JP2007200052A - Driving support device in intersection and driving support method in intersection - Google Patents

Driving support device in intersection and driving support method in intersection Download PDF

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JP2007200052A
JP2007200052A JP2006018325A JP2006018325A JP2007200052A JP 2007200052 A JP2007200052 A JP 2007200052A JP 2006018325 A JP2006018325 A JP 2006018325A JP 2006018325 A JP2006018325 A JP 2006018325A JP 2007200052 A JP2007200052 A JP 2007200052A
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vehicle
intersection
degree
recognition
crossing
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JP2006018325A
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Japanese (ja)
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Mitsuaki Hagino
Mitsuhito Ito
Hirotoshi Ueda
光仁 伊藤
宏寿 植田
光明 萩野
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Nissan Motor Co Ltd
日産自動車株式会社
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Priority to JP2006018325A priority Critical patent/JP2007200052A/en
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Abstract

PROBLEM TO BE SOLVED: To provide a driving support device at an intersection capable of performing driving support according to the state of an intersection other vehicle.
SOLUTION: A host vehicle position sensor that detects the position of the host vehicle A, an intersection detection unit (step S1) that detects a temporary stop intersection in front of the host vehicle A, and a vehicle of an intersection other vehicle B that approaches the temporary stop intersection Crossing other vehicle behavior detecting means (step S5) for detecting the behavior and changes in the vehicle behavior of the other crossing vehicle before and after the host vehicle A starts from the stop position before the temporary stop intersection (position before the temporary stop line). Based on the recognition degree estimation means (step S6) for estimating the degree of recognition of the existence of the own vehicle A by the driver of the crossing other vehicle B as the degree of recognition, the higher the estimated degree of recognition, the own vehicle A Driving support means (step S10) for providing driving support so that the vehicle stops again at a position where the vehicle enters in the temporary stop intersection.
[Selection] Figure 2

Description

  The present invention belongs to the technical field of a driving support device and an driving support method at an intersection that support a driver's approach to the intersection.

In a conventional driving support device at an intersection, if there is an obstacle within a predetermined distance of the vehicle at an intersection where there is no signal and the driver is not operating a brake, the automatic brake is activated to enter the intersection. (For example, refer to Patent Document 1).
JP 2000-306198A

  However, in the above prior art, when a plurality of obstacles approach the host vehicle continuously, such as in a crowded intersection, the host vehicle continues to stop at the position before the intersection by the operation of the automatic brake. , You can not enter the intersection forever. Therefore, at the intersection where the left and right visibility is bad, the driver cannot advance the host vehicle to a position where the situation of the intersection lane can be seen, and there is a problem that the intersection approach operation is difficult. In addition, since the driver of the other vehicle traveling in the intersection lane hardly notices the existence of the own vehicle, the intention of entering the intersection of the own vehicle is not easily transmitted to the driver of the other vehicle, thereby making the intersection approach operation more difficult.

  The present invention has been made paying attention to the above-mentioned problems, and the purpose thereof is to provide a driving support device at an intersection and driving at an intersection that can perform driving support according to the state of another vehicle traveling in an intersection lane. It is to provide a support method.

In order to achieve the above object, the present invention provides:
Own vehicle position detecting means for detecting the position of the own vehicle;
An intersection detection means for detecting an intersection in front of the host vehicle;
Crossing other vehicle behavior detecting means for detecting the vehicle behavior of the crossing other vehicle approaching the intersection;
A degree-of-recognition estimation means for estimating the degree of recognition of the presence of the host vehicle by the driver of the other-crossing vehicle based on the vehicle behavior change of the other-crossing vehicle;
Based on the estimated degree of recognition, driving support means for driving support for intersection approach,
It is characterized by providing.

  In the present invention, driving assistance for approaching the intersection is performed based on the degree of recognition of the driver of the other intersection vehicle with respect to the host vehicle. That is, paying attention to the point that the vehicle behavior of the crossing other vehicle changes according to the degree of recognition of the driver of the crossing other vehicle with respect to the host vehicle, driving on the crossing lane by performing driving support based on the recognition degree Driving assistance according to the state of the other vehicle crossing can be performed.

  Hereinafter, the best mode for carrying out the present invention will be described based on Examples 1 and 2.

First, the configuration will be described.
FIG. 1 is a system diagram illustrating a configuration of a driving support apparatus at an intersection according to the first embodiment. The driving assistance device at the intersection of Example 1 includes a host vehicle position sensor (own vehicle position detection means) 1, a vehicle speed sensor 2, a no-signal stop intersection database 3, an intersection other vehicle detection sensor 4, and a calculation unit 5. And a support unit 6.

  The own vehicle position sensor 1 detects the own vehicle position using, for example, GPS and a map database, and outputs the detected position to the calculation unit 5. The vehicle speed sensor 2 detects the traveling speed of the host vehicle (host vehicle speed) and outputs it to the calculation unit 5. In the no-signal stop intersection database 3, information on a temporary stop intersection that is an intersection that is not provided with a signal and needs to be temporarily stopped is registered as a database.

  The crossing other vehicle detection sensor 4 detects whether or not there is a crossing other vehicle that approaches the temporary stop intersection ahead of the host vehicle and travels in a direction crossing the host vehicle. The vehicle behavior is detected and output to the calculation unit 5. In the first embodiment, inter-vehicle communication between the own vehicle and the crossing other vehicle is used as the crossing other vehicle detection sensor 4.

  The calculation unit 5 detects a temporary stop intersection ahead of the own vehicle based on the own vehicle position from the own vehicle position sensor 1 and the temporary stop intersection information from the no-signal stop intersection database 3, and the own vehicle is temporarily stopped. When the vehicle stops at the line (stop position), it outputs a control command to the support unit 6 so that the driver advances the vehicle to the parting line. Here, the “parting line” refers to an imaginary line set at the intersection of a road that intersects with the road on which the host vehicle travels (see FIG. 7).

  Based on information from crossing other vehicle detection sensor 4 (presence / absence of crossing other vehicle and its vehicle behavior), calculation unit 5 crosses from crossing other vehicle detection sensor 4 when host vehicle A moves forward to the parting line. The vehicle behavior change of the crossing other vehicle B is calculated according to the vehicle behavior of the other vehicle B, and the perceived recognition that the driver of the crossing other vehicle B recognizes the own vehicle A based on the calculated vehicle behavior change The degree is estimated (see FIG. 5). Then, according to the estimated degree of recognition, a control command is output to the support unit 6 to assist the driver in entering the temporary stop intersection.

  The support unit 6 performs accelerator gain control, sound output, and brake control. In the accelerator gain control, an accelerator gain that is a driving force responsiveness to the driver's accelerator pedal operation is controlled according to the degree of recognition. In the voice output, an unillustrated speaker provided in the vehicle interior is used to output a warning message by voice to the driver according to the degree of recognition. In the brake control, the braking force applied to the wheel is controlled according to the degree of recognition.

[Driving support control process at intersections]
FIG. 2 is a flowchart illustrating the flow of the driving support control process at the intersection executed by the calculation unit 5 according to the first embodiment. This control process is repeatedly executed every control cycle.

  In step S1 (intersection detection means), based on the own vehicle position from the own vehicle position sensor 1 and the temporary stop intersection information from the no-signal stop intersection database 3, is the own vehicle A proceeding to the temporary stop intersection? Determine whether or not. If yes, then go to step S2, if no, go to return.

  In step S2, based on the host vehicle speed from the vehicle speed sensor 2, it is determined whether the host vehicle A has stopped temporarily. If YES, the process proceeds to step S3. If NO, step S2 is repeated. Here, the determination vehicle speed of the temporary stop is not limited to only the vehicle speed zero, but includes, for example, an extremely low vehicle speed of 3 km / h or less.

  In step S3, the vehicle A is moved forward by control such as braking control 6 to make the braking force zero, or voice output prompting the driver to advance to a position where the left and right of the stop intersection can be seen, and the process proceeds to step S4. To do.

  In step S4, it is determined based on the information from the crossing other vehicle detection sensor 4 whether the host vehicle A is visible from the crossing other vehicle. If YES, the process proceeds to step S5. If NO, step S4 is repeated.

  In step S5 (crossing other vehicle behavior detecting means), the absolute speed and the lane width direction position are acquired as the vehicle behavior of the crossing other vehicle B based on the information from the crossing other vehicle detection sensor 4, and the process proceeds to step S6.

In step S6 (recognition degree estimation means), based on the behavior change of the crossing other vehicle B acquired in step S4, the recognizing degree of the driver of the crossing other vehicle B with respect to the host vehicle A is estimated, and the process proceeds to step S7. . In the first embodiment, the speed change amount ΔV of the crossing other vehicle B (acceleration is positive) and the vehicle width direction position change amount ΔL of the crossing other vehicle B (the change amount in the direction away from the host vehicle A is positive). ) To estimate the degree of recognition.
FIG. 3 is a map for setting the degree of recognition based on the speed change amount ΔV and the vehicle width direction position change amount ΔL. In the first embodiment, the degree of recognition is (1) low, (2) medium, (3) Classify into three high regions. When the speed change amount ΔV is positive, the perceived degree is set low, and when the speed change amount ΔV is negative, the perceived degree is set high. Further, when the vehicle width direction position change amount ΔL is positive, the degree of recognition is set high, and when the vehicle width direction position change amount ΔL is negative, the degree of recognition is set low.

  In step S7, it is determined whether or not the degree of recognition estimated in step S6 is (1) low. If YES, the process proceeds to step S8, and if NO, the process proceeds to step S9.

  In step S8, accelerator gain control, voice output, and brake control are performed by the support unit 6 so as to stop the vehicle A on the near side of the parting line, and the process proceeds to return. Here, as a parting line detection method, the road map information of the own vehicle position sensor 1 is used to obtain from the intersection line of the road.

  In step S9, the amount of approach of the own vehicle A to the temporarily stopped intersection is determined according to the degree of recognition estimated in step S6, and the process proceeds to step S10. Here, the approach amount is zero when the degree of recognition is (2), and when the degree of recognition is (3) high, the vehicle width direction distance initial value L from the parting line to the crossing other vehicle B, A distance obtained by subtracting a margin allowance K for preventing the crossing other vehicle B from proceeding from a value obtained by adding the vehicle width direction position change amount ΔL of the crossing other vehicle B. Here, the vehicle width direction distance initial value L is a vehicle width direction distance from the parting line when the intersection other vehicle detection sensor 4 detects the intersection other vehicle B for the first time to the intersection other vehicle B.

  In step S10 (driving support means), driving support is performed at the intersection by the accelerator gain control, voice output, and brake control of the support unit 6 so that the approach amount set in step S9 is obtained, and the process proceeds to return. Specifically, speed control by accelerator gain control and brake control, notification of the degree of recognition to the driver and the degree of intersection approach by the voice main force, and the like are performed. Here, the lower the perceived degree, the smaller the accelerator gain and the braking force applied to the wheels, so that the lower the perceived degree, the lower the approach speed to the temporary stop intersection. Implement driving assistance.

Next, the operation will be described.
[Driving support action at intersections]
Investigate 1 person factor and 2 person factor of head-to-head accident in 1998 (1 day temporary stop regulation in daytime at intersection with no signal, 2 no temporary stop regulation, both 1 day and 2 time) According to the results of four-wheeled vehicles, 9% of the factors related to the wrong judgment were 21%. In other words, it can be said that there are not a few examples of accidents caused by mistakes in the judgments of the two sides in a head-on accident.

  As shown in FIG. 4, the cause of the recognition error of the other vehicle at the intersection at the head of the encounter is shown (ITARDA INFORMATION 2005; No. 56, P8). 34% of accidents were caused by the inability to see other vehicles crossing. From this, it can be seen that the cognitive property of the own vehicle with respect to the crossing other vehicle (whether it is recognized by the other party) is effective as a countermeasure for preventing a recognition error.

  FIG. 5 shows a situation in which the road on which the own vehicle A travels is temporarily stopped and the crossing other vehicle B travels on the intersecting priority road. The temporary stop line is located inside the intersecting road, depending on the width of the intersecting road and the width of the road on which the vehicle A travels. For this reason, when the vehicle is stopped at the temporary stop line, it is difficult to fully look inside the intersection. Therefore, after stopping at the temporary stop line, after the vehicle A has advanced to the point where the tip of the vehicle A enters the intersection, the vehicle will look through the intersection and confirm that there is no approach by the other vehicle B at the intersection. Preferably proceed inward.

  However, it is difficult for a general driver to determine how far the tip of the vehicle has entered the intersection, and it is not close enough to the intersection or too much to enter the intersection. There was a risk that the vehicle B would be blocked. When traveling from a temporarily stopped intersection, it is uneasy for the driver to advance the vehicle and proceed to a visually observable area, despite the state in which no other vehicle in the intersection is visible.

  For this reason, it is considered to mount a sensor such as a laser radar at the tip of the vehicle and detect the situation in the intersection before the driver. Even if it can be determined, since the driver cannot visually see the other vehicle, it cannot determine whether or not the other vehicle has noticed the own vehicle.

  On the other hand, if the driver of the crossing other vehicle B can increase the cognition of the host vehicle A that is temporarily stopped, it is possible to reduce the determination error, and as a result, it is possible to suppress the possibility of an accident. become. In general, in recognition of an object, it is known that a moving object is more easily recognized than a stationary object. From this, it can be seen that the own vehicle A is difficult to be recognized in the conventional technique in which the other vehicle B is detected while the own vehicle A is stopped.

  As described above, it can be expected that the recognition of the own vehicle A is increased by moving the own vehicle A forward. However, inadvertently starting the own vehicle A at an intersection with a poor view is that Unstable driving operations (rapid braking, sudden steering, etc.) may be induced on the driver. That is, it is desirable that the driving behavior at the intersection be changed depending on whether or not the host vehicle A is recognized, and an emergency avoidance operation such as sudden steering or braking to the driver of the other vehicle B at the intersection. The vehicle A is moved forward to a position where it can be seen without forcing the vehicle.

  On the other hand, in the driving assistance device at the intersection of the first embodiment, the own vehicle position sensor 1 that detects the position of the own vehicle A, the intersection detection means (step S1) that detects the temporary stop intersection ahead of the own vehicle, Crossing other vehicle behavior detecting means (step S5) for detecting the vehicle behavior of the crossing other vehicle B approaching the stop intersection, and the own vehicle A is temporarily stopped at the stop position before the temporary stop intersection (position before the temporary stop line). Thereafter, based on the change in the vehicle behavior of the other vehicle B at the time of moving forward again, the degree-of-recognition estimation means for estimating the degree of recognition of the presence of the host vehicle A by the driver of the other vehicle B (step S6). ) And driving support means (step S10) for performing driving support for approaching an intersection based on the estimated degree of perception, and the driving support means, as the estimated degree of recognition increases, Self The entry distance of both A longer.

  That is, in the driving assistance device at the intersection of the first embodiment, the driver of the other vehicle B stops the own vehicle A stopped at the temporary stop line (a position where the other vehicle B from the left and right cannot be seen) at the intersection with poor visibility. Is advanced to a position where it can be seen (parting line). As a result, the driver of the crossing other vehicle B can easily draw attention to the host vehicle A, so that it is possible to generate a physical vehicle behavior such as a decelerating action or an avoiding action by recognition.

  Then, based on the vehicle behavior change of the crossing other vehicle B when the own vehicle A moves forward, the degree of recognition of the driver of the crossing other vehicle B with respect to the own vehicle A is estimated, and depending on the estimated degree of recognition, Visual range for checking the left and right without causing the driver of the other vehicle B to perform emergency avoidance operations such as sudden braking and sudden steering by controlling the behavior of the vehicle A, the amount of approach to the intersection, and the approach speed. Is enlarged as much as possible, and the intention of approaching the intersection of the own vehicle A is to be transmitted to the driver of the other vehicle B. As a result, it is possible to facilitate the intersection approach operation of the host vehicle A.

  Further, in the first embodiment, a parting line is defined as a position where the host vehicle A can advance after the temporary stop at a position before the temporary stopping line regardless of the state of the crossing other vehicle B, and a distance that can be advanced from the parting line By controlling the vehicle according to the degree of recognition, the host vehicle A can be advanced to a position where the driver can safely see the inside of the left-right intersection. Furthermore, since the acquisition of the behavior of the other vehicle B is performed by the other vehicle detection sensor 4 attached to the front end of the host vehicle A, the other vehicle detection sensor 4 can be used even when the driver cannot see the vehicle. However, it was possible to detect the other vehicle B crossing first. In addition, when the intersection other vehicle B is detected using the intersection other vehicle detection sensor 4 provided at the front end portion of the own vehicle A, there is a high probability that the own vehicle A is visible from the driver of the intersection other vehicle B. It can be judged.

As described above, in the driving support device at the intersection of the first embodiment, the driving support means has the own vehicle A in front of the intersection and a position where the driver of the other vehicle B can see the own vehicle A (parting line) ), Driving assistance is performed so that the vehicle A moves forward.
For example, when the driver of the other vehicle B crosses the own vehicle A before entering the temporary stop intersection before determining whether the driver A recognizes the presence of the own vehicle A, Depending on the width, there is a risk of contact with the crossing other vehicle B.
On the other hand, in Example 1, when it is unclear whether the driver of the other vehicle B is aware of the existence of the host vehicle A, by not allowing the host vehicle A to enter the temporary stop intersection, Without forcing the driver of the other vehicle B to perform an emergency avoidance operation, the host vehicle position can be advanced to a position where the driver of the host vehicle A can see the left and right.

[Operation support control at intersections]
When the host vehicle A stops temporarily at the stop line at the stop intersection, in the flowchart of FIG. 2, the process proceeds from step S1 to step S2 to step S3. Driving assistance to get started is implemented.

  Subsequently, when it is determined in step S4 that the own vehicle A has advanced from the intersection other vehicle B to a position where the own vehicle A is visible, the process proceeds to step S5 and the vehicle behavior of the intersection other vehicle B is acquired. FIG. 6 shows vehicle behavior detection timing. The host vehicle A stops at the intersection stop line, and the driver proceeds to a position where the other vehicle B can be seen from a state where the other vehicle B cannot be seen. At this time, since the crossing other vehicle detection sensor 4 is in a position ahead of the vehicle than the driver, it is possible to confirm the crossing other vehicle before the driver. In addition, the driver of the other vehicle B can recognize the front end portion of the own vehicle A. In this state, the behavior of the crossing other vehicle B after the host vehicle has traveled is affected by the degree of recognition of the host vehicle A.

  Next, in step S6, the recognition degree based on the acquired vehicle behavior is estimated. As shown in FIG. 7, in Example 1, according to the recognition degree, it divided | segmented into three area | regions of (1)-(3), and the progress to an intersection was suppressed. In (1), since the recognition degree of the crossing other vehicle B is low, the vehicle stops before the parting line. Approaching close to the parting line may suppress the progress as much as possible because the driver of the crossing other vehicle B may be surprised by the approach of the own vehicle A when the degree of recognition of the driver of the crossing other vehicle B is low. desirable. When the other vehicle B crossing shows a behavior in the direction of deceleration or away from the own vehicle A in the lane, since the degree of recognition with respect to the own vehicle A is high, the visible range in the intersection of the own vehicle is widened. Proceed to the intersection (3). However, even in this case, as shown in FIG. 7, there remains a space that allows the other vehicle B to pass through without having to increase the steering. When a 1.7m vehicle passes on a general 3.5m road, there is a margin of 90cm on the left and right. The distance that can enter the intersection without obstructing the traveling of the other vehicle B is determined by subtracting the margin K. The margin K is set to 30cm at the minimum.

  Subsequently, when the perceived degree estimated in step S6 is (1) low, the process proceeds from step S7 to step S8, and in step S8, the host vehicle A is stopped before the parting line. Driving assistance is implemented.

  On the other hand, if the perceived degree estimated in step S6 is (2) medium or (3) high, the process proceeds from step S7 to step S9 to step S10, and in step S9, the entry according to the perceived degree The amount is determined, and in step S10, driving assistance is performed at the intersection where the own vehicle A enters the temporarily stopped intersection so as to be the amount of entry determined in step S9. A, b, and c shown in FIG. 6 are vehicle speed control of the own vehicle A when the crossing other vehicle B accelerates, decelerates, and decelerates.

  In step S10, the assisting unit 6 controls the braking force of the wheels so that the lower the degree of recognition, the lower the approach speed of the host vehicle A to the temporary stop intersection. At the same time, accelerator gain control is performed to reduce the accelerator gain as the degree of recognition is lower. Thereby, the approach speed to the temporary stop intersection is further suppressed as the degree of recognition is lower, regardless of the driver's accelerator operation.

  Furthermore, in the support part 6, the audio | voice output which notifies a recognition degree and the intersection approach degree to a driver is made. Accordingly, the driver can grasp the approximate state of the intersection other vehicle B even when the intersection other vehicle B is not visible, and thus can perform the intersection approach operation with peace of mind.

As described above, in the driving support device at the intersection of the first embodiment, the driving support means shortens the approach distance of the host vehicle A into the temporarily stopped intersection as the degree of recognition is lower.
For example, if the approach distance of the own vehicle A into the temporarily stopped intersection is constant regardless of the degree of recognition, the degree of recognition is low, that is, the driver of the crossing other vehicle B recognizes the existence of the own vehicle A. If not, there is a possibility that the other vehicle B crosses the road. Further, the driver of the other vehicle B must avoid contact with the host vehicle A by sudden steering or sudden braking.
On the other hand, in the first embodiment, the lower the perceived degree, the shorter the approach distance into the intersection, without forcing the driver of the intersection other vehicle B to perform an emergency avoidance operation, and for the driver of the host vehicle A, Collisions caused by misjudgment by the driver of the other vehicle B can be avoided. In addition, it is possible to enter more in the temporarily stopped intersection while preventing the other vehicle B from proceeding obstructing by entering too much into the temporarily stopped intersection.

Moreover, in the driving assistance apparatus at the intersection of Example 1, the driving assistance means further suppresses the approach speed of the own vehicle A to the temporary stop intersection as the degree of recognition becomes lower.
For example, in a state where the driver of the other vehicle B is not aware of the own vehicle A, if the approach speed of the own vehicle A into the temporarily stopped intersection is increased, the driver of the other vehicle B may be forced to perform a collision avoidance operation. And may interfere with the path. In addition, the driver of the host vehicle A cannot be given enough time to perform a driving operation for avoiding a collision.
On the other hand, in Example 1, the approach speed of the own vehicle A is made lower as the degree of recognition is lower, so that the driver of the other vehicle B is not forced to perform an emergency avoidance operation and for the driver of the own vehicle A. Collisions caused by misjudgment of the driver of the crossing other vehicle B can be avoided. Further, it is possible to enter as many as possible in the temporary stop intersection while preventing the other vehicle B from proceeding obstructing due to the entry speed into the temporary stop intersection being too high.

Furthermore, in the driving support device at the intersection of Example 1, the driving support means decreases the driving force responsiveness of the vehicle to the driving force request of the driver as the degree of recognition is lower.
For example, when the host vehicle A is temporarily stopped on the stop line and the driver of the host vehicle A is prompted to start by reducing the braking force or outputting sound, etc., if the driver suddenly steps on the accelerator, the vehicle enters the stop intersection. It may be too much.
On the other hand, in the first embodiment, the lower the degree of recognition, the lower the driving force responsiveness of the vehicle to the accelerator depression, thereby preventing the accelerator from popping out and excessively entering the temporary stop intersection. it can.

In the driving assistance device at the intersection of the first embodiment, the driving assistance means changes a warning issued to the driver according to the degree of recognition.
For example, when assisting entry to a temporarily stopped intersection only by brake control or accelerator gain control, the driver is not sure of the state of the other vehicle B, such as the intersection other vehicle B and the current position, so the vehicle enters the temporarily stopped intersection. You may feel anxious about the movement.
On the other hand, in the first embodiment, by changing the voice notification according to the degree of recognition, the driver can understand the state of the intersection other vehicle B in a stepwise manner, and further facilitate the intersection approach operation. Can do.

[Detection of crossing other vehicles by inter-vehicle communication]
In the first embodiment, inter-vehicle communication between the host vehicle A and the crossing other vehicle B is used as the crossing other vehicle detection sensor 4 that detects the speed and the vehicle width direction position of the crossing other vehicle B. Inter-vehicle communication is a method of transmitting and receiving data wirelessly, and therefore has a long communicable distance, is not easily influenced by the surrounding environment such as the weather, and is accurate in data. In addition, the position in the vehicle width direction can be detected reliably and accurately.

As described above, in the driving assistance device at the intersection of the first embodiment, the intersection other vehicle behavior detecting means detects the vehicle behavior of the intersection other vehicle B using inter-vehicle communication between the host vehicle A and the intersection other vehicle B. .
For example, when the vehicle behavior of the crossing other vehicle B is acquired by the laser radar, the crossing other vehicle B existing outside the detectable range of the radar cannot be detected. Further, when the vehicle behavior of the crossing other vehicle B is acquired by the camera, the vehicle behavior cannot be recognized when the weather is bad.
On the other hand, in the first embodiment, since the vehicle behavior of the crossing other vehicle B is detected using inter-vehicle communication, the crossing other vehicle that is difficult to acquire with a laser radar, a camera, etc. due to the distance from the crossing other vehicle B and the weather unnecessary. As for B, the vehicle behavior can be detected.

[Perceived recognition effect]
In the first embodiment, as the vehicle behavior of the other vehicle B, the speed and the vehicle width direction position of the other vehicle B are detected, and the degree of recognition is estimated based on the speed change amount ΔV and the vehicle width direction position change amount ΔL. is doing.

  When the driver of the other vehicle B knows the own vehicle A, that is, when the driver of the other vehicle B notices the intention to enter the temporary stop intersection, the driver of the other vehicle B determines the distance from the own vehicle A. In order to take the vehicle, the vehicle is steered so as to move away from the own vehicle A, or the vehicle is decelerated to prompt the vehicle A to enter the temporary stop intersection. Therefore, by detecting the speed and the vehicle width direction position as the vehicle behavior of the other vehicle B, it is possible to grasp all the operations of the driver of the other vehicle B according to the degree of recognition. Whether or not the vehicle A is recognized can be estimated in more detail.

As described above, in the driving support device at the intersection of the first embodiment, the other crossing vehicle behavior detecting unit detects the speed of the crossing other vehicle B, and the perceived degree estimating unit is based on the detected speed change amount ΔV. To estimate the degree of recognition.
That is, since the acceleration / deceleration operation of the driver of the crossing other vehicle B can be detected from the speed change amount ΔV, the degree of recognition can be estimated more accurately.

In the driving assistance device at the intersection of the first embodiment, the other vehicle behavior detecting unit detects the vehicle width direction position change amount ΔL with respect to the traveling direction of the other vehicle B, and the perceived degree estimating unit is configured to detect the detected vehicle width. The degree of recognition is estimated based on the direction position change amount ΔL.
That is, since the steering operation of the driver of the crossing other vehicle B can be detected from the vehicle width direction position change amount ΔL, the degree of recognition can be estimated more accurately.

[Driving support action at the intersection according to the degree of recognition]
When the degree of recognition is low FIG. 8 is a time chart of the own vehicle speed showing the driving support control action at the intersection when the degree of recognition is low. In the first embodiment, the driver of the other vehicle B in the intersection is the own vehicle A. When the acceleration of ΔV is performed in a state where the vehicle can be recognized, the degree of recognition is estimated to be low, and the host vehicle A is stopped at a position before the parting line.

  Here, when the control according to the first embodiment is not performed, the vehicle must stop beyond the temporarily stopped intersection, or the intersection other vehicle B must be found near the parting line and dealt with by sudden braking or sudden steering. In addition, the vehicle behavior of the crossing other vehicle B may be affected.

  Therefore, when the driver of the other vehicle B does not notice the own vehicle A, the state of the other vehicle B does not enter the temporary stop intersection, but stops at the position before the parting line. The driving assistance according to can be performed.

When the degree of recognition is high FIG. 9 is a time chart of the own vehicle speed showing the driving support control action at the intersection when the degree of recognition is high. In Example 1, the driver of the other vehicle B in the intersection is the own vehicle A. When ΔV is decelerated in a state where the vehicle can be recognized, it is estimated that the degree of recognition is high, and the stop position of the host vehicle A is within the temporary stop intersection that exceeds the solid line. The amount of entry into the temporarily stopped intersection is an amount that can sufficiently avoid the host vehicle A without the other vehicle B crossing.

  Here, when the control of the first embodiment is not performed, the host vehicle A stops at a position that is difficult for the driver of the crossing other vehicle B to recognize, so the driver of the crossing other vehicle B is highly likely not to notice the host vehicle A. . In addition, for the driver of the host vehicle A, the host vehicle A cannot be moved forward to a position where the line of sight is good, and the situation where it is difficult to enter the temporary stop intersection continues.

  Therefore, when the driver of the other vehicle B is paying attention, the driver of the own vehicle A can more easily check the left and right by allowing the own vehicle A to enter the temporary stop intersection. The intention of entering the temporarily stopped intersection can be shown more remarkably to the driver of B, and the intersection approaching operation can be facilitated.

As described above, in the driving assistance device at the intersection of Example 1, the degree-of-recognition estimation means estimates that the degree of recognition is high when the intersection other vehicle B decelerates, and the intersection other vehicle B accelerates. It is estimated that the degree of perception is low.
That is, when the crossing other vehicle B accelerates, it can be predicted that the driver of the crossing other vehicle B does not recognize the own vehicle A. When the crossing other vehicle B decelerates, the driver of the crossing other vehicle B Predict that you are aware. Therefore, the degree of recognition can be estimated more accurately by decreasing the degree of recognition when decelerating and lowering the degree of recognition when accelerating.

In the driving support device at the intersection of Example 1, the degree-of-recognition estimation means estimates that the degree of recognition is high when the other vehicle B crosses away from the own vehicle A, and approaches the own vehicle A. It is estimated that the degree of recognition is low when moving to the vehicle. That is, when the crossing other vehicle B moves away from the own vehicle A, it can be predicted that the driver of the crossing other vehicle B recognizes the own vehicle A. When the other vehicle B crosses the host vehicle A, it can be predicted that the driver of the other vehicle B does not recognize the host vehicle A. Therefore, the degree of recognition can be estimated more accurately by estimating that the degree of recognition is high when moving away from the own vehicle A and that the degree of recognition is low when approaching the own vehicle A.

Next, the effect will be described.
In the driving assistance device at the intersection of Example 1, the effects listed below are obtained.

  A vehicle position sensor 1 for detecting the position of the own vehicle A, an intersection detection means (step S1) for detecting a temporary stop intersection in front of the own vehicle A, and a vehicle behavior of an intersection other vehicle B approaching the temporary stop intersection Based on the crossing other vehicle behavior detecting means (step S5) to be detected and the vehicle behavior change of the crossing other vehicle B, the degree to which the driver of the crossing other vehicle B recognizes the presence of the host vehicle A is estimated as the degree of recognition. A recognition degree estimation means (step S6) and a driving assistance means (step S10) for providing driving assistance for an intersection approach based on the estimated degree of recognition are provided. Therefore, the driver of the intersection other vehicle B can change the driving assistance for approaching the intersection according to the degree of recognition of the existence of the host vehicle A. Therefore, more accurate driving assistance can be performed according to the state of the crossing other vehicle.

  -A driving assistance means (step S10) lengthens the approach distance of the own vehicle A to an intersection, so that the estimated recognition degree is high. Therefore, the intersection approaching operation of the host vehicle A can be facilitated without giving a sense of incongruity to the other vehicle at the intersection.

  A vehicle position sensor 1 for detecting the position of the own vehicle A, an intersection detection means (step S1) for detecting a temporary stop intersection in front of the own vehicle A, and a vehicle behavior of an intersection other vehicle B approaching the temporary stop intersection The crossing other vehicle B behavior detecting means (step S5) to be detected and the crossing other vehicle B when the host vehicle A moves forward again after being temporarily stopped at the stop position before the temporary stop intersection (position before the temporary stop line). Recognized degree estimating means (step S6) for estimating the degree of recognition of the existence of the host vehicle A by the driver of the crossing other vehicle B based on the vehicle behavior change, and the higher the estimated degree of recognized recognition And driving support means (step S10) for providing driving support so that the own vehicle A stops again at a position where the host vehicle A enters within the temporary stop intersection. Therefore, the host vehicle A is easily recognized by moving forward again, and the intersection approach operation of the host vehicle A can be facilitated.

  The driving support means performs driving support so that the host vehicle A is moved forward to a position (parting line) where the driver of the other vehicle B crosses the host vehicle A before the intersection and can see the host vehicle A. Therefore, since the own vehicle A does not enter the intersection, the own vehicle position can be advanced to a position where the driver of the own vehicle A can see the left and right without forcing the driver of the other vehicle B to perform an emergency avoidance operation.

  -A driving assistance means shortens the approach distance of the own vehicle A in the temporary stop intersection, so that recognition degree is low. Therefore, even if the driver of the intersection other vehicle B recognizes the own vehicle A after the intersection other vehicle B approaches the own vehicle A, the amount of avoidance that the intersection other vehicle B avoids the own vehicle A may be reduced. It becomes possible. Therefore, it is possible to avoid a collision due to a determination error of the driver of the other vehicle B without forcing the driver of the other vehicle B to perform an emergency avoidance operation. In addition, it is possible to enter more in the temporarily stopped intersection while preventing the other vehicle B from proceeding obstructing by entering too much into the temporarily stopped intersection.

  -A driving assistance means suppresses the approach speed to the temporary stop intersection of the own vehicle A more, so that a recognition degree is low. Therefore, even if the driver of the intersection other vehicle B does not recognize the own vehicle A until the intersection other vehicle B approaches the own vehicle A, the approach speed of the own vehicle A is low, so the driver of the own vehicle A The avoidance operation can be performed immediately by operating the brake. Further, it is possible to enter as many as possible in the temporary stop intersection while preventing the other vehicle B from proceeding obstructing due to the entry speed into the temporary stop intersection being too high.

  The driving support means decreases the driving force responsiveness of the vehicle to the driving force request of the driver as the degree of recognition is lower. Therefore, even if the driver depresses the accelerator accidentally, it takes time until the speed is increased, so that it is possible to suppress jumping out due to excessive depression of the accelerator and excessive entry to the temporary stop intersection.

  The driving support means changes a warning issued to the driver according to the degree of recognition. Therefore, the driver can understand the degree of recognition of the driver of the crossing other vehicle B step by step. Therefore, since the driving operation and the road condition can be determined according to the degree of recognition of the driver of the other vehicle B at the intersection, the intersection approaching operation can be further facilitated.

  The intersection other vehicle behavior detection means detects the vehicle behavior of the intersection other vehicle B using inter-vehicle communication between the host vehicle A and the intersection other vehicle B. Therefore, vehicle-to-vehicle communication is less affected by distance and weather than laser radars and cameras, so the vehicle behavior of crossing other vehicle B is difficult to obtain information due to the influence of long distances and stormy weather. Can be detected.

  The crossing other vehicle behavior detecting unit detects the speed of the crossing other vehicle B, and the perceived degree estimating unit estimates the perceived degree based on the detected speed change amount ΔV. Therefore, the recognition degree of the driver of the other vehicle B can be estimated from the speed change amount information that can be acquired relatively easily, so that the configuration of the other vehicle behavior detecting unit can be simplified.

  The crossing other vehicle behavior detecting means detects the vehicle width direction position with respect to the traveling direction of the crossing other vehicle B, and the perceived degree estimating means calculates the perceived degree based on the detected vehicle width direction position change amount ΔL. Estimated. Therefore, since the degree of recognition of the driver of the other vehicle B can be estimated from the vehicle width direction position change amount information that can be acquired relatively easily, the configuration of the other vehicle behavior detecting means can be simplified. In addition, the degree of recognition can be estimated more accurately by combining with the above-described estimation of the degree of recognition based on the speed change amount ΔV.

  The perceived degree estimating means estimates that the perceived degree is high when the crossing other vehicle B decelerates, and estimates that the perceived degree is low when the crossing other vehicle B accelerates. Therefore, the recognition degree of the driver of the other vehicle B can be estimated from the speed change amount information that can be acquired relatively easily, so that the configuration of the other vehicle behavior detecting unit can be simplified.

  The perceived degree estimating means estimates that the perceived degree is high when the crossing other vehicle B moves away from the own vehicle A, and the perceived degree when the moving other vehicle B moves closer to the own vehicle A. It was supposed to be low. Therefore, since the degree of recognition of the driver of the other vehicle B can be estimated from the vehicle width direction position change amount information that can be acquired relatively easily, the configuration of the other vehicle behavior detecting means can be simplified.

  ・ Detects the position of the own vehicle A, detects a temporary stop intersection in front of the own vehicle, detects the vehicle behavior of the other vehicle B that approaches the temporary stop intersection, and detects that the own vehicle A is a temporary stop line before the temporary stop intersection. Based on the change in the vehicle behavior of the crossing other vehicle B when the vehicle travels again after the temporary stop, the degree to which the driver of the crossing other vehicle B recognizes the existence of the host vehicle A is estimated as the perceived degree. Based on the degree of recognition, driving support for approaching intersections was made. Therefore, the driver of the intersection other vehicle B can change the driving assistance for approaching the intersection according to the degree of recognition of the existence of the host vehicle A. Therefore, more accurate driving assistance can be performed according to the state of the crossing other vehicle.

  The degree to which the driver of the crossing other vehicle B recognizes the existence of the own vehicle A based on the change in the vehicle behavior of the crossing other vehicle B when the host vehicle A is stopped again at the stop position before the temporary stop intersection and moves forward again. Is estimated as the degree of recognition, and driving assistance for approaching an intersection is performed based on the estimated degree of recognition. Therefore, the driver of the intersection other vehicle B can change the driving assistance for approaching the intersection according to the degree of recognition of the existence of the host vehicle A. Therefore, more accurate driving assistance can be performed according to the state of the crossing other vehicle.

  In the first embodiment, the other vehicle B that approaches the host vehicle A from the right is detected by using inter-vehicle communication as the other vehicle detection sensor 4 and driving assistance at the intersection is performed. On the other hand, the second embodiment is different in that driving assistance at an intersection is performed using a laser radar as a crossing other vehicle detection sensor 4 using the bicycle C as the crossing other vehicle approaching from the left of the host vehicle A.

First, the configuration will be described.
In the driving support device at the intersection of the second embodiment, a laser radar that is a non-contact type sensor is used as the intersection other vehicle detection sensor 4, and the own vehicle A to the bicycle C within a predetermined time (corresponding to the intersection other vehicle of the present invention). The speed change amount ΔV and the vehicle width direction position change amount ΔL of the bicycle C are measured based on the change in the distance to or the change in the apparent size (crossing other vehicle behavior detecting means). Further, the other vehicle detection sensor 4 travels outside the intersection lane on the own vehicle A side and detects an obstacle (bicycle C) approaching the own vehicle A from the left-right direction (obstacle approach detection means).
Furthermore, in the second embodiment, the crossing line is detected by using the crossing other vehicle detection sensor 4 with reference to the position where the continuity (left and right walls, guardrail) of the peripheral obstacles detected by the laser radar is lost.

  As in the first embodiment, the calculation unit 5 estimates the degree of recognition according to the speed change amount ΔV and the vehicle width direction position change amount ΔL of the bicycle C from the recognition degree map shown in FIG. The approach distance to the temporary stop intersection is determined according to the degree of recognition (see FIG. 7).

At this time, in the second embodiment, when the other vehicle detection sensor 4 travels outside the intersection lane on the own vehicle A side and detects the bicycle C approaching from at least one of the left and right, it is shown in FIG. Even if it is determined from the map of the degree of recognition that the degree of recognition is high, the progress of the host vehicle A is suppressed to the position (2) in FIG. 7, that is, the position before the parting line (entrance restriction means).
Other configurations are the same as those in the first embodiment.

[Intersection entry restriction according to the approach of left and right obstacles]
In the driving support device at the intersection of the second embodiment, the other vehicle detection sensor 4 that travels outside the intersection lane on the own vehicle A side and detects an obstacle (bicycle C) approaching the own vehicle A from the left-right direction; In addition, when an approach of an obstacle is detected, an entry restricting means for restricting the entry of the own vehicle A into a temporarily stopped intersection is provided.
In order to detect an obstacle approaching the host vehicle A from the left-right direction, driving assistance at a temporary intersection corresponding to the bicycle C traveling on a sidewalk or a shoulder can be performed.

  At this time, there is a possibility that the obstacle (bicycle C) may approach from the left as well as from the left on the sidewalk or the shoulder outside the intersection lane on the own vehicle A side. If the obstacle is detected in a situation where the vehicle can proceed to a temporary stop intersection from the parting line, control is performed so as not to enter the intersection from the parting line, so that the bicycle C touches the vehicle A or the vehicle C In order to avoid it, it can suppress entering the roadway.

Next, the effect will be described.
In the driving support device at the intersection of the second embodiment, the effects listed below are obtained in addition to the effects of the first embodiment.

  The crossing vehicle behavior detection means uses a non-contact type sensor (laser radar), and the speed change amount of the bicycle C by the change in the distance from the own vehicle A to the bicycle C or the change in the apparent size within a certain time. ΔV was measured. Therefore, by considering the magnitude and direction of the speed of the host vehicle A, it is possible to calculate the speed change ΔV of the bicycle C using only the device mounted on the host vehicle. Therefore, the speed change ΔV of the bicycle C can be calculated using only a self-supporting device without using a device such as inter-vehicle communication.

  The crossing vehicle behavior detection means uses a non-contact type sensor (laser radar), and changes in the vehicle width direction position based on a change in the distance from the own vehicle A to the bicycle C or a change in the apparent size within a certain time. ΔL was measured. Therefore, by taking into consideration the magnitude and direction of the speed of the host vehicle A, it is possible to calculate the vehicle width direction position change amount ΔL of the bicycle C using only the device mounted on the host vehicle. Therefore, the vehicle width direction position change amount ΔL of the bicycle C can be calculated only by an independent device without using a device such as inter-vehicle communication.

  -When the vehicle detects the obstacle approaching the vehicle A from the left-right direction on the outside of the intersection road close to the vehicle A, and temporarily stops when the approach of the obstacle is detected An entry restricting means for restricting the entry of the own vehicle A into the intersection is provided. Therefore, for obstacles other than crossing other vehicles approaching the own vehicle A, the own vehicle A does not enter the intersection regardless of the degree of recognition, and therefore avoids contact with pedestrians and bicycles passing through the sidewalks and shoulders. can do.

(Other examples)
The best mode for carrying out the present invention has been described based on the embodiments. However, the specific configuration of the present invention is not limited to the first and second embodiments, and departs from the gist of the invention. Even if there is a design change or the like within a range not to be included, it is included in the invention.

  In the first embodiment, the crossing other vehicle is described as a four-wheeled vehicle, and in the second embodiment, the crossing other vehicle is described as a bicycle. In the present invention, the crossing other vehicle includes a light vehicle, a motorcycle, and the like. .

1 is a system diagram illustrating a configuration of a driving support device at an intersection of Example 1. FIG. 6 is a flowchart illustrating a flow of driving support control processing at an intersection executed by a calculation unit 5 according to the first embodiment. It is a setting map for the degree of recognition based on the speed change amount ΔV and the vehicle width direction position change amount ΔL. It is a bar graph showing the accident accident factors and their breakdown. It is a figure which shows the condition where the road where the own vehicle advances is a temporary stop, and the other crossing vehicle is advancing on the priority road which crosses. It is a figure which shows the vehicle behavior detection timing of Example 1. FIG. It is a figure which shows the driving assistance effect | action in the intersection according to the to-be-recognized degree of Example 1. FIG. It is a time chart of the own vehicle speed which shows the driving assistance control action in an intersection when a degree of recognizability is low. It is a time chart of the own vehicle speed which shows the driving assistance control action in the intersection when a degree of recognition is high. It is a figure which shows the intersection approach control effect | action of Example 2. FIG.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Own vehicle position sensor 2 Vehicle speed sensor 3 No signal stop intersection database 4 Crossing other vehicle detection sensor 5 Calculation part 6 Support part

Claims (18)

  1. Own vehicle position detecting means for detecting the position of the own vehicle;
    An intersection detection means for detecting an intersection in front of the host vehicle;
    Crossing other vehicle behavior detecting means for detecting the vehicle behavior of the crossing other vehicle approaching the intersection;
    A degree-of-recognition estimation means for estimating the degree of recognition of the presence of the host vehicle by the driver of the other-crossing vehicle based on the vehicle behavior change of the other-crossing vehicle;
    Based on the estimated degree of recognition, driving support means for driving support for intersection approach,
    A driving support apparatus at an intersection, comprising:
  2. In the driving assistance apparatus in the intersection of Claim 1,
    The driving support device at an intersection is characterized in that the driving support means increases the approach distance of the host vehicle to the intersection as the estimated degree of recognition is higher.
  3. In the driving assistance apparatus in the intersection of Claim 1 or Claim 2,
    The perceived degree estimating means estimates the perceived degree based on a change in vehicle behavior of the other vehicle at the intersection when the host vehicle moves forward again after stopping at the stop position before the intersection. Driving assistance device at the intersection.
  4. In the driving assistance device in the intersection of any one of Claims 1 thru | or 3,
    The driving support device at the intersection, wherein the driving support means provides driving support so that the driver of the vehicle other than the intersection advances the host vehicle to a position where the driver can see the host vehicle before the intersection. .
  5. In the driving assistance device at the intersection according to any one of claims 1 to 4,
    The driving support device at an intersection is characterized in that the driving support means shortens the approach distance of the host vehicle into the intersection as the degree of recognition is lower.
  6. In the driving assistance device in the intersection of any one of Claims 1 thru | or 5,
    The driving support device at an intersection, wherein the driving support means further suppresses the approach speed of the host vehicle to the intersection as the degree of recognition is lower.
  7. In the driving assistance device at the intersection according to claim 6,
    The driving support device at an intersection is characterized in that the driving support means reduces the driving force responsiveness of the vehicle to the driving force request of the driver as the degree of recognition is lower.
  8. In the driving assistance device in the intersection of any one of Claims 1 thru | or 7,
    The driving support device at an intersection, wherein the driving support means changes a warning issued to a driver according to the degree of recognition.
  9. In the driving assistance device in the intersection of any one of Claims 1 thru | or 8,
    The intersection other vehicle behavior detecting means detects the vehicle behavior of the other intersection vehicle using inter-vehicle communication between the own vehicle and the other intersection vehicle.
  10. In the driving assistance device in the intersection of any one of Claims 1 thru | or 9,
    The crossing other vehicle behavior detecting means detects the speed of the crossing other vehicle,
    The said recognition degree estimation means estimates the said recognition degree based on the detected speed variation | change_quantity, The driving assistance apparatus in the intersection characterized by the above-mentioned.
  11. In the driving assistance device in the intersection according to claim 10,
    The crossing other vehicle behavior detecting means uses a non-contact type sensor, and a speed change amount of the crossing other vehicle by a change in a distance from the own vehicle to the crossing other vehicle or a change in an apparent size within a predetermined time. A driving support device at an intersection characterized by measuring the vehicle.
  12. In the driving assistance device in the intersection of Claim 10 or Claim 11,
    The perceived degree estimating means estimates that the perceived degree is high when the crossing other vehicle decelerates and estimates that the perceived degree is low when the crossing other vehicle accelerates. A driving support device at the intersection.
  13. In the driving assistance device in the intersection of any one of Claims 1 thru | or 12,
    The crossing other vehicle behavior detecting means detects a vehicle width direction position with respect to the traveling direction of the crossing other vehicle,
    The said recognition degree estimation means estimates the said recognition degree based on the detected vehicle width direction position variation | change_quantity, The driving assistance apparatus in the intersection characterized by the above-mentioned.
  14. In the driving assistance device at the intersection according to claim 13,
    The crossing other vehicle behavior detecting means uses a non-contact type sensor to calculate the position change amount in the vehicle width direction according to a change in the distance from the own vehicle to the crossing other vehicle or a change in the apparent size within a predetermined time. A driving support device at an intersection characterized by measuring.
  15. In the driving assistance apparatus in the intersection of Claim 13 or Claim 14,
    The perceived degree estimation means estimates that the perceived degree is high when the crossing other vehicle moves away from the host vehicle, and the perceived degree when the vehicle moves in a direction approaching the own vehicle. A driving support device at an intersection characterized by being estimated to be low.
  16. In the driving assistance device in the intersection of any one of Claims 1 thru | or 15,
    Obstacle approach detection means for detecting an obstacle approaching the host vehicle from the left-right direction outside the roadway of the intersection road close to the host vehicle,
    When the approach of the obstacle is detected, an entry restriction means for restricting the entry of the own vehicle into the intersection;
    A driving support device at an intersection characterized by the provision of
  17. Detect the position of your vehicle,
    Detect the intersection in front of your vehicle,
    Detecting the vehicle behavior of an intersection vehicle approaching the intersection,
    Based on the vehicle behavior change of the intersection other vehicle, the degree of recognition of the existence of the own vehicle by the driver of the intersection other vehicle is estimated as the degree of recognition,
    A driving support device at an intersection, which performs driving support for approaching an intersection based on the estimated degree of recognition.
  18. Estimating the degree of recognition of the presence of the vehicle by the driver of the other vehicle on the basis of the change in the vehicle behavior of the other vehicle on the intersection, and providing driving assistance for approaching the intersection based on the estimated degree of recognition A driving support method at an intersection characterized by.
JP2006018325A 2006-01-27 2006-01-27 Driving support device in intersection and driving support method in intersection Pending JP2007200052A (en)

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Cited By (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2009208677A (en) * 2008-03-05 2009-09-17 Nissan Motor Co Ltd Vehicular deceleration controller
JP2009276882A (en) * 2008-05-13 2009-11-26 Fujitsu Ltd Warning output device, warning output program and vehicle side photographing device
JP2009298193A (en) * 2008-06-10 2009-12-24 Fuji Heavy Ind Ltd Driving support device for vehicle
JP2010033443A (en) * 2008-07-30 2010-02-12 Nissan Motor Co Ltd Vehicle controller
US20120056756A1 (en) * 2010-09-02 2012-03-08 Honda Motor Co., Ltd. Method Of Estimating Intersection Control
US8340894B2 (en) 2009-10-08 2012-12-25 Honda Motor Co., Ltd. Method of dynamic intersection mapping
US8618951B2 (en) 2010-09-17 2013-12-31 Honda Motor Co., Ltd. Traffic control database and distribution system
US8618952B2 (en) 2011-01-21 2013-12-31 Honda Motor Co., Ltd. Method of intersection identification for collision warning system
US8818641B2 (en) 2009-12-18 2014-08-26 Honda Motor Co., Ltd. Method of intersection estimation for a vehicle safety system
JP2017001596A (en) * 2015-06-15 2017-01-05 日産自動車株式会社 Stop position setting device and method
JPWO2015166558A1 (en) * 2014-04-30 2017-04-20 三菱電機株式会社 Perimeter monitoring device, perimeter monitoring system, and perimeter monitoring method
WO2019130483A1 (en) * 2017-12-27 2019-07-04 本田技研工業株式会社 Vehicle control device, vehicle control method, and program

Cited By (15)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2009208677A (en) * 2008-03-05 2009-09-17 Nissan Motor Co Ltd Vehicular deceleration controller
JP2009276882A (en) * 2008-05-13 2009-11-26 Fujitsu Ltd Warning output device, warning output program and vehicle side photographing device
JP2009298193A (en) * 2008-06-10 2009-12-24 Fuji Heavy Ind Ltd Driving support device for vehicle
JP2010033443A (en) * 2008-07-30 2010-02-12 Nissan Motor Co Ltd Vehicle controller
US8903639B2 (en) 2009-10-08 2014-12-02 Honda Motor Co., Ltd. Method of dynamic intersection mapping
US8340894B2 (en) 2009-10-08 2012-12-25 Honda Motor Co., Ltd. Method of dynamic intersection mapping
US8818641B2 (en) 2009-12-18 2014-08-26 Honda Motor Co., Ltd. Method of intersection estimation for a vehicle safety system
US9111448B2 (en) 2010-09-02 2015-08-18 Honda Motor Co., Ltd. Warning system for a motor vehicle determining an estimated intersection control
US8823556B2 (en) * 2010-09-02 2014-09-02 Honda Motor Co., Ltd. Method of estimating intersection control
US20120056756A1 (en) * 2010-09-02 2012-03-08 Honda Motor Co., Ltd. Method Of Estimating Intersection Control
US8618951B2 (en) 2010-09-17 2013-12-31 Honda Motor Co., Ltd. Traffic control database and distribution system
US8618952B2 (en) 2011-01-21 2013-12-31 Honda Motor Co., Ltd. Method of intersection identification for collision warning system
JPWO2015166558A1 (en) * 2014-04-30 2017-04-20 三菱電機株式会社 Perimeter monitoring device, perimeter monitoring system, and perimeter monitoring method
JP2017001596A (en) * 2015-06-15 2017-01-05 日産自動車株式会社 Stop position setting device and method
WO2019130483A1 (en) * 2017-12-27 2019-07-04 本田技研工業株式会社 Vehicle control device, vehicle control method, and program

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