JP2006331082A - Operation support device for vehicle - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To properly decide the necessity of temporary stop at an intersection in the traveling direction of its own vehicle. <P>SOLUTION: A stop deciding part 26 decides the necessity of a stop operation at an intersection existing ahead of the traveling direction of its own vehicle extracted or detected based on map data and image data or the necessity of temporary stop at an intersection existing ahead of the traveling direction of its own vehicle based on the presence of the traveling trajectory and stop operation of another vehicle detected based on other vehicle information, and stores the history of the decision result in a decision result storage part 27. The stop deciding part 26 decides the necessity of temporary stop at the intersection based on the history of the decision result stored in the decision result storage part 27 when it is difficult to decide the necessity of temporary stop at the intersection existing ahead of the traveling direction of its own vehicle based on the map data or image data and the other vehicle information, or when it is impossible to acquire any desired other vehicle information. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention relates to a vehicle driving support apparatus.

Conventionally, for example, an alarm is output to the driver based on the map information including the data of the temporary stop position provided on the road in advance, the position of the own vehicle, and the presence or absence of the driver's intention to stop, A driving operation support device that performs deceleration is known (see, for example, Patent Document 1).
Further, there is known a vehicle stop line detection device that detects a distance from the own vehicle to a stop line existing in the traveling direction of the own vehicle based on a captured image of an imaging device such as a camera (see, for example, Patent Document 2). ).
JP 10-76922 A JP 2004-295597 A

By the way, according to the driving support device according to the above-described prior art, since only the temporary stop position is detected based on the map information stored in advance, actual road conditions such as sudden accidents and temporary construction are performed. There arises a problem that it is not possible to detect a temporary stop position set according to a change in traffic regulations or the like.
Further, according to the stop line detection device for a vehicle according to an example of the above-described prior art, when the imaging state of the imaging device is not good, for example, the imaging environment is poor such as backlight, rain, snowfall, etc. When an abnormality occurs in the imaging apparatus itself, there arises a problem that a stop line cannot be detected.
The present invention has been made in view of the above circumstances, and an object of the present invention is to provide a vehicle driving support device capable of appropriately determining whether or not a temporary stop is required at an intersection in the traveling direction of the host vehicle.

  In order to solve the above-described problems and achieve the object, the vehicle driving support apparatus according to the first aspect of the present invention is an intersection recognition unit that recognizes an intersection in the traveling direction of the host vehicle (for example, in the embodiment). And a receiving means (for example, the communication device 12 in the embodiment) for receiving information (for example, other vehicle information in the embodiment) including the position and travel information of the other vehicle. Determining means for determining whether or not it is necessary to temporarily stop at an intersection recognized by the intersection recognizing means based on information received by the receiving means from at least one of a preceding vehicle and an oncoming vehicle. (For example, stop determination unit 26 in the embodiment) and driving support means for supporting driving of the host vehicle based on the determination result by the determination unit (for example, the driving support determination unit 28 in the embodiment) It is characterized in that it comprises and.

  According to the above-described vehicle driving support device, whether or not the vehicle needs to be temporarily stopped based on the information on the position and traveling state of the preceding vehicle or oncoming vehicle that is actually traveling at the intersection where the host vehicle is scheduled to travel is appropriately determined. For example, when the imaging state of the external imaging device mounted on the own vehicle is not good, the imaging environment is poor, for example, backlighting, raining, or snowing state, or the external imaging device itself is abnormal. Even when such a situation occurs, appropriate driving assistance can be performed according to the determination result.

  Further, the vehicle driving support apparatus according to the second aspect of the present invention is an imaging means for imaging an area in the traveling direction of the host vehicle (for example, the external imaging device 14 in the embodiment), and imaging by the imaging means. Image recognition means for recognizing a stop sign or a stop line based on the image (for example, the image recognition unit 24 in the embodiment), and the determination means includes the information received by the reception means and the image recognition means. It is characterized in that it is determined whether suspension is necessary based on one of the recognition results.

  According to the vehicle driving support apparatus, the image recognition means recognizes a stop sign or a stop line that exists in the traveling direction of the host vehicle based on a photographed image obtained by a photographing means such as a camera. The determination means determines whether or not it is necessary to temporarily stop at the intersection based on the recognition result of the image recognition means or the information received from the preceding vehicle or the oncoming vehicle. Even when the recognition state is not good or the like, driving support for the host vehicle can be appropriately executed based on information received from another vehicle.

  Furthermore, the vehicle driving support apparatus according to the third aspect of the present invention includes a pass / fail determination unit (for example, step S01 in the embodiment) for determining pass / fail of the recognition state of the image recognition unit, and the determination unit. Determines whether or not it is necessary to pause based on the recognition result of the image recognition unit when it is determined to be good by the quality determination unit, and receives the reception when it is determined to be defective by the quality determination unit. The necessity of temporary stop is determined based on the information received by the means.

  According to the above-described vehicle driving support device, when the stop sign or the stop line is recognized by the image recognition unit, the recognition result of the image recognition unit is preferentially used to temporarily stop at the intersection. By determining NO, the actual road condition can be appropriately reflected in the determination process.

  Furthermore, the vehicle driving support apparatus according to the fourth aspect of the present invention includes a storage unit (for example, a history of a determination result of necessity of suspension by the determination unit based on the information received by the reception unit (for example, A determination result storage unit 27) according to an embodiment, wherein the determination unit determines whether or not a temporary stop is necessary based on the history stored in the storage unit related to the intersection recognized by the intersection recognition unit. It is characterized by.

  According to the driving support device for a vehicle described above, when determining the necessity of temporary stop at an intersection, by referring to a history of determination results based on information received from a preceding vehicle or an oncoming vehicle related to the intersection, For example, even when the imaging state of the external imaging device mounted on the host vehicle is not good and the desired other vehicle information cannot be acquired, the determination accuracy with respect to the necessity of temporary stop at the intersection can be improved. .

  Furthermore, the vehicle driving support apparatus according to the present invention described in claim 5 is provided with notifying means (for example, the alarm device 16 in the embodiment) for notifying the passenger of the own vehicle of appropriate information. The means is characterized in that when the determination means determines that a temporary stop is necessary, the vehicle notifies when the host vehicle is located at a predetermined position before the intersection.

  According to the above-described vehicle driving support device, for example, it is necessary to temporarily stop at a predetermined position before the intersection related to the distance required to properly stop the host vehicle until the host vehicle reaches the intersection. By notifying that, it is possible to prevent a delay in the notification timing and to perform appropriate driving support.

As described above, according to the vehicle driving support device of the present invention, the vehicle is temporarily stopped at the intersection based on the information on the position and traveling state of the preceding vehicle or the oncoming vehicle on which the host vehicle actually traveled the intersection scheduled to travel. It is possible to appropriately determine whether or not the vehicle is necessary, and it is possible to perform appropriate driving support according to the determination result.
Furthermore, according to the driving support apparatus for a vehicle of the present invention as set forth in claim 2, for example, even when the recognition state of the stop sign or the stop line by the image recognition means is not good, the information received from the other vehicle Based on the above, it is possible to appropriately perform driving support of the host vehicle.

Furthermore, according to the driving support apparatus for a vehicle of the present invention as set forth in claim 3, when the recognition state of the stop sign or the stop line by the image recognition means is good, the recognition result of the image recognition means is given priority. By determining whether or not it is necessary to temporarily stop at the intersection, the actual road condition can be appropriately reflected in the determination process.
Furthermore, according to the driving support apparatus for a vehicle of the present invention as set forth in claim 4, when determining whether or not a temporary stop is required at an intersection, the determination is based on information received from a preceding vehicle or an oncoming vehicle at the intersection. The determination accuracy can be improved by referring to the history of results.
Furthermore, according to the driving support apparatus for a vehicle of the present invention as set forth in claim 5, for example, the predetermined number before the intersection related to the distance required to properly stop the host vehicle until the host vehicle reaches the intersection. By notifying that the temporary stop is necessary at the position, it is possible to prevent a delay in the notification timing and to perform appropriate driving support.

Hereinafter, a driving support apparatus for a vehicle according to an embodiment of the present invention will be described with reference to the accompanying drawings.
As shown in FIG. 1, for example, the vehicle driving support device 10 according to the present embodiment includes a host vehicle state detection unit 11, a communication device 12, a map data storage device 13, an external imaging device 14, and a braking device 15. And an alarm device 16 and a processing device 17.

  The own vehicle state detection unit 11 uses, for example, a vehicle speed sensor that detects the speed (vehicle speed) of the own vehicle as a vehicle information of the own vehicle, or a GPS (Global Positioning System) that measures the position of the vehicle using an artificial satellite, for example. ) Positioning signals such as signals, position signals transmitted from information transmission devices outside the host vehicle, magnetic action with, for example, a base point marker placed on the road, and detection by appropriate gyro sensors, acceleration sensors, etc. Based on the results, a position sensor that detects the current position and traveling direction of the host vehicle, a yaw angle (rotation angle around the vertical axis of the vehicle center of gravity) and a yaw rate (rotational angular velocity around the vertical axis of the vehicle center of gravity) are detected. Yaw rate sensor, steering angle (direction and magnitude of the steering angle input by the driver), steering angle sensor that detects the actual steering angle (steering angle) according to the steering angle, and friction between each tire and the road surface It includes a sensor that detects the number, each sensor that detects the on / off state of the direction indicator and the brake, and the like.

  The communication device 12 transmits and receives various types of information by inter-vehicle communication with other vehicles. Here, for example, other vehicle information transmitted from other vehicles such as a preceding vehicle and an oncoming vehicle is information related to the vehicle state of the other vehicle, such as speed and movement trajectory (position) and yaw angle or yaw rate and actual steering angle. These include the on / off state of the direction indicator and the brake, the road state (for example, the friction coefficient of the road surface with respect to the tire, the road surface gradient, and the like).

  The map data storage device 13 is configured by a computer-readable storage medium such as a magnetic disk device or an optical disk device. The map data storage device 13 stores road width data, road information such as intersection angles of multiple roads, intersection shapes and positions, and the like as map data for displaying a map in a navigation device or the like. .

The external imaging device 14 is configured to include a camera and an image processing unit such as a CCD camera or a CMOS camera that can image in the visible light region or the infrared region, for example.
For example, the camera is disposed at a position near the rear-view mirror on the vehicle interior side of the front window, and images the outside of a predetermined detection range in front of the host vehicle through the front window.
In addition, the image processing unit performs predetermined image processing such as filtering and binarization processing on the image obtained by photographing with the camera, and generates image data including pixels of a two-dimensional array, thereby processing the device. 17 output.

  The braking device 15 is, for example, a brake control device, a throttle control device, or the like, and controls the brake fluid pressure, the throttle opening, etc. according to a control signal input from the processing device 17, and applies braking force to the host vehicle. Make it work.

The alarm device 16 includes, for example, a tactile transmission device, a visual transmission device, and an auditory transmission device.
The tactile transmission device is, for example, a seat belt device, a steering control device, or the like. In response to a control signal input from the processing device 17, for example, a predetermined tension is generated on the seat belt so that the occupant of the host vehicle is tactile. Applying a perceptible tightening force to the vehicle or generating vibrations that can be perceived tactilely by the driver of the vehicle (steering vibrations) on the steering wheel, for example, the need to stop the vehicle at the intersection To recognize.
The visual transmission device is, for example, a display device or the like, and according to a control signal input from the processing device 17, for example, by displaying predetermined alarm information on the display device or blinking a predetermined alarm light, Let the occupant recognize the necessity of stopping the vehicle at the intersection.
The auditory transmission device is, for example, a speaker or the like, and outputs a predetermined warning sound or voice in response to a control signal input from the processing device 17, thereby confirming the necessity of stopping the vehicle at the intersection. To recognize.

  For example, the processing device 17 includes a host vehicle position extraction unit 21, a host vehicle speed extraction unit 22, an intersection detection unit 23, an image recognition unit 24, an other vehicle state extraction unit 25, a stop determination unit 26, and a determination result. A storage unit 27 and a driving support determination unit 28 are provided.

The own vehicle position extraction unit 21 extracts the position of the own vehicle from the own vehicle information output from the own vehicle state detection unit 11.
The own vehicle speed extraction unit 22 extracts the speed of the own vehicle from the own vehicle information output from the own vehicle state detection unit 11.

  The intersection detection unit 23 uses the map data stored in the map data storage device 13, the position of the host vehicle input from the host vehicle position extraction unit 21, and the speed of the host vehicle output from the host vehicle speed extraction unit 22. Based on this, for example, map matching processing is performed, an intersection existing in the forward direction of the own vehicle is detected, information on necessity of stopping operation of the own vehicle at this intersection is extracted, and from the position of the own vehicle to the intersection Detect the distance.

  The image recognition unit 24 is based on the image data output from the external imaging device 14, for example, by a recognition process for a stop sign or a stop line on the road surface ahead of the traveling direction of the own vehicle, The necessity of the stop operation | movement of the own vehicle in the intersection which exists in is detected.

  The other vehicle state extraction unit 25 extracts information on the position and traveling state of the other vehicle based on the other vehicle information received from the other vehicle by the communication device 12, for example, a traveling locus based on a time change of the position of the other vehicle, for example, It detects the presence or absence of a brake operation and the presence or absence of a stop operation based on a change in vehicle speed over time.

The stop determination unit 26 determines whether or not a stop operation is required at an intersection existing in front of the traveling direction of the host vehicle extracted or detected based on the map data and the image data, or traveling of the other vehicle detected based on other vehicle information. Based on the trajectory and the presence / absence of a stop operation, it is determined whether or not it is necessary to temporarily stop at an intersection existing ahead in the traveling direction of the host vehicle, and the determination result history at this intersection is stored in the determination result storage unit 27.
In addition, when it is difficult for the stop determination unit 26 to determine whether or not it is necessary to temporarily stop at an intersection existing ahead in the traveling direction of the host vehicle based on the map data or the image data and the other vehicle information, for example, backlighting or rain In the case where the imaging environment of the external imaging device 14 is poor, such as in a snowfall state or the like, or when the external imaging device 14 itself has an abnormality, and further, other desired vehicle information cannot be acquired, etc. Based on the history of determination results stored in the result storage unit 27, it is determined whether or not it is necessary to pause at the intersection.

  The travel support determination unit 28 sets a travel support level based on the determination result of the stop determination unit 26 and the vehicle information of the host vehicle output from the host vehicle state detection unit 11, and the braking device 15 is set according to the travel support level. And the alarm device 16 is activated. For example, when the driving determination unit 28 determines that the stop determination unit 26 needs to temporarily stop at an intersection existing ahead in the traveling direction of the host vehicle, the driving support determination unit 28 determines whether the host vehicle is at a predetermined alarm position before the intersection. When the vehicle arrives at the vehicle, information that prompts execution of a temporary stop is output, and the vehicle is automatically decelerated when the vehicle reaches a predetermined deceleration position in a state where the vehicle speed is equal to or higher than the vehicle speed.

  The vehicle driving support apparatus according to the present embodiment has the above-described configuration. Next, the operation of the vehicle driving support apparatus will be described.

First, for example, in step S01 shown in FIG. 2, it is determined whether or not the imaging state of the external imaging device 14 of the host vehicle is good.
If this determination is “NO”, the flow proceeds to step S 04 described later.
On the other hand, if this determination is “YES”, the flow proceeds to step S 02.
In step S02, based on the information on whether or not the stop operation is necessary at the intersection existing in front of the traveling direction of the host vehicle extracted or detected based on the map data and the image data, the stop of the host vehicle at the intersection is stopped. Determine whether it is necessary.
And in step S03, the alerting | reporting operation | movement according to the determination result of the necessity of the temporary stop of the own vehicle in an intersection is performed, and a series of processes are complete | finished.

In step S04, there is an oncoming vehicle or another vehicle in front of the vehicle that is approaching an intersection node (for example, node A shown in FIG. 3) that exists ahead of the traveling direction of the host vehicle on the map data. It is determined whether other vehicle information has been acquired from another vehicle by communication.
If this determination is “NO”, the flow proceeds to step S 08 described later.
On the other hand, if this determination is “YES”, the flow proceeds to step S 05.
In step S05, based on the acquired other vehicle information, it is determined whether the oncoming vehicle or the preceding vehicle has performed a stop operation at a position before the node at the intersection.
If the determination result in step S05 is “YES”, the process proceeds to step S06. In this step S06, when the host vehicle reaches a predetermined position before the intersection node on the map data, a temporary stop is executed. The prompting information is output, and the series of processing ends.
On the other hand, if the determination result in step S05 is “NO”, the process proceeds to step S07, and in this step S07, notification of information on the intersection is prohibited, and a series of processing ends.

In step S08, communication is performed in the past from an oncoming vehicle or a preceding vehicle that is approaching an intersection node (for example, node A shown in FIG. 3) that is ahead in the traveling direction of the host vehicle on the map data. It is determined whether other vehicle information was acquired by.
If this determination is “NO”, the flow proceeds to step S 10 described later.
On the other hand, if this determination is “YES”, the flow proceeds to step S 09.
In step S09, it is determined in the past whether or not information that prompts execution of a pause at the intersection has been output based on the acquired other vehicle information.
If this determination is “YES”, the flow proceeds to step S 06 described above.
On the other hand, if this determination is “NO”, the flow proceeds to step S 07 described above.
In step S10, the execution of the series of driving support operations is stopped, the execution stop information is notified, and the series of processes ends.

As described above, according to the vehicle driving support device 10 according to the present embodiment, the vehicle is traveling at the intersection based on the information on the position of the preceding vehicle or the oncoming vehicle that is actually traveling at the intersection that the host vehicle is traveling and the traveling state information. For example, when the imaging state of the external imaging device 14 mounted on the host vehicle is not good, the imaging environment is poor, for example, backlighting, raining, or snowing. Even if, for example, an abnormality occurs in the external imaging device 14 itself, appropriate driving assistance can be performed according to the determination result of whether or not it is necessary to temporarily stop at the intersection.
In addition, when determining whether or not it is necessary to temporarily stop at the intersection, for example, by referring to a history of determination results based on information received from a preceding vehicle or an oncoming vehicle with respect to the intersection, the external imaging device 14 mounted on the own vehicle, for example. Even if the imaging state is not good and the desired other vehicle information cannot be acquired, it is possible to accurately determine whether or not it is necessary to pause at the intersection.

1 is a configuration diagram of a vehicle driving support apparatus according to an embodiment of the present invention. It is a flowchart which shows operation | movement of the driving assistance device of the vehicle which concerns on embodiment of this invention. It is a figure which shows an example of the relative position of the own vehicle in the node periphery of an intersection, an oncoming vehicle, and a preceding vehicle.

Explanation of symbols

DESCRIPTION OF SYMBOLS 10 Vehicle drive assistance apparatus 12 Communication apparatus (reception means)
14 External imaging device (imaging means)
16 Alarm device (notification means)
23 Intersection detection unit (intersection recognition means)
24 Image recognition unit (image recognition means)
26 Stop determination unit (determination means)
27 Determination result storage unit (storage means)
28 Driving support determination unit (driving support means)
Step S01 Pass / Fail Judgment Unit

Claims (5)

An intersection recognition means for recognizing an intersection in the traveling direction of the own vehicle;
A vehicle driving support device comprising a receiving means for receiving information including the position of other vehicles and travel information,
Determination means for determining whether or not a temporary stop is required at an intersection recognized by the intersection recognition means based on information received by the reception means from at least one of a preceding vehicle and an oncoming vehicle;
A driving support device for a vehicle comprising driving support means for supporting driving of the host vehicle based on a determination result by the determination means. Photographing means for photographing an area in the traveling direction of the own vehicle;
Image recognition means for recognizing a stop sign or a stop line based on a photographed image of the photographing means,
2. The vehicle driving support according to claim 1, wherein the determination unit determines whether or not a temporary stop is necessary based on one of the information received by the reception unit and a recognition result of the image recognition unit. apparatus. A pass / fail judgment means for judging pass / fail of the recognition state of the image recognition means;
The determination means determines whether or not it is necessary to temporarily stop based on the recognition result of the image recognition means when the quality determination means determines that the quality is good, and the quality determination means determines that the quality is bad. The vehicle driving support device according to claim 2, wherein whether or not a temporary stop is necessary is determined based on the information received by the receiving unit. A storage unit for storing a history of determination results of whether or not the suspension is necessary by the determination unit based on the information received by the reception unit;
4. The determination unit according to claim 1, wherein the determination unit determines whether or not a temporary stop is necessary based on the history stored in the storage unit related to the intersection recognized by the intersection recognition unit. The vehicle driving support device according to one. Provided with notifying means for notifying the passenger of the own vehicle of appropriate information,
The said notification means performs notification when the own vehicle is located in the predetermined position before the said intersection, when it determines with the temporary stop being required by the said determination means. Item 5. The vehicle driving support device according to any one of Items 4 to 5.

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