected collision point

Claims (9)

  It has the own vehicle position specifying function, the own vehicle position specifying timing synchronization function, the inter-vehicle communication function, and the display function, and is the same as other neighboring vehicles specified by the own vehicle position specifying timing synchronization function by the own vehicle position specifying function. The vehicle current position information specified at the timing is transmitted to the other nearby vehicles by the inter-vehicle communication, the same type information transmitted from the other nearby vehicles is received, and the display together with the own vehicle current position information is displayed. A driving support system characterized in that display output is provided on the device.   2. The driving support system according to claim 1, wherein the own vehicle position specifying function and the own vehicle position specifying timing synchronization function use a GPS position specifying function and a clock function, respectively.   A vehicle position storage function for storing a plurality of vehicle position information specified by the vehicle position specifying function within a certain past time is added, and the vehicle position information stored in the vehicle position storage function is 2. The driving according to claim 1, wherein the driving is transmitted to other vehicles in the vicinity by inter-vehicle communication, the same kind of information transmitted from the other vehicle is received, and the information is displayed on the display device together with the vehicle position information. Support system.   The own vehicle travel speed specifying function for specifying the own vehicle travel speed, the own vehicle travel direction specifying function for specifying the own vehicle travel direction, the own vehicle position information stored in the own vehicle position storage function, and the own vehicle travel speed specification A vehicle position prediction function for predicting a future vehicle position from various information of the vehicle traveling speed information and the vehicle traveling direction information specified by the function / vehicle traveling direction specifying function, and storing the vehicle position memory The vehicle position information stored during the function and the predicted position information predicted by the predicted position function are transmitted to other vehicles around the vehicle by inter-vehicle communication, and the same type of information transmitted from other vehicles in the vicinity is received. 4. The driving support system according to claim 3, wherein the driving assistance system displays and outputs to the display device together with the own vehicle position information and the own vehicle predicted position information stored in the own vehicle position storage function.   A proximity detection function that detects mutual approach from the predicted position information of the host vehicle and other neighboring vehicles is added, and the neighboring other vehicle information displayed on the display device is a neighborhood that is approaching the host vehicle detected by the approach detection function. The driving support system according to claim 4, wherein the driving support system is limited to information related to other vehicles.   6. The driving according to claim 5, wherein when the approach detection function detects another vehicle that may collide with the host vehicle, the other vehicle is notified of the fact and a warning to that effect is given in the host vehicle. Support system.   2. The driving support system according to claim 1, wherein the inter-vehicle communication enables simultaneous communication with a plurality of other vehicles within the sight within a certain distance range from the own vehicle.   The inter-vehicle communication is possible to communicate with the road-to-vehicle communication roadside base station installed on the roadside while the vehicle is traveling, and the vehicle position information of the vehicle specified by the road-to-vehicle communication roadside base station by the communication The driving support system according to claim 1, wherein correction information is obtained. In the inter-vehicle communication, the own vehicle ID is the own vehicle position information specified in the past certain time or a part thereof, and the other vehicle ID is the other vehicle in the past certain time transmitted from the other vehicle to the own vehicle. The driving support system according to claim 6, wherein the driving support system is position information or a part thereof.

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