JP2008052507A - Traveling direction change support system and inter-vehicle communication system - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a traveling direction change support system suppressing the reduction of driver's driving concentration. <P>SOLUTION: The traveling direction change support system is provided with: a risk determination part for obtaining risk information indicating information on the risk of a collision of the other vehicle with its own vehicle travelling in any one of directions, i.e. right, left or straight: an information provision contents determination part for adding the risk information to information concerned with a traveling route; and an image display part and a voice notification part for providing the information concerned with the traveling route and the risk information to the driver. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  The present invention relates to a traveling direction change support system and a vehicle-to-vehicle communication system.For example, for a vehicle traveling to a right turn, left turn, or straight ahead at an intersection, information is exchanged between the vehicles by wireless communication. Based on the results, information about the danger of collision with other vehicles was provided to the driver.

  For example, Patent Document 1 discloses a conventional system that provides a driver with information on the danger of a collision with another vehicle for a vehicle that proceeds to a right turn, a left turn, or a straight drive at an intersection. A right-turn collision prevention system is known.

  This right turn collision prevention system includes oncoming vehicle detection means, database means, vehicle position detection means, vehicle state detection means, vehicle information on oncoming vehicle detection means, road surface information from road surface condition detection means, and data from database means. Based on road alignment information, own vehicle position information from the vehicle position detection means, and own vehicle information from the vehicle state detection means, information processing to the driver, judgment processing means for selecting the control of the alarm or right turn, and the driver An information providing output section for notifying the information provision or warning, and vehicle control means for controlling the traveling of the host vehicle.

As communication means, road-to-vehicle communication is used. In this road-to-vehicle communication, collision risk determination is performed while updating information such as the position and speed of the host vehicle and information received at regular intervals from the road side. The information provision, warning, or stop control is repeatedly executed while it is determined that there is a collision risk determination.
JP 2001-126199 A

  However, the right-turn collision prevention system described in Patent Document 1 described above has the following problems.

  That is, first, since information provision or warning is continuously performed, there is a risk of causing a reduction in concentration of driver's driving operation due to excessive information provision or warning.

  Secondly, since road-to-vehicle communication is used as the communication means, as shown in FIGS. 10A and 10B, the vehicle I and the road side communication device III A situation occurs in which communication between the two becomes difficult.

  In addition, Fig.10 (a) shows a mode that the vehicle I and the vehicle II are running in parallel at the intersection (viewed from the top to the road), and FIG. FIG. 10A shows a state in which the vehicles I and II running side by side are viewed from the direction of the arrow IV in FIG.

  As is clear from FIGS. 10A and 10B, the vehicle I that is smaller than the vehicle II exists in the shadowing range of the vehicle II, and therefore, between the vehicle I and the road side communication device III. A situation occurs in which communication becomes difficult.

  Under such circumstances, the vehicle I may not be provided with information, warning, or stop control without the collision risk determination based on road-to-vehicle communication being performed. It may be difficult to avoid the danger of a collision with another vehicle.

  An object of this invention is to provide the advancing direction change assistance system which can suppress the fall of concentration of the driving operation of a driver. It is another object of the present invention to provide an inter-vehicle communication system that can reliably provide a driver with information on the danger of a collision with another vehicle.

  In order to solve such a problem, the traveling direction change support system according to the first aspect of the present invention shows information related to the risk of a collision with another vehicle involved in the own vehicle traveling to the right, left, or straight ahead at the intersection. Based on the result of the adding process by the adding means for adding the risk information to the information on the driving route and the adding means, the information on the driving route and the risk information are provided to the driver who drives the host vehicle. Providing means.

  Further, the traveling direction change support system according to the second aspect of the invention is a position detection means for detecting own vehicle position information relating to the position of the own vehicle, and a speed detection for detecting own vehicle speed information relating to the speed and traveling direction of the own vehicle. Means, a database for storing road information relating to roads including intersection positions and road shapes, travel route parameters, travel vehicle route information related to travel routes based on the host vehicle position information, host vehicle speed information, and road information. A travel route determining means for determining; a receiving means for receiving information relating to travel of the other vehicle transmitted from another vehicle; own vehicle position information detected by the position detecting means; and an own vehicle detected by the speed detecting means. Vehicle speed information, road information stored in the database, travel determined by the travel route determination means Risk level information for obtaining risk level information regarding the risk level of collision between the host vehicle and the other vehicle at the next intersection where the host vehicle approaches next, based on the host information and the received content received by the receiving means Means, adding means for adding the risk information obtained by the risk information obtaining means to information relating to the travel route, and information relating to the travel route and the risk information based on the result of the addition process by the adding means, Providing means for providing the driver with driving the vehicle traveling right, left or straight at the intersection.

  Furthermore, the inter-vehicle communication system according to the third invention is transmitted from the first other vehicle, the second other vehicle, and the third other vehicle, the other vehicle position information, the other vehicle speed information, the other vehicle approaching intersection information, Receiving means for receiving other vehicle information including other vehicle intersection traveling state information, other vehicle intersection arrival time information and other vehicle intersection traveling direction information, a database for storing road information including the intersection position and road shape, Detecting means for detecting position information of the own vehicle related to the position; the other vehicle information relating to the first other vehicle received by the receiving means; the other vehicle information relating to the second other vehicle; and the database stored in the database. First determination means for determining whether or not there is a possibility that the first other vehicle and the second other vehicle collide at an intersection based on the road information being The own vehicle position information detected by the detection means, the road information stored in the database, the other vehicle information related to the first other vehicle received by the receiving means, and the second vehicle related to the second Second determining whether or not the first other vehicle and the second other vehicle are in a line-of-sight positional relationship based on the other vehicle information and the other vehicle information regarding the third other vehicle. It is determined by the first determination means and the first determination means that the first other vehicle and the second other vehicle may collide at an intersection, and the second determination means determines the first Transmitting means for transmitting the other vehicle information relating to the first other vehicle to the second other vehicle when it is determined that the other vehicle and the second other vehicle are not in a line-of-sight positional relationship; Characterized by having That.

  According to the traveling direction change support system according to the present invention, the provision of the risk information is not continuously performed, so that it is possible to suppress a decrease in concentration of the driver's driving operation.

  Further, according to the traveling direction change support system according to the present invention, the information provision timing of the risk information is a timing linked to the information provision timing of information related to traveling, for example, the original information provision timing of the vehicle HMI such as car navigation. Since it is performed, the driver can predict the alarm timing of the danger level information, and it is possible to prevent oversight and oversight of the danger level information.

  Furthermore, according to the inter-vehicle communication system according to the present invention, even when shadowing occurs, communication can be performed by detour communication from another vehicle, that is, hopping, so that there is a risk of collision with another vehicle. Information (risk level information) can be acquired by communication. As a result, the danger level information can be provided to the driver with certainty, and the danger of a collision with another vehicle can be avoided.

  Hereinafter, the best mode for carrying out the present invention will be described more specifically with reference to the drawings. Here, in the accompanying drawings, the same components are denoted by the same reference numerals, and redundant description is omitted. In addition, since description here is the best form by which this invention is implemented, this invention is not limited to the said form.

(A) First Embodiment (A-1) Configuration of First Embodiment FIG. 3 shows a functional configuration of a vehicle HMI such as a car navigation system.

  As shown in FIG. 3, the vehicle HMI 10 includes a parameter setting unit 11, a travel route determination unit 12, an information provision content determination unit 13, a host vehicle position and speed detection unit 14, a map database 15, a screen display unit 16, and a voice notification unit. 17 is provided.

  The parameter setting unit 11 transmits to the travel route determination unit 12 the travel route determination parameter 1 set by the driver, such as destination information and priority when determining the travel route. Further, the parameter setting unit 11 transmits the information provision content determination parameter 2 such as the screen display method and the voice notification method to the information provision content determination unit 13.

  The own vehicle position and speed detection unit 14 includes a GPS (Global Positioning System) receiver or the like, and uses information about the position and speed of the own vehicle (hereinafter referred to as “own vehicle position and speed information”) 3 as a travel route determination unit. 12 and the information provision content determination unit 13.

  The map database 15 transmits the road information 4 regarding the road including the intersection position and the road shape to the travel route determination unit 12 and the information provision content determination unit 13.

  The travel route determination unit 12 determines travel route information 5 based on the travel route determination parameter 1, the host vehicle position and speed information 3, and the road information 4, and transmits the travel route information 5 to the information provision content determination unit 13. To do.

  Based on the information provision content determination parameter 2, the own vehicle position and speed information 3, the road information 4, and the travel route information 5, the information provision content determination unit 13 performs distance notification about the distance from the current own vehicle position to the intersection, and Screen display information 6 and voice notification information 7 as information such as a right / left turn instruction (information on the travel route) are transmitted to the screen display unit 16 and the voice notification unit 17, respectively.

  The screen display unit 16 provides the screen display information 6 to the driver by screen display on the display, and the voice notification unit 17 provides the voice notification information 7 to the driver by voice notification (sound output) by a speaker.

  FIG. 1 shows a functional configuration of the traveling direction change support system according to the first embodiment.

  The traveling direction change support system 100 includes the vehicle HMI 10 shown in FIG. The vehicle HMI 10 and the risk determination unit 20 function as an information providing unit. The traveling direction change support system 100 having the information providing unit is provided in each vehicle.

  The parameter setting unit 11 transmits to the travel route determination unit 12 the travel route determination parameter 1 set by the driver, such as destination information and priority when determining the travel route. Further, the parameter setting unit 11 transmits the information provision content determination parameter 2 such as the screen display method and the voice notification method to the information provision content determination unit 13.

  The own vehicle position and speed detection unit (position detection means, speed detection means) 14 is composed of a GPS (Global Positioning System) receiver or the like, detects the own vehicle position information related to the position of the own vehicle, and The own vehicle speed information regarding the speed and the traveling direction is detected, and the information is transmitted as the own vehicle position and speed information 3 to the travel route determination unit 12 and the information provision content determination unit 13.

  The map database 15 (database) transmits road information 4 regarding the road including the intersection position and the road shape to the travel route determination unit 12 and the information provision content determination unit 13.

  The travel route determination unit (travel route determination means) 12 determines travel route information 5 based on the travel route determination parameter 1, the own vehicle position and speed information 3, and road information 4, and provides the travel route information 5. It transmits to the content determination part 13.

  The risk level determination unit (risk level information acquisition unit) 20 transmits to the information provision content determination unit 13 risk level information 8 regarding the level of risk that the host vehicle collides with another vehicle at an intersection where the host vehicle is approaching.

  The information provision content determination unit 13 estimates the presence or absence of a right turn or a left turn of the own vehicle at an approaching intersection based on the own vehicle position and speed information 3, road information 4 and travel route information 5. When it is estimated that the host vehicle makes a right turn or a left turn at the intersection, the information provision content determination unit 13 calculates the distance from the current host vehicle position to the intersection based on the host vehicle position and the intersection position information. When the calculated distance to the intersection is within the determined range, as information on the driving route including right turn information or left turn information (right turn information or left turn information related to the traveling direction at the intersection) and distance information to the intersection of the own vehicle As the information about the travel route including the right turn information or the left turn information (the right turn information or the left turn information related to the traveling direction at the intersection) and the distance information to the intersection of the own vehicle. The voice notification information 7 is transmitted to the voice notification unit 17.

  The estimation processing function (estimation processing function of whether the vehicle turns right or left at the intersection) of the information provision content determination unit 13 is the same as that of the vehicle HMI (car navigation system or the like) 10 shown in FIG. is there.

  Further, the information provision content determination unit (addition means) 13 also has a provision processing function of the risk information 8, and when the risk information 8 is received, the risk information 8 is used as information on the travel route. In addition to the screen display information 6 and the voice notification information 7, it is transmitted to the screen display unit 16 and the voice notification unit 17.

  The screen display unit (providing means, display means) 16 provides the screen display information 6 to the driver through a display. When the risk information 8 is added to the screen display information 6, the screen display related to the risk information 8 is displayed. Also do. That is, the screen display unit 16 simultaneously displays the screen display information 6 and the risk information 8 as information on the travel route.

  The voice notification unit (providing means, voice output means) 17 provides the voice notification information 7 to the driver through a speaker, and when the danger level information 8 is added to the voice notification information 7, the voice notification information 7 is voiced. Also notify. That is, the voice notification unit 17 outputs the screen display information 6 and the risk information 8 as information related to the travel route.

  FIG. 2 shows an overall functional configuration of the traveling direction change support system according to the first embodiment.

  The traveling direction change support system 100 shown in FIG. 2 includes the other vehicle information receiving unit 30, the receiving antenna 40, and the own vehicle information transmitting unit in the configuration of the traveling direction change support system 100 (information providing unit thereof) shown in FIG. 50, the transmission antenna 60, and the own vehicle information determination part 70 are added. Such a traveling direction change support system 100 is provided in each vehicle.

  The parameter setting unit (travel route setting means) 11 is a travel route determination parameter (related to the travel route) set by the driver such as destination information (setting of the travel route to the destination position and the destination) and priority when determining the travel route. Parameter) 1 is transmitted to the travel route determination unit 12.

  The parameter setting unit (setting means) 11 is a parameter relating to a method for providing information to be provided to the driver, including a right turn instruction or a left turn instruction at an intersection and a risk of collision between the host vehicle and another vehicle, that is, a screen. The information provision content determination parameter 2 such as the display method and the voice notification method is transmitted to the information provision content determination unit 13.

  The own vehicle position and speed detection unit 14 is composed of a GPS receiver or the like, and determines the own vehicle position and speed information 3 from the travel route determination unit 12, the information provision content determination unit 13, the risk determination unit 20, and the own vehicle information determination. To the unit 70.

  The map database 15 transmits the road information 4 regarding the road including the intersection position and the road shape to the travel route determination unit 12, the information provision content determination unit 13, the risk determination unit 20, and the own vehicle information determination unit 70.

  The travel route determination unit 12 determines travel route information 5 based on the travel route determination parameter 1, the host vehicle position and speed information 3, and the road information 4, and uses the travel route information 5 as the information provision content determination unit 13, It transmits to the degree determination part 20 and the own vehicle information determination part 70.

  The other vehicle information reception unit (reception unit) 30 receives the other vehicle information 21 via the reception antenna 40 (reception unit) and transmits it to the risk determination unit 20.

  Based on the own vehicle position and speed information 3, road information 4, travel route information 5, and other vehicle information 21, the risk degree determination unit 20 may risk that the own vehicle collides with another vehicle at an intersection where the own vehicle is approaching. As a result of the determination, if there is another vehicle with a high risk of collision, the risk information 8 is transmitted to the information provision content determination unit 13.

  The information provision content determination unit 13 estimates the presence or absence of a right turn or a left turn of the own vehicle at an approaching intersection based on the own vehicle position and speed information 3, road information 4 and travel route information 5.

  The information provision content determination unit 13 calculates the distance from the current own vehicle position to the intersection based on the own vehicle position and the intersection position information when the own vehicle is assumed to make a right turn or a left turn at the intersection, When the calculated distance to the intersection is within the determined range, the screen display information 6 and the voice notification information 7 such as the right turn information or the left turn information and the distance information to the intersection are sent to the screen display unit 16 and the voice notification unit 17, respectively. Send.

  Such an estimation processing function of the information provision content determination unit 13 (estimation processing function of whether the vehicle turns right or left at an intersection) is the same as that of the vehicle HMI (car navigation system) 10 shown in FIG. .

  Further, the information provision content determination unit 13 also has a provision processing function of the risk information 8, and when the risk information 8 is received, the risk information 8 is converted to the right turn information or the left turn information or the intersection described above. The information is transmitted to the screen display unit 16 and the voice notification unit 17 in a form added to the screen display information 6 and the voice notification information 7 such as distance information.

  The screen display unit 16 provides the screen display information 6 to the driver through a display, and also performs screen display related to the risk information 8 when the risk information 8 is added to the screen display information 6.

  The voice notification unit 17 provides the voice notification information 7 to the driver through a speaker, and also performs voice notification regarding the risk information 8 when the risk information 8 is added to the voice notification information 7.

  Based on the own vehicle position and speed information 3, the road information 4 and the travel route information 5, the own vehicle information determination unit 70 turns the own vehicle at the intersection where the own vehicle is approaching, that is, turns right or left at the intersection. Then, it is estimated which traveling state is going straight, and the time (or time) at which the host vehicle arrives at the next intersection and the traveling direction at the next intersection are calculated.

  The own vehicle information determination unit 70 estimates own vehicle position information, speed information (speed information including the traveling direction), that is, own vehicle speed information, position information of the next intersection where the own vehicle approaches next (own vehicle approaching intersection information), and estimation. Travel status information of the own vehicle (estimated travel status information at the next approaching vehicle), that is, own vehicle intersection travel status information, time (or time) information to reach the intersection (own vehicle intersection arrival time information), and The traveling direction information of the own vehicle at the intersection (own vehicle intersection traveling direction information) is transmitted to the own vehicle information transmitting unit 50 as the own vehicle information 22.

  That is, the host vehicle information determination unit 70 has the following functions (1) to (4).

  (1) Based on own vehicle position and speed information 3 (own vehicle position information, own vehicle speed information), road information 4 and travel route information 5, own vehicle approaching intersection information indicating information on the next approaching intersection is determined. Function of the intersection information determination means.

  (2) Based on own vehicle position and speed information 3 (own vehicle position information, own vehicle speed information), road information 4 and travel route information 5, either right turn, left turn or straight turn of the own vehicle at the next approaching intersection A function of travel state information determination means for estimating the travel state of the vehicle and determining the travel state information of the own vehicle intersection indicating information related to the estimated travel state of the host vehicle.

  (3) Based on own vehicle position and speed information 3 (own vehicle position information, own vehicle speed information), road information 4 and travel route information 5, information relating to the time when the own vehicle arrives at the next approaching intersection is shown. Function of arrival time information determination means for determining own vehicle intersection arrival time information.

  (4) Based on the own vehicle position and speed information 3 (own vehicle position information, own vehicle speed information), road information 4 and travel route information 5, the self indicating the traveling direction of the own vehicle at the next approaching intersection A function of travel direction information determining means for determining vehicle intersection travel direction information.

  The own vehicle information transmission unit (transmission means) 50 transmits the own vehicle information 22 to other vehicles via the transmission antenna (transmission means) 60.

(A-2) Operation of the First Embodiment Next, information providing processing of the traveling direction change support system according to the first embodiment will be described with reference to FIGS. 4 and 2.

  FIG. 4 is a flowchart showing the processing procedure of the information providing process. Each vehicle carries out the information providing process of such a processing procedure.

  Each vehicle has a travel route determination parameter 1 related to a travel route such as a destination, a screen display method, a voice notification method, and a risk of collision at an intersection before or during the start of travel in the parameter setting unit 11 of the vehicle HMI 10 The information provision content determination parameter 2 relating to the range for providing an alarm to the driver (hereinafter referred to as “information provision range”) is set (step S101). If information in the information provision range is set in advance, the information is automatically matched.

  The travel route determination unit 12 includes a travel route determination parameter 1 sent from the parameter setting unit 11, a current host vehicle position and speed information 3 sent from the host vehicle position and speed detection unit 14, and road information in the map database 15. Based on 4, travel route information 5 is determined (step S <b> 102).

  In each vehicle, during traveling, the own vehicle information determination unit 70 determines the traveling state of the own vehicle at the intersection where the own vehicle is approaching based on the own vehicle position and speed information 3, the road information 4, and the travel route information 5. That is, it is estimated whether the vehicle is in a right turn, left turn, or straight running state at the intersection (step S103).

  In each vehicle that approaches the intersection by traveling, the own vehicle information determination unit 70 determines the own vehicle information 22 based on the traveling state determined in step S103 and the current own vehicle position and speed information 3. (Step S104), this is output to the own vehicle information transmission part 50.

  The own vehicle information transmission unit 50 transmits the own vehicle information 22 sent from the own vehicle information determination unit 70 to another vehicle via the transmission antenna 60 (step S105).

  While traveling, each vehicle transmits its own vehicle information 22 to another vehicle, while receiving the other vehicle information 21 transmitted from the other vehicle using the receiving antenna 40 and the other vehicle information receiving unit 30 (step S106). ).

  In each vehicle, the risk determination unit 20 determines that the vehicle is at an intersection where the vehicle is approaching based on the vehicle position and speed information 3, road information 4, travel route information 5, and other vehicle information 21. The risk of collision with another vehicle is determined.

  That is, the risk determination unit 20 makes a right turn or a left turn at the intersection where the own vehicle is approaching based on the own vehicle position and speed information 3, the road information 4 and the travel route information 5, that is, at the intersection. , It is estimated which of the straight traveling conditions will be reached (step S107).

  The risk determination unit 20 estimates the time when the host vehicle turns right at the intersection based on the host vehicle position and speed information 3 and the intersection position information in the road information 4 when the host vehicle makes a right turn. Based on 21, it is determined whether or not a straight ahead vehicle approaches from the front at the estimated right turn time (step S 108).

  The risk determination unit 20 that has determined that a straight vehicle approaches from the front in step S108 determines the risk of approaching the straight vehicle from the front at the estimated right turn time based on the other vehicle information 21 (step S109). .

  In addition, when the host vehicle makes a left turn, the risk determination unit 20 estimates the time at which the host vehicle turns left at the intersection based on the host vehicle position and speed information 3 and the intersection position information in the road information 4. Based on the vehicle information 21, it is determined whether or not a straight vehicle approaches from the rear at the estimated left turn time (step S110).

  The risk determination unit 20 that has determined that a straight-ahead vehicle approaches from the rear in step S110 determines the risk of contact with the straight-ahead vehicle from the rear at the estimated left turn time based on the other vehicle information 21 (step S111). .

  Further, the risk determination unit 20 estimates the time when the host vehicle goes straight through the intersection based on the host vehicle position and speed information 3 and the intersection position information in the road information 4 when the host vehicle goes straight. Based on the vehicle information 21, it is determined whether or not there is a left turn vehicle that is approaching or traveling in the same direction as the host vehicle from the front at the estimated straight traveling time (step S112).

  In Step S112, the risk determination unit 20 that has determined that a right-turn vehicle approaches from the front or a left-turn vehicle that travels in the same direction as the host vehicle exists, approaches the estimated straight travel time from the front based on the other vehicle information 21. The degree of risk of contact with a right turn vehicle or a left turn vehicle traveling forward in the same direction as the host vehicle is determined (step S113).

  When the risk determination unit 20 ends step S109, ends step S111, or ends step S113, the result of determining the risk of collision with another vehicle is high. Whether or not there is a possibility of collision (step S114). If it is determined that the risk of collision is high as a result of the determination, the risk information 8 is provided as the information provision content determination unit 13. Send to.

  The information provision content determination unit 13 that has received the risk information 8 calculates the distance from the current position of the host vehicle to the intersection based on the host vehicle position and speed information 3 and the road information 4, and the calculated distance is It is determined whether it is shorter than the information provision range (step S115).

  If the information provision content determination unit 13 determines in step S115 that the calculated distance is shorter than the information provision range, the screen display information 6 originally provided by the vehicle HMI (car navigation system or the like) 10 with the risk information 8 is provided. At the same time, the information is transmitted to the screen display unit 16 and the risk information 8 is transmitted to the voice notification unit 17 together with the voice notification information 7 originally provided by the vehicle HMI (car navigation system or the like) 10.

  When receiving the risk level information 8, the screen display unit 16 displays the risk level information 8 on the display at the same timing (notification timing) as the screen display information 6, thereby notifying the driver of the risk of collision. . At the same time, when the voice notification unit 17 receives the risk information 8, the voice notification unit 17 outputs the risk information 8 from the speaker at the same timing (notification timing) as the voice notification information 7, thereby reducing the risk of collision. The driver is notified (step S116).

  On the other hand, if the information provision content determination unit 13 determines in step S115 that the calculated distance is longer than the information provision range, the distance from the current own vehicle position to the intersection regarding the traveling own vehicle is information. After waiting until it reaches the provision range, the risk information 8 is transmitted to the screen display unit 16 together with the screen display information 6 originally provided by the vehicle HMI 10, and the voice notification information 7 originally provided by the vehicle HMI 10 is provided. At the same time, it is transmitted to the voice notification unit 17.

  When the screen display unit 16 and the voice notification unit 17 receive the risk information 8 when the distance from the current host vehicle position to the intersection regarding the traveling host vehicle has reached the information providing range, the screen display unit 16 and the voice notification unit 17 perform step S115. In the same manner as in, the risk information 8 is output to notify the driver of the risk of collision (step S117).

  Then, when step S116 is completed, when step S117 is completed, when it is determined in step S108 that the straight vehicle does not approach from the front, in step S110, when it is determined that the straight vehicle does not approach from the rear, step S112. In step S114, if it is determined that there is no left turn vehicle that is approaching or traveling in the same direction as the host vehicle, the vehicle determines the information provision contents. The unit 13 determines whether or not the vehicle has arrived at the destination based on the vehicle position and speed information 3, the road information 4 and the travel route information 5 (step S118).

  If it is determined in step S118 that the destination has not been reached, the process returns to step S103. If it is determined that the destination has been reached, the process ends.

  That is, a series of operations of each process from step S103 to step S117 is continuously performed while the vehicle is traveling, and is terminated after the vehicle arrives at the destination.

  In the first embodiment, the information provision range and the information provision timing associated therewith are set to one, but the present invention is not limited to this, and a plurality of information provision ranges are set, The risk level information may be provided at a plurality of information provision timings corresponding to the information provision range.

(A-3) Effects of the first embodiment According to the first embodiment, since the provision of the risk information is not continuously performed, it is possible to suppress a decrease in concentration of the driver's driving operation. . In other words, there is no risk of reducing the driver's concentration due to excessive information provision or warning.

  Further, according to the first embodiment, since the information provision timing of the risk information is linked with the original information provision timing of the vehicle HMI such as car navigation or the timing set by the driver, the risk information This makes it possible for the driver to predict the timing of the alarm, and to prevent oversight and oversight of risk information.

(B) Second Embodiment (B-1) Configuration of Second Embodiment FIG. 5 shows a functional configuration of an inter-vehicle communication system according to the second embodiment of the present invention.

  The inter-vehicle communication system 200 is provided in each vehicle, and includes an inter-vehicle communication unit 210, a hopping determination unit 220, a map database 230, and a host vehicle position detection unit 240.

  The inter-vehicle communication unit 210 includes another vehicle information transmission unit 211, another vehicle information reception unit 212, a transmission antenna 213, and a reception antenna 214.

  The other vehicle transmission unit (transmission means) 211 receives other vehicles such as the position, speed, traveling direction, traveling state at the intersection (right turn, left turn, straight travel), and intersection position, etc., sent from the hopping determination unit 220. Information 204 is transmitted to another vehicle via a transmission antenna (transmission means) 213.

  The other vehicle information reception unit (reception unit) 212 receives other vehicle information 201 such as the position, speed, traveling direction, traveling state at the intersection, and intersection position information of the other vehicle via the reception antenna (reception unit) 4. This is transmitted to the hopping determination unit 220.

  In the second embodiment, the transmitting antenna 213 and the receiving antenna 214 are configured separately. However, an antenna in which these antennas are integrated, that is, an antenna for transmitting and receiving that can be transmitted and received may be used.

  The map database (database) 230 stores road information 203 such as intersection positions and transmits the road information 203 to the hopping determination unit 220.

  The own vehicle position detection unit (position detection means) 240 transmits the own vehicle position information 203 to the hopping determination unit 220.

  When the hopping determination unit (first determination unit, second determination unit) 220 receives the other vehicle information 201 sent from the first vehicle (hereinafter referred to as the first other vehicle), the first hopping determination unit (first determination unit, second determination unit) 220 The information of the first other vehicle is obtained using the information received from the other vehicle information, the own vehicle information, and the second vehicle other than the first other vehicle (hereinafter referred to as the second other vehicle). 2 determines whether to transmit to another vehicle (hereinafter referred to as “hopping”) or not.

  Next, an example of a hopping determination method will be described with reference to FIGS.

  FIG. 6 shows a region where the second other vehicle, which is the reception destination, travels when the first other vehicle, which is the transmission source, makes a right turn, and the state of the traveling state of the first other vehicle. FIG. 7 shows a region where the second other vehicle that is the receiving destination travels when the first other vehicle that is the transmission source makes a left turn, and the state of the traveling state of the first other vehicle. FIG. 8 shows a region in which the second other vehicle that is the reception destination travels when the first other vehicle that is the transmission source travels straight, and the state of the traveling state of the first other vehicle.

  When the first other vehicle turns right at the intersection, as shown in FIG. 6, it is a straight-ahead vehicle that travels in the first region 310 that may cause the first other vehicle 300 </ b> A to collide at the intersection 300. . Therefore, the host vehicle performs hopping only when the second other vehicle goes straight through the area 310.

  Next, when the first other vehicle turns left at the intersection, as shown in FIG. 7, the first other vehicle 300 </ b> A may collide at the intersection 300 and travel straight in the second region 320. It is a vehicle. Accordingly, the host vehicle hops only when the second other vehicle goes straight through the region 320.

  Finally, when the first other vehicle goes straight at the intersection, as shown in FIG. 8, there is a risk that the first other vehicle 300 </ b> A may collide at the intersection 300. A vehicle or a left turn vehicle traveling in the fourth region 340. Therefore, the host vehicle hops only when the second other vehicle turns right in the area 330 or left in the area 340.

  However, the host vehicle is the position information of the first other vehicle, the position information of the second other vehicle, the position information of the host vehicle, a vehicle other than the first other vehicle and the second other vehicle (third vehicle = Based on the position information of the third other vehicle) and road information on the road shape such as a curve, it is determined whether or not the first other vehicle and the second other vehicle are located within the line of sight of each other. However, if it is determined that it is within the line of sight, hopping is not performed.

(B-2) Operation | movement of 2nd Embodiment Next, the vehicle-to-vehicle communication process by each vehicle which has the vehicle-to-vehicle communication system which concerns on 2nd Embodiment is demonstrated with reference to FIG.

  FIG. 9 is a flowchart showing a processing procedure of the inter-vehicle communication processing.

  Here, for convenience of explanation, an inter-vehicle communication process will be described only when the information of the first other vehicle is received. However, when the information is actually received from the other vehicle, the same inter-vehicle communication process is performed.

  When each vehicle receives the other vehicle information 201 sent from the first other vehicle (hereinafter referred to as another vehicle A) using the receiving antenna 214 and the other vehicle information receiving unit 212 of the inter-vehicle communication unit 210. (Step S <b> 201), the other vehicle information 201 is transmitted to the hopping determination unit 220.

  The hopping determination unit 220 determines the traveling state (right turn, left turn) at the intersection of the other vehicle A based on the information on the position and traveling state of the other vehicle A of the other vehicle information 201 and the road information 203 sent from the map database 230. , Straight travel) is determined (step S202), and based on the result of the determination, an area in which another vehicle to be hopped as described in FIGS. 6 to 8 travels is determined.

(When other vehicle A turns right)
That is, when it is determined in step S202 that the other vehicle A (first other vehicle) turns right, the hopping determination unit 220 determines the first region 310 shown in FIG. 6 (step S203), and then the region Based on the information received from the 2nd vehicle (henceforth the other vehicle B) which drive | works 310, it is determined whether the other vehicle B goes straight ahead (step S204).

  The hopping determination unit 220 that determines that the other vehicle B travels straight in step S <b> 204 is based on the position information of the vehicle other than the other vehicle A and the other vehicle B (third other vehicle) and the information on the road shape of the road information 203. Then, it is determined whether or not the other vehicle B (second other vehicle) and the other vehicle A (first other vehicle) are in the line-of-sight (within line-of-sight) positional relationship (step S205).

  Then, in step S205, the hopping determination unit 220 that determines that the other vehicle B and the other vehicle A are not in the line-of-sight positional relationship uses the other vehicle A (first other vehicle) information as the other vehicle information transmission unit. It transmits to other vehicle B (2nd other vehicle) through 211 and the transmission antenna 213 (step S206). After step S206 ends, this inter-vehicle communication process ends.

(When other vehicle A makes a left turn)
Further, when it is determined in step S202 that the first other vehicle A makes a left turn, the hopping determination unit 220 determines the second area 320 shown in FIG. 7 (step S207), and then travels in the area 320. Based on the information received from the second vehicle (hereinafter referred to as other vehicle C), it is determined whether or not the other vehicle C travels straight (step S208).

  The hopping determination unit 220 that determines that the other vehicle C travels straight in step S208 is based on the position information of the vehicle other than the other vehicle A and the other vehicle C (third other vehicle) and the information on the road shape in the road information 203. Then, it is determined whether or not the other vehicle C (second other vehicle) and the other vehicle A (first other vehicle) are in a line-of-sight positional relationship (step S209).

  Then, in step S209, the hopping determination unit 220 that has determined that the other vehicle C and the other vehicle A are not in the line-of-sight positional relationship uses the information on the other vehicle A (first other vehicle) as the other vehicle information transmission unit. It transmits to the other vehicle C (2nd other vehicle) through 211 and the transmission antenna 213 (step S210). After step S210 ends, this inter-vehicle communication process ends.

(When other vehicle A goes straight)
Further, when it is determined in step S202 that the other vehicle A goes straight, the hopping determination unit 220 determines the third region 330 and the fourth region 340 shown in FIG. 8 (step S211), and then the region 330. Whether or not the other vehicle D makes a right turn is determined based on the information received from the second vehicle (hereinafter referred to as the other vehicle D) traveling on the road (step S212).

  The hopping determination unit 220 that has determined that the other vehicle D makes a right turn in step S <b> 212 is based on the position information of the vehicle other than the other vehicle A and the other vehicle D (third other vehicle) and the information on the road shape in the road information 203. Then, it is determined whether or not the other vehicle D (second other vehicle) and the other vehicle A (first other vehicle) are in the positional relationship within the line of sight (step S213).

  Then, in step S213, the hopping determination unit 220 that has determined that the other vehicle D and the other vehicle A are not in the line-of-sight positional relationship uses the information on the other vehicle A (first other vehicle) as the other vehicle information transmission unit. It transmits to the other vehicle D (2nd other vehicle) through 211 and the transmission antenna 213 (step S214). After step S214 ends, this inter-vehicle communication process ends.

  Finally, in step S212, the hopping determination unit 220 that has determined that the other vehicle D does not turn right is based on the information received from the second vehicle that travels in the region 340 (hereinafter referred to as another vehicle E). It is determined whether or not to turn left (step S215).

  The hopping determination unit 220 that determines that the other vehicle E makes a left turn in step S215 is based on the position information of the vehicle other than the other vehicle A and the other vehicle E (third other vehicle) and the information on the road shape in the road information 203. Then, it is determined whether or not the other vehicle E (second other vehicle) and the other vehicle A (first other vehicle) are in the positional relationship within the line of sight (step S216).

  Then, in step S216, the hopping determination unit 220 that has determined that the other vehicle E and the other vehicle A are not in the line-of-sight positional relationship uses the other vehicle A information (first other vehicle) as the other vehicle information transmission unit. It transmits to the other vehicle E (2nd other vehicle) through 211 and the transmission antenna 213 (step S217). After step S217 ends, this inter-vehicle communication process ends.

  If it is determined in step S204 that the other vehicle B traveling in the area 310 does not go straight, or if it is determined in step S205 that the other vehicle B and the other vehicle A are in a line-of-sight positional relationship, in step S208 When it is determined that the other vehicle C traveling in the region 320 does not go straight, when it is determined in step S209 that the other vehicle C and the other vehicle A are in a line-of-sight positional relationship, in step S213, the other vehicle D and the other vehicle When it is determined that the vehicle A is in a position relationship within the line of sight, it is determined in step S215 that the other vehicle E traveling in the region 340 does not turn left, and in step S216, the other vehicle E and the other vehicle A are If it is determined that there is a positional relationship, the inter-vehicle communication process is terminated.

(B-3) Effect of Second Embodiment According to the second embodiment, even when shadowing occurs as in the shadowing example by the vehicle II shown in FIG. Communication can be performed by communication, that is, hopping.

  Therefore, information on the risk of collision with other vehicles (risk level information) can be obtained by communication, and the risk information can be reliably provided to the driver, thereby avoiding the risk of collision with other vehicles. Is possible.

  On the other hand, in the conventional system using road-to-vehicle communication as the communication means, including the right-turn collision prevention system of Patent Document 1 described above, communication is performed as in the shadowing example by the vehicle II as shown in FIG. Due to the occurrence of shadowing, it becomes difficult to communicate between the vehicle I and the road side communication device III, and it is difficult to avoid the risk of collision with other vehicles. .

(C) Other Embodiments In the first embodiment, information on vehicle positions is exchanged with each other by inter-vehicle communication, but the present invention is not limited to this, and may be as follows. .

  That is, a plurality of directional antennas as receiving antennas are arranged with an angle obtained by equally dividing 360 degrees, for example. In addition, a detection function (detection means) for detecting the reception power of the reception signal from each directional antenna disposed at a predetermined angle is provided.

  Thereby, the direction in which the other vehicle travels can be detected from the direction of the directional antenna that has received the other vehicle information, and the relative distance from the other vehicle can be detected from the received power. As described above, the traveling direction change support system similar to that of the first embodiment can be realized without exchanging the vehicle position information by inter-vehicle communication.

  The traveling direction change support system 100 (see FIG. 2) according to the first embodiment and the inter-vehicle communication system 200 (see FIG. 5) according to the second embodiment are configured separately, but the present invention is Without being limited thereto, the following may be used.

  That is, a system having the function of the traveling direction change support system 100 and the function of the inter-vehicle communication system 200, for example, a travel support system. Such a driving support system is provided in each vehicle. In this case, functions such as a map database and a transmission antenna used in the traveling direction change support system 100 and the inter-vehicle communication system 200 can be shared.

  The present invention is a system that provides a driver with information on the risk of a collision with another vehicle (driving support system) for a vehicle traveling to a right turn, left turn, or straight ahead at an intersection such as a crossroad or a T-junction. Can be applied to.

It is a functional block diagram which shows the function structure of a part (information provision part) of the advancing direction change assistance system which concerns on 1st Embodiment. It is a functional block diagram which shows the whole function structure of the advancing direction change assistance system which concerns on 1st Embodiment. It is a functional block diagram which shows the function structure of the vehicle HMI contained in a part (information provision part) of the advancing direction change assistance system which concerns on 1st Embodiment. It is a flowchart which shows the process sequence of the information provision process of each vehicle which has the advancing direction change assistance system which concerns on 1st Embodiment. It is a functional block diagram which shows the function structure of the vehicle-to-vehicle communication system which concerns on 2nd Embodiment. It is a figure which shows the mode of the driving | running | working state of the area | region where the 2nd vehicle which is a receiving destination at the time of the 1st vehicle which is a transmission source making a right turn, and a 1st vehicle. It is a figure which shows the mode of the driving | running | working state of the area | region where the 2nd vehicle which is a receiving destination at the time of the 1st vehicle which is a transmission source making a left turn, and a 1st vehicle. It is a figure which shows the mode of the driving | running | working state of the area | region where the 2nd vehicle which is a receiving destination at the time of the 1st vehicle which is a transmission source going straight, and the 1st vehicle. It is a flowchart which shows the process sequence of the vehicle-to-vehicle communication process by each vehicle which has a vehicle-to-vehicle communication system which concerns on 2nd Embodiment. It is a figure explaining shadowing in the system which performs road-to-vehicle communication as a communication means.

Explanation of symbols

DESCRIPTION OF SYMBOLS 10 ... Vehicle HMI, 11 ... Parameter setting part (setting means, travel route setting means), 12 ... Travel route determination part (travel route determination means), 13 ... Information provision content determination part (addition means), 14 ... Own vehicle position And a speed detection unit (position detection unit, speed detection unit), 15 ... a map database (database), 16 ... a screen display unit (providing unit), 17 ... a voice notification unit (providing unit), 20 ... a risk determination unit (danger) Degree information acquisition means), 30 ... other vehicle information reception section (reception means), 40 ... reception antenna (reception means), 50 ... own vehicle information transmission section (transmission means), 60 ... transmission antenna, (transmission means), 70 ... own vehicle information determination unit (intersection information determination means, travel state information determination means, arrival time information determination means, travel direction information determination means), 100 ... travel direction change support system, 200 ... inter-vehicle communication system 210, inter-vehicle communication unit, 211 ... other vehicle information transmission unit (transmission unit), 212 ... other vehicle information reception unit (reception unit), 213 ... transmission antenna (transmission unit), 214 ... reception antenna (reception unit), 220 ... Hopping determination unit (first determination unit, second determination unit), 230 ... map database (database), 240 ... own vehicle position detection unit (detection unit).

Claims (9)

Additional means for adding risk information indicating information on the risk of a collision with another vehicle related to the own vehicle traveling to the right turn, left turn or straight ahead at the intersection to the information on the travel route;
A traveling direction change support system, comprising: provision means for providing information relating to the travel route and the risk information to a driver driving the host vehicle based on a result of the addition processing by the addition means. Position detecting means for detecting own vehicle position information relating to the position of the own vehicle;
Speed detecting means for detecting own vehicle speed information relating to the speed and traveling direction of the own vehicle;
A database for storing road information about roads including intersection positions and road shapes;
Travel route determination means for determining travel route information related to a travel route based on parameters related to the travel route, the host vehicle position information, the host vehicle speed information, and the road information;
Receiving means for receiving information relating to travel of the other vehicle transmitted from the other vehicle;
Own vehicle position information detected by the position detection means, own vehicle speed information detected by the speed detection means, road information stored in the database, travel route information determined by the travel route determination means, and Based on the received content received by the receiving means, a risk information obtaining means for obtaining risk information relating to the risk of collision between the host vehicle and the other vehicle at an intersection where the host vehicle approaches next;
Adding means for adding the risk level information obtained by the risk level information acquisition means to information relating to the travel route;
Providing means for providing information relating to the travel route and the risk information to a driver who drives the vehicle traveling to the right, left or straight at the intersection based on the result of the addition processing by the addition means. A travel direction change support system comprising:   The information on the traveling of the other vehicle includes information on the position and speed of the other vehicle, information on a predetermined intersection approaching next to the other vehicle, information on a traveling state of the other vehicle at the predetermined intersection, 3. The vehicle according to claim 2, wherein the vehicle information includes information related to a time at which the vehicle arrives at the predetermined intersection and information related to a traveling direction of the vehicle at the predetermined intersection. Direction change support system. Further comprising setting means for setting parameters relating to a method of providing information to be provided to the driver, including a right turn instruction or a left turn instruction at an intersection, and a risk of a collision between the host vehicle and another vehicle,
The travel direction change support system according to any one of claims 1 to 3, wherein the providing means provides the risk information to the driver based on the parameter set by the setting means. A travel route setting means for setting parameters relating to a travel route including a destination position and a travel route setting to the destination;
An intersection information determining means for determining own vehicle approaching intersection information indicating information on the next approaching intersection based on the own vehicle position information, the own vehicle speed information, the road information, and the travel route information;
Based on the own vehicle position information, the own vehicle speed information, the road information, and the travel route information, the driving state of the right turn, left turn, or straight traveling of the own vehicle at the next approaching intersection is estimated. Traveling state information determining means for determining own vehicle intersection traveling state information indicating information related to the traveling state of the subject vehicle;
Arrival determining the own vehicle intersection arrival time information indicating information related to the time when the own vehicle arrives at the next approaching intersection based on the own vehicle position information, the own vehicle speed information, the road information, and the travel route information. Time information determination means;
A traveling direction for determining own vehicle intersection traveling direction information indicating information on the traveling direction of the own vehicle at the next approaching intersection based on the own vehicle position information, the own vehicle speed information, the road information, and the travel route information. Information determination means;
Self-vehicle information including the own vehicle position information, the own vehicle speed information, the own vehicle approaching intersection information, the own vehicle intersection traveling state information, the own vehicle intersection arrival time information, and the own vehicle intersection traveling direction information The traveling direction change support system according to any one of claims 2 to 4, further comprising transmission means for transmitting the vehicle toward the vehicle.   The travel direction change support system according to any one of claims 1 to 5, wherein the providing means includes display means for simultaneously displaying information on the travel route and the risk level information.   The travel direction change support system according to any one of claims 1 to 6, wherein the providing means includes voice output means for outputting the information on the travel route and the risk information. The information on the travel route includes distance information indicating the distance from the position of the host vehicle to the next intersection, and right turn information or left turn information related to the traveling direction at the intersection.
The travel direction change support system according to any one of claims 1 to 7. The other vehicle position information, the other vehicle speed information, the other vehicle approaching intersection information, the other vehicle intersection traveling state information, and the other vehicle intersection arrival time information transmitted from the first other vehicle, the second other vehicle, and the third other vehicle. Receiving means for receiving other vehicle information including the other vehicle intersection traveling direction information;
A database for storing road information including intersection positions and road shapes;
Detecting means for detecting own vehicle position information relating to the position of the own vehicle;
Based on the other vehicle information related to the first other vehicle and the other vehicle information related to the second other vehicle received by the receiving means, and the road information stored in the database, the first First determination means for determining whether or not there is a possibility that another vehicle and the second other vehicle collide at an intersection;
The own vehicle position information detected by the position detecting means, the road information stored in the database, the other vehicle information relating to the first other vehicle received by the receiving means, and the second other vehicle. Whether the first other vehicle and the second other vehicle are in a line-of-sight positional relationship is determined based on the other vehicle information regarding the third vehicle and the other vehicle information regarding the third other vehicle. A second determination means;
It is determined by the first determination means that the first other vehicle and the second other vehicle may collide at an intersection, and the second determination means and the first other vehicle Transmission means for transmitting the other vehicle information related to the first other vehicle to the second other vehicle when it is determined that the second other vehicle is not in a line-of-sight positional relationship. Inter-vehicle communication system.

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