JP2007164223A - Device and method for detecting temporary stop intersection - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a detection device and method for detecting temporary stop intersection by which a driver can detect an intersection where one's own vehicle should temporarily stop even when the driver does not have much experience in traveling. <P>SOLUTION: This device for detecting temporary stop intersection is provided with: a current location detecting means 4 for detecting the current location of one's own vehicle; a speed detecting means 2 for detecting the speed of one's own vehicle; an intersection location information storing means 3 for storing the intersection location information; an intersection approaching status detection part 11 for detecting the approaching status of one's own vehicle to the intersection based on the current location and speed of one's own vehicle and the intersection location information; an other vehicle detection means 5 for detecting the traveling status of the preceding vehicle existing in the periphery of one's own vehicle when the one's own vehicle approaches the intersection; and a temporary stop intersection deciding part 12 for deciding whether or not the intersection ahead of one's own vehicle is an intersection where one's own vehicle should temporarily stop based on the intersection approaching status of one's own vehicle and the traveling status of the preceding vehicle. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention belongs to the technical field of a temporary stop intersection detection device and a temporary stop intersection detection method for detecting whether or not an intersection in front of the host vehicle is an intersection to be temporarily stopped.

In the conventional stop intersection detection device, the speed information and position information of the host vehicle are stored in the travel information storage device, and an intersection that requires a stop is detected from the stored speed information and position information of the host vehicle. (For example, refer to Patent Document 1).
JP 2005-174282 A

  However, in the above prior art, since it is detected whether or not the intersection needs to be temporarily stopped based on the accumulated past speed information and position information, the intersection that passes for the first time and the number of times of passage are small. At an intersection, it may not be possible to determine whether the intersection needs to be paused.

  The present invention has been made paying attention to the above-mentioned problem, and the purpose thereof is to detect a stop at an intersection where the own vehicle can detect an intersection that should be temporarily stopped even when there is little traveling experience. It is to provide an apparatus and a method for detecting a suspended intersection.

In order to achieve the above object, the present invention provides:
Current position detection means for detecting the current position of the host vehicle;
Speed detecting means for detecting the speed of the host vehicle;
Intersection position information storage means for storing intersection position information;
An intersection approach state detecting means for detecting an approach state of the host vehicle to the intersection based on the current position and speed of the host vehicle and the intersection position information;
Other vehicle detection means for detecting at least one traveling state of a preceding vehicle, an oncoming vehicle or an intersection vehicle existing around the own vehicle when the own vehicle approaches the intersection;
Based on the intersection approaching state of the host vehicle and the traveling state of the other vehicle, a paused intersection determination unit that determines whether the intersection in front of the host vehicle is an intersection to be paused;
It is characterized by providing.

  Here, the “preceding vehicle” refers to a vehicle traveling in front of the host vehicle. “An oncoming vehicle” refers to a vehicle that approaches an intersection from a direction opposite to the traveling direction of the host vehicle. In addition, the “intersection vehicle” refers to an intersection lane that intersects the traveling lane of the host vehicle at the intersection or a vehicle that travels within the intersection.

In the temporary stop intersection detection apparatus according to the present invention, whether or not the intersection in front of the host vehicle is an intersection to be temporarily stopped is stabilized based on the intersection approaching state of the host vehicle and the traveling state of the other vehicle. That is, paying attention to the fact that the vehicle behavior of the preceding vehicle, the oncoming vehicle, or the crossing vehicle changes depending on whether or not the front intersection is to be temporarily stopped, the vehicle approaching behavior of the own vehicle and the vehicle behavior of the other vehicle Based on the above, an intersection to be paused is detected in real time.
As a result, it is possible to detect an intersection at which the host vehicle should temporarily stop even when there is little traveling experience.

  Hereinafter, the best mode for carrying out the present invention will be described based on Examples 1 to 3.

First, the configuration will be described.
FIG. 1 is a system configuration diagram of a temporary stop intersection detection apparatus according to a first embodiment. The temporary stop intersection detection apparatus according to the first embodiment includes a controller 1, a speed detection means 2, an intersection position information storage means 3, a current Position detecting means 4, other vehicle detecting means 5, and alarm device (alarm means) 6 are provided.

The speed detection means 2 is a vehicle speed sensor, for example, and detects the traveling speed of the host vehicle from the rotational speed of the wheels.
The intersection position information storage means 3 stores information such as the intersection position, the type of intersection (the presence or absence of traffic lights), the number of the road connected to the intersection (link number), and the like in a database. Here, as the intersection position information storage means 3, for example, use of a map database of a navigation device storing intersection position information or road-to-vehicle communication may be used.

The current position detection means 4 detects the current position of the host vehicle using, for example, a GPS receiver or road-to-vehicle communication.
The controller 1, speed detection means 2, intersection position information storage means 3, and current position detection means 4 are mounted on the vehicle as one unit A.

  The other vehicle detecting means 5 is attached to the front of the vehicle in the forward direction and includes a laser radar that irradiates the front of the host vehicle, and detects the presence of the preceding vehicle, the inter-vehicle distance and the speed when approaching the intersection. Here, as other vehicle detection means, an in-vehicle camera such as a CCD camera or a CMOS camera that captures the front of the host vehicle is provided, and the captured image is subjected to image processing to determine the presence of the preceding vehicle, the distance between the vehicles, and the speed when approaching the intersection. It may be detected.

  The alarm device 6 includes, for example, a monitor and an alarm buzzer installed in the vehicle interior, and generates an alarm and alerts the driver's attention according to a command from the controller 1.

  FIG. 2 is a control block diagram of the temporarily stopped intersection detection apparatus according to the first embodiment. The controller 1 includes an intersection approach state determination unit (intersection approach state detection unit) 11 and a temporarily stopped intersection determination unit (pause intersection determination unit). ) 12 and an alarm control unit 13.

  The intersection approach state determination unit 11 determines the approach state of the preceding vehicle based on signals detected by the intersection position information storage unit 3, the current position detection unit 4, and the speed detection unit 2. Further, when the temporary stop intersection determination unit 12 determines that the intersection in front of the host vehicle is an intersection to be temporarily stopped, that is, a temporary stop intersection, the approaching state of the host vehicle with respect to the temporary stop intersection is determined.

  The temporary stop intersection determination unit 12 is based on the information determined by the intersection approach state determination unit 11 and the information of the preceding vehicle detected by the other vehicle detection means 5, and the intersection at the road on which the host vehicle is traveling or an approaching intersection. It is determined whether or not the road is temporarily stopped with respect to the intersection, that is, whether or not the intersection ahead of the host vehicle is a temporarily stopped intersection.

  The warning control unit 13 determines whether or not to output a warning based on the approaching state of the host vehicle to the temporary stop intersection, and outputs the command to the warning device 6.

[Pause intersection detection control process]
3 and 4 are flowcharts showing the flow of the temporary stop intersection detection control process executed by the controller 1 of the first embodiment. Each step will be described below. This control process is repeatedly executed every predetermined calculation cycle (for example, 100 ms).

  In step S10, it is determined whether or not the ignition is ON. If it is ON, the process proceeds to step S20, and if NO, step S10 is repeated.

  In step S20, the current position detection means 4 and the speed detection means 2 detect the current position P and the own vehicle speed V of the running vehicle, and the process proceeds to step S30.

  In step S30, information on the traveling link Ln where the host vehicle is currently traveling, the intersection N approaching the intersection, and the intersection link Lnn intersecting the traveling link Ln at the intersection N is read out from the intersection position information storage means 3, step S40. Migrate to

  In step S40, based on the information read in step S30, it is determined whether or not the approaching intersection N is an intersection without a traffic signal. That is, if the approaching intersection is a signalized intersection, there is no need to detect a temporary stop intersection, but if it is a no-signal intersection, it is necessary to detect whether or not the traveling link of the host vehicle is on the temporary stop side. If YES, the process proceeds to step S41, and if NO, the process proceeds to step S260 (FIG. 4).

  In step S41, the past traveling record related to the no-signal intersection N is read from the memory built in the controller 1, and the process proceeds to step S42.

  In step S42, it is determined whether or not the travel link Ln or the travel record of the intersection link Lnn related to the no-signal intersection N can be read in step S41. If YES, the process proceeds to step S43, and if NO, the process proceeds to step S44.

  In step S43, feature counts N1 and N2 indicating the possibility that the traveling link Ln and the crossing link Lnn are temporarily stopped are read, and the process proceeds to step S50.

  In step S44, when there is no travel record of the travel link Ln and the cross link Lnn, the counts of the characteristics indicating the possibility that the travel link Ln and the cross link Lnn are temporarily stopped are N1 = 0 and N2 = 0, respectively. And the process proceeds to step S50.

  In step S50, a distance L to the intersection is calculated based on the current position of the host vehicle and the intersection position information, and the process proceeds to step S60.

  In step S60, it is determined whether the distance L to the intersection is less than 100 m. That is, here, it is examined whether or not the vehicle is approaching a sufficient distance to detect the preceding vehicle existing near the intersection. If YES, the process proceeds to step S70. If NO, step S60 is repeated, and the process waits until it becomes less than 100.

  In step S70, a preceding vehicle detection area Ls is set, and the process proceeds to step S80. A specific method for setting the preceding vehicle detection area Ls will be described with reference to FIG. Here, it is necessary to detect the traveling state of the preceding vehicle at the intersection approach position. Therefore, the presence area Ls of the preceding vehicle to be detected is, for example, L−R ≦ Ls ≦ L when the distance from the own vehicle to the intersection is L and the road width of the intersection road of the entering intersection N is R.

  In step S80, it is determined whether or not there is a traveling preceding vehicle in the preceding vehicle detection area Ls. If YES, the process proceeds to step S90, and if NO, the process proceeds to step S120.

  In step S90, the traveling speed Vs of the preceding vehicle is calculated, and the process proceeds to step S100. As a specific method for calculating the traveling speed Vs of the preceding vehicle, for example, the speed of the preceding vehicle is calculated from the speed V of the own vehicle detected by the speed detecting means 2 and the relative change in the distance from the own vehicle to the preceding vehicle. be able to.

  In step S100, it is determined whether or not the speed Vs of the preceding vehicle determined to be traveling in step S80 has become 10 km / h or less, that is, whether or not the vehicle has been temporarily stopped. If YES, the process moves to step S110, and if NO, the process moves to step S101.

  In step S101, a feature indicating that the travel link Ln of the host vehicle is not on the temporary stop side in step S100, that is, the possibility that the intersection link Lnn is on the temporary stop side is detected. , 1 is added to the count N2, and the process proceeds to step S120.

  In step S110, since the feature indicating the possibility that the travel link Ln of the host vehicle is temporarily stopped is detected in step S100, 1 is added to the count N1 by the expression N1 = N1 + 1, and the process proceeds to step S120. .

  In step S120, it is determined whether or not the host vehicle speed V is 10 km / h or less in a predetermined range (for example, 25 m) before the intersection (node). That is, it is determined whether or not the host vehicle is temporarily stopped. If YES, the process proceeds to step S130, and if NO, the process proceeds to step S121.

  In step S121, since the feature indicating the possibility that the travel link Ln of the host vehicle is not on the temporary stop side in the previous step S120, that is, the intersection link Lnn is on the temporary stop side, is detected, the formula N2 = N2 + 1 Thus, 1 is added to the count N2, and the process proceeds to step S122.

  In step S122, it is determined whether the count N2 is 2 or more. That is, it is determined whether or not two or more features indicating the possibility that the intersection link Lnn is on the pause side have been detected. If YES, the process moves to step S123, and if NO, the process moves to step S260.

  In step S123, since the minimum number of features indicating the possibility that the intersection link Lnn is temporarily stopped in the previous step S122 is secured, it is determined that the intersection link Lnn is temporarily suspended with respect to the intersection N. The process proceeds to step S170.

  In step S130, information on the stop position when entering the intersection is acquired, and the process proceeds to step S140. The stop position is set, for example, at a position where the vehicle speed is the lowest before the intersection. As the stop position information, the distance L to the intersection, the GPS coordinate value, and the like are acquired. This information is used to determine the necessity of alarm and set alarm timing when approaching a temporary stop intersection later.

  In step S140, since the characteristic indicating the possibility that the travel link Ln of the host vehicle is temporarily stopped is detected in the previous step S120, 1 is added to the count N1 by the formula N1 = N1 + 1, and the process proceeds to step S150. Transition.

  In step S150, it is determined whether or not the count N1 is 2 or more. That is, it is determined whether or not two or more features indicating the possibility that the travel link Ln of the host vehicle is on the temporary stop side have been detected. Here, a numerical value of 2 is a minimum numerical value that can determine that the travel link Ln is on the temporary stop side. Of course, if the numerical value increases, the determination accuracy improves. If YES, the process moves to step S160, and if NO, the process moves to step S260.

  In step S160, since the minimum number of features indicating the possibility that the travel link Ln of the host vehicle is on the temporary stop side in the previous step S150 is secured, the travel link Ln is on the temporary stop side with respect to the intersection N. Is determined. Furthermore, based on the stop position information acquired in the previous step S130, a temporary stop position when entering the intersection N is set, and the process proceeds to step S170.

  In step S170, the information that the travel link Ln determined in step S160 is temporarily stopped with respect to the intersection N and the information on the temporary stop position when entering the intersection N, or the intersection link Lnn determined in step S123 is the intersection. Information indicating that N is the temporary stop side is registered in the map database, and the process proceeds to step S180 (FIG. 4).

  Next, moving to FIG. 4, in step S180, the current position detecting means 4 and the speed detecting means 2 detect the current position P and the own vehicle speed V of the running vehicle, and the process proceeds to step S190.

  In step S190, information on the temporarily stopped intersection is read from the map database, and the process proceeds to step S200.

  In step S200, it is determined whether or not the own vehicle is approaching the temporary stop intersection, that is, whether or not the traveling link of the own vehicle is on the temporary stop side. If YES, the process moves to step S210, and if NO, the process moves to step S260.

  In step S210, a distance Lp from the current position P of the vehicle to the stop target position Pio, that is, the vicinity of the temporary stop line position is calculated, and the process proceeds to step S220. For the stop target position Pio, the actual stop position is acquired in step S130, and the position information set in step S160 based on this is used.

  In step S220 to step S240, it is determined whether or not the traveling state of the host vehicle satisfies the alarm operation condition.

  First, in step S220, it is determined whether or not the host vehicle speed V is a predetermined speed V0, for example, 10 km / h or more. If YES, the process moves to step S230, and if NO, the process moves to step S260.

  In step S230, it is determined whether or not the distance Lp from the current position P of the vehicle calculated in step S210 to the target stop position Pio is a predetermined distance L0, for example, 5 m or more. If YES, the process moves to step S240, and if NO, the process moves to step S260.

In step S240, it is determined whether or not the distance Lp is smaller than a predetermined value L expressed by the following equation (1) using the alarm activation adjustment time Ts, the speed V and the acceleration a of the host vehicle. If YES, the process moves to step S250, and if NO, the process moves to step S260.
L = Ts × V + V ² / 2a (1)
The predetermined value L calculated using the equation (1) indicates the travel distance when the host vehicle is braked at the acceleration a (<0) after traveling at the speed V for the time Ts, and an alarm is given when Lp <L. Operates. Here, the acceleration a is set to a value that allows the driver to brake with a sufficient margin without performing sudden braking.

  In step S250, an alarm command is output to the alarm device 6 to activate a temporary stop alarm, and the process proceeds to step S260.

  In step S260, it is determined whether or not the ignition switch has been turned off. When the ignition switch is turned off, the process proceeds to return, and this process is terminated. If the ignition switch is on, the process proceeds to step S20, and the above processing is repeated until it is turned off.

[Pause intersection detection control operation]
When the host vehicle is approaching the no-signal intersection, in the flowchart of FIG. 3, the process proceeds from step S10 → step S20 → step S30 → step S40 → step S41 → step S42. It is determined whether or not the travel record of the travel link Ln or the intersection link Lnn has been read out, that is, whether or not it is a no-signal intersection that has traveled in the past.

  If it is a no-signal intersection that has traveled in the past, the process proceeds to step S43, where the counts N1 and N2 set during the past travel are read. On the other hand, if it is a no-signal intersection that travels for the first time, the process proceeds from step S42 to step S44, and in steps S44, both the counts N1 and N2 are set to zero.

  Subsequently, the process proceeds from step S50 → step S60 → step S70 → step S80, and in step S80, it is determined whether or not there is a preceding vehicle that is running. When there is a traveling preceding vehicle, the process proceeds from step S90 to step S100, and when there is no traveling preceding vehicle, the process proceeds to step S120.

  In step S100, it is determined whether or not the preceding vehicle has paused. If the preceding vehicle has paused, the process proceeds to step S110, where the count N1 is incremented and if the preceding vehicle has not paused. In step S101, the count N2 is incremented.

  Next, in step S120, it is determined whether or not the host vehicle has temporarily stopped before the intersection. If the host vehicle stops temporarily before the intersection, the process proceeds from step S130 to step S140, and the count N1 is incremented. On the other hand, if the host vehicle does not pause before the intersection, the process proceeds to step S121, and the count N2 is incremented.

  When the host vehicle is temporarily stopped before the intersection, if it is determined in step S150 that the count N1 is 2 or more, the process proceeds from step S160 to step S170. In step S160, the intersection in front of the host vehicle is temporarily In step S170, information indicating that the travel link Ln is temporarily stopped with respect to the intersection N and information on the temporary stop position when entering the intersection N are registered in the map database. .

  If the vehicle does not pause before the intersection, and if it is determined in step S112 that the count N2 is 2 or more, the process proceeds from step S123 to step S170. In step S123, the intersection lane is paused. In step S170, information that the intersection link Lnn is temporarily stopped with respect to the intersection N is registered in the map database.

After step S170, it is determined in step S220 that the speed V of the host vehicle is equal to or greater than the predetermined speed V0 (10 km / h), and in step S230, the distance Lp from the current position P to the stop target position Pio is equal to or greater than the predetermined distance L0 (5 m). Only when it is determined in step S240 that the predetermined value L is less than Ts × V + V ² / 2a, an alarm command is output to the alarm device 6 in step S250.

Next, the operation of the temporary stop intersection determination unit 12 which is a main component of the temporary stop detection device of the first embodiment will be described.
[Pause intersection detection]
In Example 1, when the own vehicle is approaching a no-signal intersection, whether or not the preceding vehicle is temporarily stopped is detected in Step S100, and whether or not the own vehicle is temporarily stopped is detected in Step S120. It is determined whether the travel link Ln is on the temporary stop side or the intersection link Lnn at the intersection N is on the temporary stop side.

  At this time, even when the preceding vehicle traveling in front of the host vehicle is temporarily stopped and the host vehicle is temporarily stopped, even when the host vehicle is approaching a temporarily stopped intersection that has not traveled in the past. The count N1 = 2, and in step S160, it is determined that the intersection ahead of the host vehicle is a temporarily stopped intersection, so that the temporarily stopped intersection can be detected.

  On the other hand, even if there is no preceding vehicle, if the host vehicle is approaching a temporarily stopped intersection that has traveled in the past, the count N1 set during the past travel is read in step S43. Here, the count N1 is set to 2 when it is determined that the intersection is a temporary stop at the previous travel. Further, even when the vehicle is not determined to be a temporary stop intersection at the time of the previous run, 1 is set when the host vehicle is temporarily stopped. Therefore, in step S160, the intersection ahead of the host vehicle is determined to be a temporarily stopped intersection based on the count N1 = 2, so that the temporarily stopped intersection can be detected.

  Conventionally, since the stop intersection is detected only by the temporary stop information of the own vehicle, a certain number of learning times, that is, traveling experience is required. In the first embodiment, the preceding vehicle is relatively easy to detect. Since the temporary stop information is also detected and the temporary stop intersection is detected, if there is a preceding vehicle when approaching the temporary stop intersection, the number of times of learning is reduced. Thus, it is possible to provide support by warning even in a scene where the driving support function at the time of approaching an intersection such as a pause warning has not been activated in the learning stage.

  In the first embodiment, it is detected in step S80 whether or not the traveling preceding vehicle has stopped. This is in order to distinguish between a vehicle that has stopped for a long time near the intersection, such as a parked vehicle, and a preceding vehicle that temporarily stops when entering the intersection. Normally, a vehicle that is temporarily stopped decelerates from the running state, pauses, and starts, so it is possible to detect continuous movements of running, stopping (or slowing down), running and preceding vehicles. In addition, it is possible to distinguish between a temporarily stopped vehicle and a parked vehicle, and the determination accuracy of the temporarily stopped intersection is improved.

  In the first embodiment, when it is determined that the host vehicle is approaching the temporary stop intersection, the distance Lp to the target stop position Pio set before the temporary stop line exceeds the stop position when braking is performed at the acceleration a. In this case, an alarm is output to alert the driver, so that after the alarm is output, the driver can pause the vehicle with a margin.

Next, the effect will be described.
In the temporary stop intersection detection apparatus according to the first embodiment, the following effects can be obtained.

  A current position detecting means 4 for detecting the current position of the own vehicle, a speed detecting means 2 for detecting the speed of the own vehicle, an intersection position information storing means 3 for storing intersection position information, and the current position and speed of the own vehicle. And the intersection approach state detection unit 11 for detecting the approach state of the own vehicle to the intersection, and the traveling state of the preceding vehicle existing around the own vehicle when the host vehicle approaches the intersection A temporary stop intersection determination unit that determines whether or not the intersection ahead of the host vehicle is to be temporarily stopped based on the other vehicle detection means 5 that performs, the intersection approach state of the host vehicle and the traveling state of the preceding vehicle 12, even when there is little traveling experience, it is possible to detect an intersection where the host vehicle should be temporarily stopped.

  The temporary stop intersection determination unit 12 determines whether or not the intersection in front of the host vehicle is an intersection that should be temporarily stopped based on past intersection traveling experience. Can be increased.

  -When the preceding vehicle is temporarily stopped before the intersection, the temporary stop intersection determination unit 12 determines that the intersection in front of the host vehicle is likely to be an intersection that should be temporarily stopped. It can be detected using a highly versatile means such as a preceding vehicle detection means of an ACC system.

  The temporary stop intersection determination unit 12 determines that the intersection in front of the host vehicle is likely to be an intersection to be temporarily stopped when the preceding vehicle that is running stops before the intersection. The vehicle can be distinguished from the parked vehicle, and the determination accuracy of the temporary stop intersection can be further increased.

  -Since the warning device 6 that issues a warning to the driver according to the approaching state of the vehicle to the temporary stop intersection is provided, the driver can be alerted by the presence of the temporary stop intersection, The protrusion can be suppressed.

  ・ Detects the current position of the host vehicle, detects the speed of the host vehicle, stores intersection position information, and determines the approach state of the host vehicle to the intersection based on the current position and speed of the host vehicle and the intersection position information. Detecting and detecting at least one traveling state of a preceding vehicle, an oncoming vehicle or an intersecting vehicle existing around the own vehicle when the own vehicle approaches the intersection, and determining that the own vehicle's intersection approaching state and the traveling state of another vehicle Based on this, since it is determined whether or not the intersection ahead of the host vehicle is an intersection that should be temporarily stopped, it is possible to detect the intersection that the host vehicle should stop even if the vehicle has little experience.

  Based on the procedure for detecting the current position of the host vehicle, the procedure for detecting the speed of the host vehicle, the procedure for storing the intersection position information, the current position and speed of the host vehicle, and the intersection position information. A procedure for detecting an approaching state to an intersection, a procedure for detecting at least one traveling state of a preceding vehicle, an oncoming vehicle, or an intersection vehicle existing around the own vehicle when the host vehicle approaches the intersection, and an intersection of the host vehicle And a procedure for determining whether the intersection ahead of the host vehicle is an intersection to be temporarily stopped based on the approaching state and the traveling state of the other vehicle. It is possible to detect an intersection where the host vehicle should be temporarily stopped.

  Example 2 is an example in which the traveling state of an oncoming vehicle approaching an intersection is detected.

First, the configuration will be described.
The system configuration diagram and control block diagram of the temporary stop intersection detection device of the second embodiment are the same as the control block diagrams shown in FIGS. 1 and 2, but the other vehicle detection means 5 of the second embodiment is the same as that of the oncoming vehicle. Detect intersection approaching state.

  The temporary stop intersection determination unit 12 is based on the information determined by the intersection approach state determination unit 11 and the information of the oncoming vehicle detected by the other vehicle detection means 5, or the intersection road at the intersection where the host vehicle is traveling. However, it is determined whether or not the intersection is on the temporary stop side, that is, whether or not the intersection in front of the host vehicle is the temporary stop intersection.

[Pause intersection detection control process]
FIG. 6 is a flowchart showing the flow of the temporary stop intersection detection control process executed by the controller 1 of the second embodiment. Each step will be described below.

  The processing from step S10 to step S60 is the same as the processing from step S10 to step S60 shown in FIG.

  In step S270, an oncoming vehicle detection area Lt is set, and the process proceeds to step S280. A specific setting method will be described with reference to FIG. Here, it is necessary to detect the running state of the oncoming vehicle at the intersection approach position on the opposite side road. Therefore, the oncoming vehicle presence area Lt to be detected is L ≦ Lt ≦ L + R, for example, when the distance from the host vehicle to the intersection is L and the road width of the intersection road of the entering intersection N is R.

  In step S280, it is determined whether there is an oncoming vehicle in the oncoming vehicle detection area Lt. Here, the reason for detecting a running oncoming vehicle is to distinguish between a vehicle that has stopped for a long time near the intersection, such as a parked vehicle, and an oncoming vehicle that temporarily stops when entering the intersection. Normally, a vehicle that is temporarily stopped decelerates from the running state, pauses, and starts, so if you detect the continuous movement of the oncoming vehicle that runs, stops (or slows down), runs, It is possible to distinguish between a temporarily stopped vehicle and a parked vehicle. If there is an oncoming vehicle, the process proceeds to step S290, and if not, the process proceeds to step S120.

  In step S290, the traveling speed Vt of the oncoming vehicle is calculated, and the process proceeds to step S300. As a specific calculation method, the speed Vt of the oncoming vehicle can be calculated from the speed V of the own vehicle detected by the speed detecting means 2 and the relative change in the distance from the own vehicle to the oncoming vehicle.

  In step S300, it is determined whether or not the speed Vt of the oncoming vehicle determined to be traveling in step S280 has become 10 km / h or less, that is, whether or not the vehicle has temporarily stopped. If YES, the process proceeds to step S310, and if NO, the process proceeds to step S301. If YES is determined in step S300, it can be determined that the link facing the intersection and the traveling link Ln of the host vehicle are on the temporary stop side.

  In step S301, since the link that faces the intersection in step S300 and the travel link Ln of the own vehicle are not temporarily stopped, that is, the feature indicating the possibility that the intersection link Lnn is temporarily stopped is detected. The number of oncoming vehicles detected as N2 is added, and the process proceeds to step S120.

  In step S310, the number of oncoming vehicles passing at a speed Vt of 10 km / h or less is counted, the number of oncoming vehicles detected in N1 is added, and the process proceeds to step S120. Here, when the number of oncoming vehicles is more than one, the amount of information indicating the possibility that the travel link Ln of the host vehicle is on the temporary stop side is large. It will be expensive.

  The processing from step S120 to step S260 is the same as the processing from step S120 to step S260 shown in FIGS. 3 and 4 of the first embodiment.

[Pause intersection detection control operation]
If the host vehicle is approaching the no-signal intersection, it is determined in step S280 whether there is an oncoming vehicle that is traveling. If there is a running oncoming vehicle, the process proceeds from step S290 to step S300. If there is no running oncoming vehicle, the process proceeds to step S120.

  In step S300, it is determined whether the oncoming vehicle is temporarily stopped. If the oncoming vehicle is temporarily stopped, the process proceeds to step S310, and the number of oncoming vehicles passing is added to the count N1. If the oncoming vehicle has not stopped temporarily, the process proceeds to step S301, and the number of oncoming vehicles passing is added to the count N2.

Next, the operation of the temporary stop intersection determination unit 12 that is a main component of the temporary stop detection device of the second embodiment will be described.
[Pause intersection detection]
In the second embodiment, when detecting a stop intersection, whether or not the oncoming vehicle is temporarily stopped is detected in step S300, and whether or not the own vehicle is temporarily stopped is detected in step S120, and the travel link Ln of the own vehicle is detected. It is determined whether the opposite link is on the temporary stop side or the intersection link Lnn at the intersection is on the temporary stop side.

  At this time, even if the host vehicle is approaching a temporarily stopped intersection with no experience of traveling in the past, if the oncoming vehicle approaching the intersection N is temporarily stopped and the host vehicle is temporarily stopped, The count N1 = 2, and in step S160, it is determined that the intersection ahead of the host vehicle is a temporarily stopped intersection, so that the temporarily stopped intersection can be detected.

  Conventionally, since the temporary stop intersection is detected only by the temporary stop information of the own vehicle, a certain number of times of learning is required. In the second embodiment, the temporary stop intersection of the oncoming vehicle is also included. Therefore, when there is an oncoming vehicle when approaching a temporarily stopped intersection, the number of learning is reduced. In addition, when the preceding vehicle is detected directly without using infrastructure etc., only one vehicle can be detected. However, even if several oncoming vehicles have entered the intersection continuously, they will be detected each time. It is possible. This is particularly effective when the traffic volume of the traveling link of the host vehicle is small and the traffic volume of the opposite link is large. As a result, it is possible to provide support even in a scene where the driving support function at the time of approaching an intersection such as a pause warning has not been activated in the conventional learning stage.

Next, the effect will be described.
In the temporary stop intersection detection apparatus according to the second embodiment, the following effects can be obtained.

  -When the oncoming vehicle is temporarily stopped before the intersection, the temporary stop intersection determination unit 12 uses infrastructure or the like to determine that the intersection ahead of the host vehicle is likely to be an intersection to be temporarily stopped. Even when there is no self-supporting detection means, it is possible to acquire information on a plurality of vehicles, and to detect a temporarily stopped intersection even if the number of intersection traffic is small.

  Example 3 is an example in which the traveling state of an intersecting vehicle traveling at an intersection is detected.

First, the configuration will be described.
The system configuration diagram and control block diagram of the temporarily stopped intersection detection device of the third embodiment are the same as the control block diagrams shown in FIGS. 1 and 2, but the other vehicle detection means 5 of the third embodiment is the same as that of the intersection vehicle. Detect intersection approaching state.

  The temporary stop intersection determination unit 12 is based on the information determined by the intersection approach state determination unit 11 and the information of the intersection vehicle detected by the other vehicle detection means 5, or the intersection road at the intersection where the host vehicle is traveling. However, it is determined whether or not the intersection is on the temporary stop side, that is, whether or not the intersection in front of the host vehicle is the temporary stop intersection.

[Pause intersection detection control process]
FIG. 8 is a flowchart showing the flow of the temporary stop intersection detection control process executed by the controller 1 of the third embodiment. Each step will be described below.

The processing from step S10 to step S60 is the same as the processing from step S10 to step S60 shown in FIG.
The

  In step S370, an intersection vehicle detection area Lc is set, and the process proceeds to step S380. A specific setting method will be described with reference to FIG. Here, it is necessary to detect the traveling state of the intersecting vehicle on the intersecting road. Accordingly, the intersection vehicle existence area Lc to be detected can be approximated by Lc = L · Tanθ when the distance from the host vehicle to the intersection is L and the line-of-sight angle at the entering intersection N is θ. Alternatively, when the road width of the traveling link is R, Lc = R may be set.

  In step S380, it is determined whether or not there is an intersecting vehicle traveling at a predetermined speed (30 km / h) or more in the intersecting vehicle detection area Lc. If an intersecting vehicle exists, the process proceeds to step S390, and if not, the process proceeds to step S120. Here, the reason for detecting a crossing vehicle while traveling will be described. Even if the intersection road is the priority road side, it may be stopped due to traffic jams or waiting for traffic lights at adjacent intersections. It is difficult to determine whether or not. However, when the crossing vehicle is running, the vehicle on the priority side passes straight ahead at approximately the same speed and at a higher vehicle speed, and the vehicle on the temporary stop side passes through stop acceleration or start acceleration and passes through. It is low. From these characteristics, it is possible to distinguish the characteristics on the priority side and the pause side.

  In step S390, the passing speed Vc of the intersecting vehicle is calculated, and the process proceeds to step S400. As a specific calculation method, the time t during which the crossing vehicle passes through the detection area Lc can be calculated, and the passing speed Vc can be calculated using the formula Vc = Lc / t.

  In step S400, it is determined whether or not the crossing vehicle is traveling straight at substantially the same speed and at a higher vehicle speed depending on whether or not the passing speed Vc of the crossing vehicle is 30 km / h or higher. If YES, the process moves to step S410, and if NO, the process moves to step S401. If YES is determined in step S400, a feature indicating that the intersection link Lnn may be a priority side and the possibility that the travel link Ln of the host vehicle is a temporary stop side is detected.

  In step S410, the number of crossing vehicles whose speed Vc is 30 km / h or more is counted, the number of crossing vehicles detected in N1 is added, and the process proceeds to step S120. Here, when the number of crossing vehicles is more than one, the amount of information indicating the possibility that the traveling link Ln of the own vehicle is on the temporary stop side is large, and if more are detected, the possibility is high It will be expensive.

  In step S401, since the feature indicating the possibility that the travel link Ln of the host vehicle is not on the temporary stop side in step S400, that is, the intersection link Lnn is on the temporary stop side is detected, the intersection detected at N2 is detected. The number of passing vehicles is added, and the process proceeds to step S120.

  The processing from step S120 to step S260 is the same as the processing from step S120 to step S260 shown in FIGS. 3 and 4 of the first embodiment.

[Pause intersection detection control operation]
If the host vehicle is approaching the no-signal intersection, it is determined in step S380 whether there is a traveling intersection vehicle. If there is a crossing vehicle that is traveling, the process proceeds from step S390 to step S400. If there is no crossing vehicle that is traveling, the process proceeds to step S120.

  In step S400, it is determined whether or not the passing speed Vc of the crossing vehicle is equal to or higher than a predetermined speed (30 km / h). If the passing speed Vc is equal to or higher than 30 km / h, the process proceeds to step S410 and count N1 is reached. The number of crossing vehicles is added. When the passing speed Vc is less than 30 km / h, the process proceeds to step S401, and the number of crossing vehicles is added to the count N2.

Next, the operation of the temporary stop intersection determination unit 12 which is a main component of the temporary stop detection device of the third embodiment will be described.
[Pause intersection detection]
In the third embodiment, when detecting a temporarily stopped intersection, the passing speed Vc of the intersecting vehicle is detected in step S400, and whether or not the own vehicle is temporarily stopped is detected in step S120 to face the traveling link Ln of the own vehicle. It is determined whether the link is on the pause side or the intersection link at the intersection is on the pause side.

  At this time, even if the host vehicle is approaching a temporarily stopped intersection that has not traveled in the past, the intersecting vehicle passes the intersection at a predetermined speed of 30 km / h or more and the host vehicle is temporarily stopped. Therefore, the count N1 = 2 is set, and in step S160, it is determined that the intersection in front of the host vehicle is a temporarily stopped intersection, so that the temporarily stopped intersection can be detected.

  Conventionally, since the temporary stop intersection is detected only with the temporary stop information of the own vehicle, a certain number of times of learning is necessary. In the third embodiment, the passing speed information of the crossing vehicle is also included in the information on the temporary stop intersection. Since detection is performed, if there is an intersecting vehicle when approaching a temporarily stopped intersection, the number of learnings is reduced. Usually, the traffic volume at the intersection is higher on the priority side than on the temporary stop side, and is therefore effective when the traffic volume of the traveling link of the host vehicle or the opposite link is small and the traffic volume of the intersecting link is large. As a result, it is possible to provide support even in a scene where the driving support function at the time of approaching an intersection such as a pause warning has not been activated in the conventional learning stage.

Next, the effect will be described.
In the temporary stop intersection detection apparatus according to the third embodiment, the following effects can be obtained.

  The temporary stop intersection determination unit 12 determines that the intersection ahead of the host vehicle is likely to be an intersection to be temporarily stopped when the intersecting vehicle passes through the intersection at a predetermined speed of 30 km / h or more. That is, when the lane side of the host vehicle is a non-priority road, the traffic volume of the intersection lane that is the priority road is large, and when the host vehicle is on the non-priority road, the probability is higher than encountering a preceding vehicle or an oncoming vehicle. Get higher. Therefore, the detection accuracy of the temporarily stopped intersection can be further increased by detecting the traveling state of the intersecting vehicle.

(Other examples)
As mentioned above, although the best form for implementing this invention was demonstrated based on Examples 1-3, the concrete structure of this invention is not limited to Example 1, The summary of invention is shown. Design changes and the like within a range that does not deviate are also included in the present invention.

  In the first to third embodiments, the temporary stop intersection is detected based on the information of the preceding vehicle, the oncoming vehicle, and the crossing vehicle, respectively, but by detecting a combination of these, the temporary stop intersection is more accurately detected. Can be detected.

1 is a system configuration diagram of a temporarily stopped intersection detection device according to a first embodiment. It is a control block diagram of the temporary stop intersection detection apparatus of Example 1. 3 is a flowchart illustrating a flow of a temporary stop intersection detection control process executed by a controller 1 according to the first embodiment. 3 is a flowchart illustrating a flow of a temporary stop intersection detection control process executed by a controller 1 according to the first embodiment. It is a figure which shows the setting method of the preceding vehicle detection area of Example 1. FIG. 6 is a flowchart illustrating a flow of a temporary stop intersection detection control process executed by a controller 1 according to a second embodiment. It is a figure which shows the setting method of the oncoming vehicle detection area of Example 2. FIG. 10 is a flowchart illustrating a flow of a temporary stop intersection detection control process executed by a controller 1 according to a third embodiment. It is a figure which shows the setting method of the crossing vehicle detection area of Example 3. FIG.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Controller 2 Speed detection means 3 Intersection position information storage means 4 Present position detection means 5 Other vehicle detection means 6 Alarm device 11 Intersection approach state determination part 12 Temporary stop intersection determination part 13 Alarm control part A Control unit

Claims (8)

Current position detection means for detecting the current position of the host vehicle;
Speed detecting means for detecting the speed of the host vehicle;
Intersection position information storage means for storing intersection position information;
An intersection approach state detection means for detecting an approach state of the host vehicle to the intersection based on the current position and speed of the host vehicle and the intersection position information;
Other vehicle detection means for detecting at least one traveling state of a preceding vehicle, an oncoming vehicle or an intersection vehicle existing around the own vehicle when the own vehicle approaches the intersection;
Based on the intersection approaching state of the host vehicle and the traveling state of the other vehicle, a paused intersection determination unit that determines whether the intersection in front of the host vehicle is an intersection to be paused;
A temporary stop intersection detection apparatus comprising: In the temporary stop intersection detection apparatus according to claim 1,
The said temporary stop intersection determination means determines whether the intersection ahead of the own vehicle is an intersection which should be stopped based on the past driving | running | working experience of an intersection, The temporary stop intersection detection apparatus characterized by the above-mentioned. In the temporary stop intersection detection device according to claim 1 or 2,
The temporary stop intersection determination means determines that when the preceding vehicle or the oncoming vehicle is temporarily stopped before the intersection, the intersection ahead of the host vehicle is likely to be an intersection to be temporarily stopped. A temporary stop intersection detector. In the temporary stop intersection detection apparatus according to claim 3,
The temporary stop intersection determination means determines that the intersection ahead of the host vehicle is likely to be an intersection to be temporarily stopped when the preceding vehicle or the oncoming vehicle that is running stops before the intersection. A temporary stop intersection detector. The temporary stop intersection detection apparatus according to any one of claims 1 to 4,
The temporary stop intersection determination means determines that the intersection ahead of the host vehicle is likely to be an intersection to be temporarily stopped when the intersecting vehicle passes the intersection at a predetermined speed or higher. Stop intersection detection device. In the temporary stop intersection detection apparatus according to any one of claims 1 to 6,
Temporary stop intersection detection means characterized by providing warning means for issuing a warning to the driver in accordance with the approach state of the host vehicle to the temporary stop intersection. Detect the current position of your vehicle,
Detect the speed of your vehicle,
Store intersection location information,
Based on the current position and speed of the host vehicle and the intersection position information, the approach state of the host vehicle to the intersection is detected,
When the own vehicle approaches the intersection, it detects at least one traveling state of a preceding vehicle, an oncoming vehicle or an intersecting vehicle existing around the own vehicle,
A temporary stop intersection detection device, wherein, based on an intersection approach state of the host vehicle and a traveling state of the other vehicle, it is determined whether or not an intersection in front of the host vehicle is an intersection to be temporarily stopped. A procedure for detecting the current position of the vehicle;
A procedure for detecting the speed of the vehicle;
A procedure for storing intersection position information;
A procedure for detecting an approach state of the own vehicle to the intersection based on the current position and speed of the own vehicle and the intersection position information;
A procedure for detecting at least one traveling state of a preceding vehicle, an oncoming vehicle, or an intersecting vehicle existing around the own vehicle when the own vehicle approaches the intersection;
A procedure for determining whether an intersection ahead of the host vehicle is an intersection to be temporarily stopped based on the approaching state of the host vehicle and the traveling state of the other vehicle;
A temporary intersection detection method comprising:

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