JP2007328573A - Intersection condition detection apparatus and intersection condition detection method - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an intersection condition detection apparatus and an intersection condition detection method for precisely determining a condition at an intersection. <P>SOLUTION: The intersection condition detection apparatus includes: an own vehicle position detection part 3 for detecting the position of a vehicle 1; a vehicle speed detection part 4 for detecting the speed of the vehicle 1; a road information database 5 storing road information including at least positional information of intersections; a stop position detection part for detecting the stop position of the vehicle 1 at the intersection on the basis of positional information of the vehicle 1 detected by the user's vehicle position detection part 3, positional information of the vehicle 1 detected by the vehicle speed detection part 4, and positional information of the intersections stored in the road information database 5; and a running information recording part 7 for recording the stop position of the vehicle 1 detected by the stop position detection part 6. An intersection condition determination part 8 determines a condition at the intersection on the basis of the stop position of the vehicle 1 recorded in the running information recording part 7. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  The present invention relates to an intersection situation detection apparatus and an intersection situation detection method for detecting the situation of an intersection based on a travel history of a vehicle.

Conventionally, each time a vehicle approaches an intersection, information on the position and speed of the vehicle is accumulated, and a signal is set based on the percentage of travel history in which the vehicle has fallen below the predetermined speed within a predetermined distance range from the intersection. There is known an intersection state detection device that detects a non-priority road at an intersection that is not (see Patent Document 1).
JP 2005-174282 A

  However, as described above, the conventional intersection state detection device is configured to detect the non-priority road based on the ratio of the travel history in which the vehicle has become below the predetermined speed within the predetermined distance range from the intersection. A priority road may be erroneously determined as a non-priority road by taking into account a travel history when a vehicle traveling on a priority road decelerates due to a right or left turn at an intersection.

  In order to prevent such a misjudgment, there may be a method of making a judgment using only the traveling history when the vehicle travels straight through the intersection. Judgments cannot be made for intersections that cannot. In addition, since the travel history used for determination is limited to that during straight traveling, it is necessary to accumulate a large amount of travel history before accurate determination becomes possible.

  The present invention has been made to solve the above-described problems, and an object of the present invention is to provide an intersection state detection apparatus and an intersection state detection method that can accurately determine the state of an intersection.

  In order to solve the above-described problems, the intersection situation detection apparatus and the intersection situation detection method according to the present invention are not the ratio of the travel history in which the host vehicle is less than or equal to a predetermined speed within a predetermined distance range from the intersection. The situation of the intersection is determined based on the history of the stop position of the vehicle. That is, the intersection situation detection apparatus and the intersection situation detection method according to one aspect of the present invention detect the position of the host vehicle, detect the speed of the host vehicle, and detect the position information and speed information of the host vehicle and the position information of the intersection. Based on the above, the stop position of the own vehicle at the intersection is detected, the stop position of the own vehicle is recorded, and the situation of the intersection is determined based on the recorded stop position of the own vehicle.

  According to the intersection situation detection apparatus and the intersection situation detection method according to the present invention, the priority road is non-prioritized by taking into account the travel history when the host vehicle traveling on the priority road decelerates for a right or left turn at the intersection. Since it is not erroneously determined as a road, it is possible to accurately determine the situation of the intersection.

  Hereinafter, with reference to the drawings, the configuration and operation of the intersection state detection apparatus according to the first and second embodiments of the present invention will be described.

[First Embodiment]
First, with reference to FIG. 1 thru | or FIG. 7, the structure and operation | movement of the intersection condition detection apparatus which become the 1st Embodiment of this invention are demonstrated.

[Configuration of intersection status detection device]
As shown in FIG. 1, the intersection state detection apparatus according to the first embodiment of the present invention is mounted on a vehicle 1 and includes a traveling direction detection unit 2, a vehicle position detection unit 3, a vehicle speed detection unit 4, and a road information database. 5, a stop position detection unit 6, a travel information recording unit 7, an intersection situation determination unit 8, a vehicle state determination unit 9, and an alarm device 10 are provided as main components.

  In the present embodiment, the functions of the stop position detection unit 6, the intersection state determination unit 8, and the vehicle state determination unit 9 are realized in software by a computer system mounted on the vehicle 1 executing a control program. Shall. However, the function of each unit may be realized by hardware.

  The traveling direction detection unit 2 detects the traveling direction of the vehicle 1 using a blinker signal, a yaw rate sensor, or the like. The own vehicle position detection unit 3 detects the position information of the vehicle 1 using GPS (Global Positioning System) or the like. The vehicle speed detection unit 4 detects the speed of the vehicle 1 using a vehicle speed sensor or the like.

  The road information database 5 includes link information for identifying roads, node information for identifying intersections, position information of representative points of intersections (in this embodiment, center points of intersections), road width and road management. At least the level information for each link determined by the management source is stored. The above "road level" is an index determined by the width of the road or the road management and management organization. The road width is larger and the road management and management organization is larger (for example, the national road is better than the prefectural road). The numerical value of the road level is set high.

  The stop position detection unit 6 includes the position information of the vehicle 1 detected by the vehicle position detection unit 3, the speed information of the vehicle 1 detected by the vehicle speed detection unit 3, and the intersection information stored in the road information database 5. Based on the position information of the representative point, the stop position of the vehicle 1 at the intersection is detected, and the detected information is output to the travel information recording unit 7 together with the intersection information.

  The travel information recording unit 7 is configured by a known recording device such as a hard disk device. The travel information recording unit 7 records the information on the stop position of the vehicle 1 detected by the stop detection unit 6 for each intersection according to the traveling direction of the vehicle at the intersection.

  The intersection state determination unit 8 determines the state of the intersection with reference to the information stored in the travel information recording unit 7 and outputs the determination result to the road information database 5 and the vehicle state determination unit 9. The vehicle state determination unit 9 includes the position information and speed information of the vehicle 1, the information recorded in the travel information recording unit 7, and the intersection determined by the intersection state determination unit 8 or stored in the road information database 5. The state of the vehicle 1 is determined based on the situation and the determination result is output to the alarm device 10. The warning device 10 issues a warning to the driver of the vehicle 1 according to the determination result output from the vehicle state determination unit 9.

  The intersection situation detection apparatus having such a configuration accurately detects a non-priority road at an intersection where no signal is installed by executing the following intersection situation detection process, and also executes an alarm process shown below. As a result, a warning is issued to the driver of the vehicle 1 in a scene that requires a temporary stop. Hereinafter, with reference to the flowcharts shown in FIG. 2 and FIG. 5, the operation of the intersection state detection apparatus when the intersection state detection process and the alarm process are executed will be described.

[Intersection situation detection processing]
The flowchart shown in FIG. 2 starts at the timing when the ignition switch of the vehicle 1 is turned on, and the intersection state detection process proceeds to step S1. This intersection state detection process is repeatedly executed until the ignition switch of the vehicle 1 is turned off.

  In the process of step S <b> 1, the own vehicle position detection unit 3 and the vehicle speed detection unit 4 detect the current position and speed V of the vehicle 1, and output the detected information to the stop position detection unit 6. Thereby, the process of step S1 is completed and the intersection situation detection process proceeds to the process of step S2.

  In the process of step S2, the stop position detection unit 6 refers to the current position of the vehicle 1 detected by the process of step S1, and corresponds to the road on which the vehicle 1 is currently traveling from the road information database 5. Information on the link (inflow link) Ln and the intersection (node) Ni at the end of the link Ln is extracted. Thereby, the process of step S2 is completed and the intersection state detection process proceeds to the process of step S3.

  In the process of step S3, the stop position detection unit 6 uses the current position of the vehicle 1 detected by the process of step S1 and the information on the intersection Ni extracted by the process of step S2 to determine the current position of the vehicle 1 from the current position. The distance to the representative point of the intersection Ni is calculated. Thereby, the process of step S3 is completed and the intersection state detection process proceeds to the process of step S4.

  In the process of step S4, the stop position detection unit 6 records the past traveling record corresponding to the combination of the link Ln and the intersection Ni, in other words, the traveling record in which the vehicle 1 has entered the intersection Ni from the link Ln in the past. Read from the recording unit 7. Thereby, the process of step S4 is completed, and the intersection situation detection process proceeds to the process of step S5.

  In the process of step S5, the stop position detector 6 counts the number of times the vehicle 1 has entered the intersection Ni from the link Ln in the past (the number of travels) N based on the past travel record read out in the process of step S4. To do. Thereby, the process of step S5 is completed and the intersection state detection process proceeds to the process of step S6.

  In the process of step S6, the stop position detector 6 refers to the distance calculated by the process of step S3, and the distance from the vehicle 1 to the representative point of the intersection Ni is a predetermined distance (for example, 20 [m]). It is determined whether or not. Then, at the timing when the distance to the representative point of the intersection Ni becomes a predetermined distance, the stop position detection unit 6 causes the speed V of the vehicle 1 to become a speed VL (for example, 10 [km / h]) or less within the predetermined distance range. It is determined whether or not.

  As a result of the determination process, when the speed V of the vehicle 1 is not less than or equal to the speed VL, the stop position detection unit 6 advances the intersection state detection process to the process of step S10. On the other hand, when the speed V of the vehicle 1 becomes equal to or less than the speed VL, the stop position detection unit 6 determines that the road corresponding to the link Ln is a road that needs to be temporarily stopped, that is, a non-priority at an intersection where no signal is installed. It is determined that the road is highly likely, and the intersection state detection process proceeds to the process of step S7.

  In the process of step S7, the stop position detection unit 6 determines the value of the program counter Ny for counting the number of times of travel recording when the speed V becomes lower than the speed VL when the vehicle 1 enters the intersection Ni from the link Ln. Increase by one. Thereby, the process of step S7 is completed, and the intersection state detection process proceeds to the process of step S8.

  In the process of step S8, the stop position detection unit 6 determines that the speed V of the vehicle 1 is the highest within a predetermined distance range based on the position and speed V of the vehicle 1 detected by the own vehicle position detection unit 3 and the vehicle speed detection unit 4. The delayed position is detected, and the detected position is determined as the position SP where the vehicle 1 is temporarily stopped. Then, the stop position detection unit 6 calculates the distance between the position of the representative point CP of the intersection Ni and the temporary stop position SP of the vehicle 1 as the stop distance D as shown in FIG. Thereby, the process of step S8 is completed and the intersection state detection process proceeds to the process of step S9.

  In the process of step S9, the traveling direction detector 2 detects the direction in which the vehicle 1 travels through the intersection Ni (any one of straight, right turn, and left turn). The stop distance D is not significantly different between a right turn and a left turn on a non-priority road (non-priority link) as shown in FIG. On the other hand, on the priority road (priority link), as shown in FIG. 5B, the stop distance D differs between when turning right and when turning left, and the stop distance D when turning right is the stop when turning left. It tends to be shorter than the distance D (close to the representative point of the intersection). Therefore, the stop position at the time of the right turn on the traveling road where the vehicle 1 is currently traveling is compared with the stop position at the time of the right turn at the intersection road intersecting the traveling road, and the road whose stop position is far from the representative point of the intersection. Can be determined as a non-priority road at an intersection where no signal is installed. Further, as shown in FIGS. 5 and 6, the stop distance D tends to be longer when entering the priority road from the non-priority road than when entering the non-priority road from the priority road. Therefore, it is possible to determine whether the traveling road of the vehicle 1 is a priority road or a non-priority road from the stop distance D by referring to such a tendency. Thereby, the process of step S9 is completed and the intersection state detection process proceeds to the process of step S10.

  In the process of step S10, the travel information recording unit 8 includes information on the travel road (link Ln) of the vehicle 1 when entering the intersection Ni, the determination process result of step S6, and the speed of the vehicle 1 in the determination process of step S6. The stop distance D of the vehicle 1 calculated when it is determined that V is equal to or less than the speed VL is associated with information on the traveling direction, and is recorded as information on the link Ln at the intersection Ni. Thereby, the process of step S10 is completed, and the intersection state detection process proceeds to the process of step S11.

  In the process of step S11, the intersection state determination unit 8 reads the information of the link Ln at the intersection Ni from the traveling information recording unit 7, and based on the read information, the traveling number N of the link Ln is a predetermined number K (for example, 10). It is determined whether or not it is equal to or greater than (times). As a result of the determination, if the traveling number N is less than or equal to the predetermined number K, the intersection situation determination unit 8 returns the intersection situation detection process to the process of step S1. On the other hand, when the traveling number N is equal to or more than the predetermined number K, the intersection state determination unit 8 advances the intersection state detection process to the process of step S12.

  In the process of step S12, the intersection number determination unit 8 refers to the value of the program counter Ny and the number of times Ny determined that the road corresponding to the link Ln is likely to be a non-priority road is the number of times the link Ln has traveled. It is determined whether or not it is equal to or greater than 90% of N. As a result of the determination, if it is 90% or less, the intersection situation determination unit 8 returns the intersection situation detection process to the process of step S1. On the other hand, when it is equal to or more than 90%, the intersection situation determination unit 8 advances the intersection situation detection process to the process of step S13.

  In the process of step S13, the intersection situation determination unit 8 compares the stop distance D of the link Ln recorded in the travel information recording unit 7 for each traveling direction, and the difference between the stopping distances D for each traveling direction is a predetermined distance dD ( For example, it is determined whether or not it is 4 [m]) or less. Specifically, the intersection situation determination unit 8 determines the average stop distance DS when the vehicle 1 travels straight through the intersection Ni from the information of the stop distance D and the traveling direction, the average stop distance DR when turning right, and the average when turning left After calculating the stop distance DL, the difference values (DS-LR), (DL-DR), and (DS-DR) of these values are calculated.

  Then, the intersection situation determination unit 8 has a maximum value (= Max {(DS-DR), (DL-DR), (DS-DR)}) among the calculated difference values that is equal to or less than the predetermined distance dD. Determine whether or not. As a result of the determination, if it is not less than the predetermined distance dD, the intersection situation determination unit 8 returns the intersection situation detection process to the process of step S1. On the other hand, when the distance is equal to or less than the predetermined distance dL, the intersection situation determination unit 8 advances the intersection situation detection process to the process of step S14. When only the stop distance D in one traveling direction is recorded in the travel information recording unit 7, the intersection situation determination unit 8 returns the intersection situation detection process to the process of step S1.

  In the process of step S14, the intersection situation determination unit 8 links the maximum value among the difference values calculated by the process of step S13 that the road corresponding to the link Ln is a non-priority road at the intersection Ni. The stop distance D of the vehicle 1 when entering the intersection Ni from Ln is output to the road information database 5 and the vehicle state determination unit 9. Thereby, the process of step S14 is completed and the intersection state detection process returns to the process of step S1.

[Alarm processing]
The flowchart shown in FIG. 7 starts at the timing when the ignition switch of the vehicle 1 is turned on, and the alarm process proceeds to step S21. This alarm process is repeatedly executed until the ignition switch of the vehicle 1 is turned off. In addition, since the process of step S21-step S23 is the same as the process of said step S1-step S3, the description is abbreviate | omitted below and description is started from the process of step S24.

  In the process of step S24, the vehicle state determination unit 9 refers to the information output from the road information database 5 or the intersection situation determination unit 8, and the road corresponding to the link Ln specified by the process of step S22 is not prioritized. It is determined whether or not the road. As a result of the determination, if the link Ln is not a non-priority road, the vehicle state determination unit 9 returns the warning process to the process of step S21. On the other hand, when the link Ln is a non-priority road, the vehicle state determination unit 9 advances the warning process to the process of step S25.

  In the process of step S25, the vehicle state determination unit 9 subtracts the stop distance D of the intersection Ni registered in the road information database 5 from the distance to the representative point of the intersection Ni calculated by the process of step S23. A distance L from the current position of the vehicle 1 to the target stop position is calculated. Thereby, the process of step S25 is completed, and the alarm process proceeds to the process of step S26.

In the process of step S26, the vehicle state determination unit 9 determines whether or not the vehicle speed V of the vehicle 1 and the distance L to the stop target position satisfy Equation 1 below. Note that the parameter t [s] in Equation 1 indicates a set value for the reaction time from when a warning is received until the driver steps on the brake, and the parameter a [m / s ₂ ] indicates a set value for deceleration. That is, Formula 1 compares the distance L from the current vehicle position to the target stop position with the distance from when the driver receives a warning until the vehicle 1 is stopped by stepping on the brake. As a result of the determination, when the distance L does not satisfy Formula 1, the vehicle state determination unit 9 returns the warning process to the process of step S21. On the other hand, when the distance L satisfies Formula 1, the vehicle state determination unit 9 advances the warning process to the process of step S27.

  In the process of step S27, the vehicle state determination unit 9 determines whether or not the speed V of the vehicle 1 is 10 [km / h] or more. As a result of the determination, when the speed V of the vehicle 1 is not 10 [km / h] or more, the vehicle state determination unit 9 determines that the vehicle 1 can be safely stopped by the stop target position, and performs an alarm process in step S1. Return to processing. On the other hand, when the speed V of the vehicle 1 is 10 [km / h] or more, the vehicle state determination unit 9 determines that the vehicle 1 may not be able to stop safely before the stop target position, and performs an alarm process. The process proceeds to step S28.

  In the process of step S <b> 28, the vehicle state determination unit 9 inputs an alarm output command to the alarm device 10, and the alarm device 10 outputs an alarm for decelerating the speed of the vehicle 1 to the driver of the vehicle 1. . Thereby, the process of step S28 is completed and an alarm process returns to the process of step S1.

  As is clear from the above description, the intersection state detection device according to the first embodiment of the present invention includes a host vehicle position detection unit 3 that detects the position of the vehicle 1 and a vehicle speed detection unit that detects the speed of the vehicle 1. 4, a road information database 5 that stores road information including at least intersection position information, position information of the vehicle 1 detected by the own vehicle position detection unit 3, and speed of the vehicle 1 detected by the vehicle speed detection unit 4 The stop position detector 6 that detects the stop position of the vehicle 1 at the intersection based on the information and the position information of the intersection stored in the road information database 5, and the stop of the vehicle 1 detected by the stop position detector 6 And a travel information recording unit 7 for recording the position. In this intersection state detection device, the intersection state determination unit 8 determines the state of the intersection based on the stop position of the vehicle 1 recorded in the travel information recording unit 7. According to such a configuration, the priority road may be erroneously determined as a non-priority road by taking into account the travel history when the host vehicle traveling on the priority road has decelerated due to a right or left turn at an intersection. Because there is no intersection, the situation of the intersection can be determined with high accuracy.

  Further, in the intersection state detection device according to the first embodiment of the present invention, the intersection state determination unit 8 includes a stop position recorded in the traveling information recording unit 7 for the traveling road on which the vehicle 1 is currently traveling, Compared with the stop position recorded in the travel information recording unit for the intersection road that intersects the travel road, a signal is installed on the road far from the representative point of the intersection whose stop position is stored in the road information database 5. Since it is determined that the road is a non-priority road at a non-priority intersection, it is possible to accurately determine which of the traveling road and the intersection road is a non-priority road.

  In the intersection situation detection device according to the first embodiment of the present invention, the travel information recording unit 7 associates the stop position of the vehicle 1 with the traveling direction of the vehicle 1 at the intersection detected by the traveling direction detection unit 2. The intersection state determination unit 8 records and determines that the road whose difference in stop position for each traveling direction is a predetermined value or less is a non-priority road at an intersection where no signal is installed. It is possible to accurately determine whether or not.

  Further, in the intersection situation detection device according to the first embodiment of the present invention, the intersection situation determination unit 8 stops at the time of a right turn recorded in the traveling information recording unit 7 for the traveling road on which the vehicle 1 is currently traveling. Compare the position and the stop position at the time of the right turn recorded in the travel information recording unit 7 for the intersection road intersecting the travel road, and the stop position is far from the representative point of the intersection stored in the road information database 5 Since it is determined that the road is a non-priority road at an intersection where no signal is installed, it can be accurately determined whether or not the traveling road is a non-priority road.

  Further, the intersection situation detection apparatus according to the first embodiment of the present invention includes the situation of the intersection determined by the intersection situation determination unit 8 and the past stop of the vehicle 1 at the intersection recorded by the travel information recording unit 7. A vehicle state determination unit 9 that determines the state of the vehicle 1 based on the position, the current position of the vehicle 1 detected by the vehicle position detection unit 3, and the speed V of the vehicle 1 detected by the vehicle speed detection unit 5. And an alarm device 10 for notifying the driver of the vehicle 1 of an alarm according to the state of the vehicle 1 determined by the vehicle state determination unit 9, so that the driver is appropriately warned in a scene where a temporary stop is necessary. be able to.

[Second Embodiment]
Next, with reference to FIG. 8 thru | or FIG. 13, the structure and operation | movement of the intersection condition detection apparatus which become the 2nd Embodiment of this invention are demonstrated.

[Configuration of intersection status detection device]
As shown in FIG. 8, the intersection situation detection device according to the second embodiment of the present invention includes an approach rate calculation unit 11 in addition to each part of the intersection situation detection device according to the first embodiment. In the present embodiment, the road information database 5 stores road width information and information related to the road intersection angle α at the intersection. As will be described in detail later, the approach rate calculation unit 11 uses the stop position of the vehicle 1 at the intersection Ni detected by the stop position detection unit 6 and the road width information stored in the road information database 5 to stop position. , The ratio of the vehicle 1 entering the intersection Ni is calculated as the intersection entry rate R, and the calculated information is output to the travel information recording unit 7.

  The intersection state detection apparatus having such a configuration accurately detects a non-priority road at an intersection where no signal is set by executing the following intersection state detection process. Hereinafter, with reference to the flowcharts shown in FIG. 9 and FIG. 10, the operation of the intersection state detection apparatus when this intersection state detection process is executed will be described. Note that the operation of the intersection situation detection apparatus when executing the alarm process is the same as the operation of the intersection situation detection apparatus according to the first embodiment, and thus the description thereof is omitted.

[Intersection situation detection processing]
The flowchart shown in FIG. 9 starts at the timing when the ignition switch of the vehicle 1 is turned on, and the intersection state detection process proceeds to step S31. This intersection state detection process is repeatedly executed until the ignition switch of the vehicle 1 is turned off. The processing from step S31 to step S39 is the same as the processing from step S1 to step S9. Therefore, the description thereof is omitted below, and the description starts from the processing of step S40.

In the process of step S40, the approach rate calculation unit 11 uses the width information of the link Ln stored in the road information database 5 and the information of the stop position of the vehicle 1 detected by the process of step S38, so that the stop position , The ratio of the vehicle 1 entering the intersection is calculated as the intersection entry rate R. Specifically, the approach rate calculation unit 11 substitutes the angle α formed by the link Ln and the link that intersects the link Ln (intersection link), the width L1, L2, and the stop distance D of each link into the following Equation 2. Thus, the intersection approach rate R is calculated (see FIG. 11).

  In Formula 2, the denominator indicates the width of the road at the intersection Ni, the numerator indicates the distance from the stop position of the vehicle 1 to the end position of the intersection Ni, and the vehicle 1 enters the intersection Ni deeply at the stop position. The value of the intersection approach rate R increases, and conversely, when the vehicle 1 does not enter the intersection Ni at the stop position, the value of the intersection approach rate R decreases. Thereby, the process of step S30 is completed, and the intersection state detection process proceeds to the process of step S31.

  In the process of step S41, the travel information recording unit 8 includes information on the travel road (link Ln) of the vehicle 1 when entering the intersection Ni, the determination process result of step S36, and the speed V of the vehicle 1 in the determination process of step S36. Is recorded as link Ln information at the intersection Ni by associating the information of the stop distance D of the vehicle 1, the traveling direction, and the intersection approach rate R calculated when it is determined that the vehicle speed is less than the speed VL. Thereby, step S41 processing is completed and an intersection situation detection processing progresses to processing of step S42.

  In the process of step S42, the intersection state determination unit 8 reads and reads information on the link Ln and the link facing the link Ln (hereinafter referred to as an opposite link; see FIG. 12) at the intersection Ni from the travel information recording unit 7. Based on the obtained information, a total value Ns of the number of travels N1 of the link Ln and the number of travels N2 of the opposite link is calculated (see FIG. 12). Then, the intersection situation determination unit 8 determines whether or not the calculated total value Ns is equal to or greater than the predetermined number K. As a result of the determination, when the total value Ns is less than or equal to the predetermined number K, the intersection situation determination unit 8 returns the intersection situation detection process to the process of step S31. On the other hand, when the total value Ns is equal to or more than the predetermined number K, the intersection situation determination unit 8 advances the intersection situation detection process to the process of step S43.

  In the process of step S43, the intersection situation determination unit 8 determines that there is a high possibility that the link Ln and the opposing link are non-priority roads with reference to the values of the program counters Ny1 and Ny2 of the link Ln and the opposing link, respectively. It is determined whether or not the total value of the number of times Ny1 and Ny2 is equal to or greater than 90% of the total value Ns calculated by the process of step S1. As a result of the determination, if it is 90% or less, the intersection situation determination unit 8 returns the intersection situation detection process to the process of step S31. On the other hand, if it is equal to or greater than 90%, the intersection situation determination unit 8 advances the intersection situation detection process to the process of step S44.

  In the process of step S44, the intersection situation determination unit 8 reads information on the road (intersection link) that intersects the link Ln from the travel information recording unit 7, and based on the read information, the number N3, N4 of the number of intersection links traveled. Is calculated (see FIG. 12). Then, the intersection situation determination unit 8 determines whether or not the calculated total value Nc is equal to or more than the predetermined number of times K. As a result of the determination, if the total value Nc is equal to or less than the predetermined number K, the intersection situation determination unit 8 advances the intersection situation detection process to the process of step S45. On the other hand, when the total value Nc is equal to or greater than the predetermined number K, the intersection situation determination unit 8 advances the intersection situation detection process to the process of step S46.

  In the process of step S45, the intersection situation determination unit 8 compares the intersection approach rate R of the link Ln recorded in the travel information recording unit 7 for each traveling direction, and the difference in the intersection approach rate R for each traveling direction is a predetermined value. It is determined whether or not: Specifically, the intersection situation determination unit 8 determines the intersection approach rate R1S when the vehicle 1 travels straight on the intersection Ni from the intersection approach rate R and the traveling direction information associated with the link Ln, and the intersection when the vehicle turns right. The difference value (R1S-R1R), (R1L-R1R), (R1S-R1L) of the approach rate R1R and the intersection approach rate R1L when turning left is calculated, and the maximum value (= It is determined whether Max {(R1S-R1R), (R1L-R1R), (R1S-R1L)}) is equal to or less than a predetermined value (see FIG. 13). As a result of the determination, if it is equal to or less than the predetermined value, the intersection situation determination unit 8 advances the intersection situation detection process to the process of step S48. On the other hand, if it is not less than the predetermined value, the intersection situation determination unit 8 returns the intersection situation detection process to the process of step S31. When only the intersection approach rate R in one traveling direction is recorded in the travel information recording unit 7, the intersection situation determination unit 8 returns the intersection situation detection process to the process of step S31.

  In the process of step S46, the intersection number determination unit 8 refers to the value of the program counter Ny3, Ny4 for the intersection link, and the total number of times Ny3, Ny4 is determined that the possibility that the intersection link is a non-priority road is high. It is determined whether or not the value is equal to or greater than 90% of the total value Nc of the number of crossing links N3 and N4. If it is 90% or less as a result of determination, the intersection situation determination unit 8 determines that the link Ln is a non-priority road at an intersection where no signal is installed, and advances the intersection situation detection process to the process of step S48. . On the other hand, when it is equal to or more than 90%, the intersection situation determination unit 8 advances the intersection situation detection process to the process of step S47.

  In the process of step S47, the intersection situation determination unit 8 compares the intersection entry rate R of the link Ln and the opposite link recorded in the travel information recording unit 7 with the intersection entry rate of the intersection link, and the link Ln and the intersection link. It is determined which of the non-priority roads has no signal. Specifically, the intersection situation determination unit 8 determines the maximum value of the intersection approach rates R1R, R1S, R1L recorded for the link Ln and the intersection approach rates R2R, R2S, R2L recorded for the opposite link as Rs. The maximum value among the intersection approach rates R3R, R3S, R3L, R4R, R4S, and R4L recorded for the intersection link is Rc, and the magnitude relationship between the maximum value Rs and the maximum value Rc is compared. When the maximum value Rc is equal to or greater than the maximum value Rs, the intersection situation determination unit 8 determines that the link Ln and the opposite link are non-priority roads at the intersection where no signal is installed, and the intersection situation detection process The process proceeds to step S48. On the other hand, if the maximum value Rc is equal to or less than the maximum value Rs, the intersection link is determined to be a non-priority road at an intersection where no signal is installed, and the intersection state detection process proceeds to the process of step S48.

  In the process of step S <b> 48, the intersection state determination unit 8 outputs information on the link determined as a non-priority road to the road information database 5 and the vehicle state determination unit 9. Thereby, the process of step S48 is completed and the intersection situation detection process returns to the process of step S31.

  As is clear from the above description, the intersection state detection device according to the second embodiment of the present invention is stored in the road information database 5 and the information on the stop position of the vehicle 1 detected by the stop position detector 6. An entrance rate calculation unit 11 that calculates a rate at which the vehicle 1 has entered the intersection at the stop position as an intersection entry rate R using the width information of the existing road. The intersection approach rate R on the traveling road is compared with the intersection approach rate R on the intersection road intersecting the traveling road, and the road with the smaller intersection approach rate R is determined as a non-priority road at the intersection where no signal is installed. . That is, in this embodiment, the intersection state detection device determines the state of the intersection using the intersection approach rate R instead of the stop position at the intersection. According to such a configuration, the non-priority road can be detected with high accuracy even when the variation in the stop position of the vehicle 1 varies depending on the width of the crossing road.

  Further, in the intersection state detection device according to the second embodiment of the present invention, the approach rate calculation unit 11 refers to the traveling direction of the vehicle detected by the traveling direction detection unit 2 and determines the intersection approach rate R at the intersection. The intersection state determination unit 8 calculates a road with an intersection approach rate R for each traveling direction that is a predetermined value or less as a non-priority road at an intersection where no signal is installed. Priority roads can be detected.

  Moreover, in the intersection state detection apparatus according to the second embodiment of the present invention, the approach rate calculation unit 11 calculates the intersection approach rate R using the road intersection angle α stored in the road information database 5. Therefore, it is possible to calculate the intersection approach rate R even at a specially shaped intersection where the intersection angle between the traveling road and the intersection road is not 90 °, and to detect the non-priority road with high accuracy.

  As mentioned above, although embodiment which applied the invention made by the present inventors was described, this invention is not limited by the description and drawing which make a part of indication of this invention by this embodiment. For example, a camera that captures the surroundings of the vehicle 1 and a radar that scans the surroundings of the vehicle 1 are provided in the vehicle 1, and the determination result of the intersection state detection device is corrected according to the information detected by these devices. Non-priority roads can be detected. As described above, it should be added that other embodiments, examples, operation techniques, and the like made by those skilled in the art based on this embodiment are all included in the scope of the present invention.

It is a block diagram which shows the structure of the intersection condition detection apparatus which concerns on the 1st Embodiment of this invention. It is a flowchart figure which shows the flow of the intersection condition detection process which concerns on the 1st Embodiment of this invention. It is a figure for demonstrating the calculation method of the stop distance in an intersection. FIG. 4A shows stop distances at non-priority links when turning left and right, and FIG. 4B shows stop distances at priority links when turning left and right. FIG. 5 (a) shows a situation where a vehicle enters a priority link from a non-priority link and a priority link from a non-priority link in a crossroad, and FIG. The stop distance of the vehicle in the case of a non-priority link from a link is shown. FIG. 6 (a) shows how a vehicle enters a priority link from a non-priority link and a non-priority link from a priority link on a T-junction, and FIG. The stop distance of the vehicle when the priority link is made and when the priority link is not given is shown. It is a flowchart figure which shows the flow of the alarm process which concerns on embodiment of this invention. It is a block diagram which shows the structure of the intersection condition detection apparatus used as the 2nd Embodiment of this invention. It is a flowchart figure which shows the flow of the intersection condition detection process used as the 2nd Embodiment of this invention. It is a flowchart figure which shows the continuation of the flow of the intersection condition detection process shown in FIG. It is a figure for demonstrating the calculation method of the intersection approach rate of a vehicle. It is a figure which shows an example of each driving | running | working link, the opposing link, and the crossing link, the frequency | count of affirmation determination, and average stop distance. It is a figure which shows an example of the stop distance and intersection approach rate at the time of a vehicle going straight, turning left, and turning right at an intersection.

Explanation of symbols

1: Vehicle 2: Traveling direction detection unit 3: Own vehicle position detection unit 4: vehicle speed detection unit 5: road information database 6: stop position detection unit 7: travel information recording unit 8: intersection state determination unit 9: vehicle state determination unit 10: Alarm device 11: Approach rate calculation unit

Claims (9)

Position detecting means for detecting the position of the host vehicle;
Speed detecting means for detecting the speed of the host vehicle;
A road information database storing road information including at least intersection position information;
Based on the position information of the own vehicle detected by the position detection means, the speed information of the own vehicle detected by the speed detection means, and the position information of the intersection stored in the road information database, Stop position detecting means for detecting the stop position of the host vehicle;
Travel information recording means for recording the stop position of the host vehicle detected by the stop position detection means;
An intersection state detection device comprising: an intersection state determination unit that determines an intersection state based on a stop position of the host vehicle recorded in the travel information recording unit. In the intersection situation detection device according to claim 1,
The intersection status determination means is recorded in the travel information recording means for the stop position recorded in the travel information recording means for the travel road on which the host vehicle is currently traveling and for the intersection road that intersects the travel road at the intersection. The situation of the intersection characterized in that the road where the stop position is far from the position of the intersection stored in the road information database is determined as a non-priority road at the intersection where no signal is installed. Detection device. In the intersection situation detection device according to claim 1 or 2,
It further comprises a traveling direction detection means for detecting the traveling direction of the host vehicle at the intersection,
The travel information recording unit records the stop position of the host vehicle in association with the travel direction of the host vehicle detected by the travel direction detection unit, and the intersection state determination unit determines whether the difference in stop position according to the travel direction is different. An intersection condition detection apparatus, characterized in that a road having a predetermined value or less is determined as a non-priority road at an intersection where no signal is installed. In the intersection situation detection device according to claim 3,
The intersection status determination means is a travel information recording means for a stop position at the time of a right turn recorded in the travel information recording means for the travel road on which the host vehicle is currently traveling, and for an intersection road that intersects the travel road at the intersection. Comparing with the recorded stop position at the time of right turn, and determining the road far from the intersection position where the stop position is stored in the road information database as a non-priority road at the intersection where no signal is installed An intersection situation detection device characterized by the above. In the intersection situation detection device according to claim 1,
The road information database further stores road width information,
Using the information on the stop position of the own vehicle detected by the stop position detecting means and the width information of the road stored in the road information database, the ratio of the own vehicle entering the intersection at the stop position is calculated. It further comprises an approach rate calculation means for calculating as an approach rate,
The intersection status determination means compares the intersection approach rate on the traveling road on which the host vehicle is currently traveling with the intersection approach rate on the intersection road that intersects the traveling road at the intersection, and signals the road with the smaller intersection approach rate. An intersection state detection device, characterized in that it is determined as a non-priority road at an intersection where no road is installed. In the intersection situation detection device according to claim 5,
It further comprises a traveling direction detection means for detecting the traveling direction of the host vehicle at the intersection,
The approach rate calculation means refers to the traveling direction of the host vehicle detected by the traveling direction detection means, calculates the intersection approach rate for each traveling direction of the host vehicle at an intersection, and the intersection situation determination means An intersection state detection apparatus, characterized in that a road having a direction-by-direction intersection approach rate determined as a non-priority road at an intersection where no signal is installed. In the intersection situation detection device according to claim 5 or 6,
The road information database further stores information on the intersection angle of the road at the intersection,
The intersection state detecting device, wherein the approach rate calculating means calculates the intersection approach rate using an intersection angle of a road stored in the road information database. In the intersection situation detection device according to any one of claims 1 to 7,
The situation of the intersection determined by the intersection situation determination means, the past stop position of the own vehicle at the intersection recorded by the travel information recording means, and the current position of the own vehicle detected by the vehicle position detection means Vehicle state determination means for determining the state of the host vehicle based on the speed of the host vehicle detected by the speed detection unit;
An intersection state detection device comprising: warning means for notifying a driver of the own vehicle of an alarm according to the state of the own vehicle determined by the vehicle state determining means. A process for detecting the position of the host vehicle;
A process for detecting the speed of the host vehicle;
A process for detecting the stop position of the host vehicle at the intersection based on the position information and speed information of the host vehicle and the position information of the intersection stored in the road information database;
A process of recording the stop position of the host vehicle in the recording means;
A method for determining an intersection situation based on a stop position of the host vehicle recorded in the recording means.

Images