JP2008176648A - Driving support device and driving support system - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a driving support device without increasing a cost for limiting vehicle which can receive driving support by receiving information to prevent an accident by right turn or left turn at an intersection and especially information (data related to an obstacle) related to an obstacle such as a pedestrian at least on one of a pedestrian crossing at the right turn and left turn at the intersection and a periphery of the pedestrian crossing. <P>SOLUTION: A detection means detects an obstacle existing at least on one of a pedestrian crossing disposed in a direction crossing in a travelling direction of a right turn vehicle intending to right turn at an intersection and a periphery of the pedestrian crossing, and a control means controls a light emission device disposed at a position from which light can be emitted to the right turning vehicle so that the data related to the obstacle detected by the detection means is wirelessly transmitted with a light signal to the right turning vehicle. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  The present invention relates to a driving support device and a driving support system, and more particularly to a driving support device and a driving support system that support driving of a driver of a vehicle turning right or left at an intersection.

  Conventionally, an automotive laser radar device and a traffic information transmission device are known as driving assistance devices for preventing an accident at a right or left turn at an intersection (see, for example, Patent Document 1 and Patent Document 2).

  In the automotive laser radar device described in Patent Document 1, from the time when the transmission light beam is transmitted to the left rear or right front of the vehicle, from the time until reception light based on the reflection of the transmission light beam is received, to the target The distance and the relative speed with the target are calculated, and an alarm signal is generated by identifying (detecting) an approaching object dangerous for the vehicle from the data of the calculated distance and the relative speed. This laser radar device is provided with a winker detector that puts the laser radar into an operating state when the winker operates.

In the traffic information transmission apparatus described in Patent Document 2, intersection information for preventing an accident at the right or left turn of an intersection is transmitted from a radio beacon provided on the road side to the right or left turn vehicle as a target vehicle by radio waves. To do.
JP 2000-338248 A JP 2004-157735 A

  However, in the automotive laser radar device described in Patent Document 1, in order to prevent a car accident when the vehicle turns to the left or an intersection accident when the vehicle turns to the right, in order to detect a dangerous approaching object more reliably, However, there is a problem that a plurality of high-cost laser radars are required, resulting in an increase in cost.

  Moreover, in the traffic information transmission apparatus described in Patent Document 2, since the intersection information for a right turn vehicle is transmitted to the center of the intersection at the time of a right turn, a plurality of directions from each direction of the intersection are transmitted at the intersection center. Since intersection information for a right turn vehicle is transmitted, there is a problem that unnecessary intersection information is received and target vehicles that can receive driving assistance cannot be limited. Also, at the time of a left turn, intersection information for a left turn vehicle is transmitted by radio waves to a predetermined range with a radius of about 3 m of the left turn corner in the left turn lane of the intersection, so if the road on which the vehicle passes is narrow Not only left-turn cars but also right-turn cars may receive this intersection information for left-turn cars and receive driving assistance by receiving intersection information when turning left as well as when turning right. There is a problem that the target vehicles to be used cannot be limited.

  The present invention has been made to solve the above-mentioned problems, and does not cause an increase in cost, and information for preventing a right turn or a left turn at an intersection, in particular, a right turn or an intersection. A driving assistance device capable of limiting target vehicles that can receive driving assistance by receiving information on obstacles such as pedestrians on at least one of the pedestrian crossing in the left turn and around the pedestrian crossing (data on obstacles) The purpose is to provide.

  In order to achieve the above object, a driving support device according to a first aspect of the present invention provides a driving support device according to a first aspect of the present invention, on a pedestrian crossing provided in a direction intersecting with the traveling direction of a right turn vehicle that is about to turn right at an intersection and A position capable of irradiating the right turn vehicle so that data relating to the obstacle detected by the detection means is wirelessly transmitted as an optical signal to the right turn vehicle. And a control means for controlling the light irradiating device installed in the apparatus.

  According to the driving support apparatus according to the first aspect of the present invention, the obstacle present on at least one of the pedestrian crossing provided in the direction intersecting with the traveling direction of the right turn vehicle that is going to turn right at the intersection and around the pedestrian crossing is provided. The light irradiation device is controlled so that data relating to the obstacle is detected and wirelessly transmitted as an optical signal to the right turn vehicle.

  Thus, according to the driving support apparatus according to the first aspect of the present invention, a right turn car corresponding to data on an obstacle with a directional optical signal can be used without requiring a plurality of expensive laser radars. By transmitting wirelessly, data related to obstacles can be transmitted only to the corresponding right turn vehicle, so that the driver of the corresponding right turn vehicle at the intersection can provide driving assistance without causing an increase in cost. Can receive.

  The driving support apparatus according to the first aspect of the present invention further includes a right turn vehicle detection means for detecting a right turn vehicle that is about to turn right at the intersection, and the control means detects a right turn vehicle by the right turn vehicle detection means. In this case, the light irradiation device can be controlled so that it is wirelessly transmitted. In this configuration, when a right turn car that is going to turn right at the intersection is detected, data on the obstacle is wirelessly transmitted with an optical signal, so if a right turn car is not detected, that is, if there is no right turn car This eliminates unnecessary wireless transmission.

  In order to achieve the above object, a driving support apparatus according to the second invention is provided on a pedestrian crossing provided in a direction intersecting with the traveling direction of a left turn vehicle that is about to turn left at an intersection, and around the pedestrian crossing. Detection means for detecting obstacles present in at least one of the vehicles, and the left turn car can be irradiated with light so that data relating to the obstacles detected by the detection means is wirelessly transmitted to the left turn car as an optical signal. And control means for controlling the light irradiation device installed at various positions.

  According to the driving support apparatus according to the second aspect of the present invention, the obstacles present on at least one of the pedestrian crossing provided in the direction intersecting with the traveling direction of the left turn vehicle that is about to turn left at the intersection and around the pedestrian crossing are provided. The light irradiation device is controlled so that data relating to the obstacle is detected and wirelessly transmitted as an optical signal to the left turn vehicle.

  As described above, according to the driving support apparatus according to the second aspect of the present invention, the left turn car corresponding to the obstacle-related data with the directional optical signal without requiring a plurality of high-cost laser radars. By transmitting wirelessly, data related to obstacles can be transmitted only to the corresponding left turn car, so the driver of the corresponding left turn vehicle at the intersection can provide driving assistance without causing an increase in cost. Can receive.

  The driving support apparatus according to the second aspect of the invention further includes left turn vehicle detection means for detecting a left turn vehicle that is about to turn left at the intersection, and the control means detects a left turn vehicle by the left turn vehicle detection means. In this case, the light irradiation device can be controlled so that it is wirelessly transmitted. In this configuration, when a left turn car that is going to turn left at an intersection is detected, data on the obstacle is wirelessly transmitted with an optical signal, so if a left turn car is not detected, that is, if there is no left turn car This eliminates unnecessary wireless transmission.

  Further, in the driving support device according to the first and second inventions, the light irradiation device is a pedestrian LED traffic light provided with a blue LED and a red LED, and the control means responds to the light signal. Thus, the lighting state of the blue LED or the red LED can be controlled. When it is assumed that there is a pedestrian crossing the pedestrian crossing and a right turn vehicle going through the pedestrian crossing using the blue LED or red LED provided on the existing pedestrian LED traffic light. Since the optical signal can be transmitted wirelessly only at a low cost, it can be configured at low cost.

  In the driving support device according to the first and second inventions, the light irradiation device is a near infrared LED or a street light provided in a traffic signal for a pedestrian, and the control means includes the optical signal. The lighting state of the light irradiation device may be controlled according to the above.

  In order to achieve the above object, a driving support apparatus according to the third invention is provided on a pedestrian crossing provided in a direction intersecting with the traveling direction of a right turn vehicle that is going to turn right at an intersection, and around the pedestrian crossing. Reception provided with a right-turn receiving unit provided at a position where a light signal wirelessly transmitted from a light irradiation device that wirelessly transmits an optical signal related to an obstacle existing in at least one of the obstacles can be received in a state of turning right at an intersection. Means.

  Thereby, when the own vehicle is going to turn right at the intersection, the information regarding the obstacle can be received by the directional optical signal. Therefore, according to the driving support apparatus according to the third aspect of the present invention, driving support by making it possible to receive data related to obstacles such as pedestrians on the pedestrian crossing in the right turn at the intersection and at least one of the pedestrian crossing periphery The target vehicles that can be received can be limited.

  The driving support device according to the third aspect of the present invention further includes a determination unit that determines whether or not the host vehicle is going to turn right at the intersection, and the determination unit determines that the host vehicle is going to turn right at the intersection. And a reception control means for controlling the right turn-compatible receiving unit so that the optical signal can be received.

  Thereby, since it becomes possible to receive an optical signal only when it is determined that the host vehicle is going to turn right at the intersection, it is possible to prevent unnecessary light signals from being received except when the host vehicle is going to turn right.

  In order to achieve the above object, a driving support device according to a fourth aspect of the present invention provides a driving support device on a pedestrian crossing provided in a direction crossing a traveling direction of a left turn vehicle that is about to turn left at an intersection, and around the pedestrian crossing. Reception provided with a left-turn receiving unit provided at a position capable of receiving an optical signal wirelessly transmitted from a light irradiation device that wirelessly transmits an optical signal related to an obstacle existing in at least one of the obstacles in a state of turning left at an intersection Means.

  Thereby, when the own vehicle is going to turn left at the intersection, the information regarding the obstacle can be received by the directional optical signal. Therefore, according to the driving support apparatus according to the fourth aspect of the present invention, driving support is provided by making it possible to receive data related to obstacles such as pedestrians on at least one of the pedestrian crossing and the pedestrian crossing in the left turn at the intersection. The target vehicles that can be received can be limited.

  The driving support apparatus according to the fourth aspect of the present invention is further configured to determine whether or not the own vehicle is about to turn left at the intersection, and the determination means determines that the own vehicle is about to turn left at the intersection In addition, the left turn-compatible receiving unit may be configured to include reception control means for controlling the optical signal so as to be received.

  As a result, the optical signal can be received only when it is determined that the host vehicle is going to turn left at the intersection, so that it is possible to prevent unnecessary light signals from being received except when the host vehicle is going to turn left.

  In the driving support apparatus according to the third and fourth inventions, the determination means may make a determination based on the own vehicle speed and own vehicle position, or a turn signal from a direction indicator.

  In order to achieve the above object, a driving support system according to a fifth aspect of the invention includes the driving support apparatus according to the first aspect of the invention and the driving support apparatus according to the third aspect of the invention. The driving support system according to the invention includes the driving support device according to the second invention and the driving support device according to the fourth invention.

  As described above, according to the driving support apparatus and the driving support system of the present invention, a right turn corresponding to data on an obstacle can be performed with a directional optical signal without requiring a plurality of expensive laser radars. By transmitting to the car or the corresponding left turn car, data related to the obstacle can be sent only to the corresponding right turn car or the corresponding left turn car, so there is no cost increase and at the intersection There is an effect that driving support can be performed by using data on obstacles on the pedestrian crossing in the right turn or the left turn and at least one around the pedestrian crossing.

  Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.

  As shown in FIG. 1, at an intersection 12 formed by a road extending from the A direction to the B direction and a road extending from the C direction to the D direction, a vehicle traveling on each road and entering the intersection 12 is allowed to pass. In order to control, vehicle traffic lights 70A, 70B, 70C, and 70D for informing a green signal, a red signal, and a yellow signal are provided, and pedestrian crossings 14, 16, 18, and 20 for a pedestrian to cross each road. Is provided.

  One end of a pedestrian crossing 14 provided in a direction crossing the traveling direction of a vehicle (right turn vehicle) 22 that enters the intersection 12 from the B direction to the A direction and is about to turn right in the D direction at the intersection 12. The section is provided with a pedestrian LED traffic light 14A for notifying a pedestrian 46 who wants to cross the pedestrian crossing 14 with a red LED and a blue signal with a red LED. At the other end of the pedestrian crossing 14, a pedestrian LED traffic light 14E having the same configuration as described above for a pedestrian is provided.

  The pedestrian LED traffic lights 16A, 18A, 20A having the same configuration as the pedestrian LED traffic light 14A and the pedestrian LED traffic light 14E and the pedestrian traffic lights are provided on each of the pedestrian crossings 16, 18, 20 at the intersection 12. LED traffic lights 16E, 18E, and 20E are provided.

  The pedestrian LED traffic light 14A has obstacle detection as detection means including a laser radar for detecting an obstacle (for example, a pedestrian 46) present on and around the pedestrian crossing 14. The blue LED and the red LED of the pedestrian LED traffic light 14A are controlled so that data relating to the obstacle detected by the device 14B and the obstacle detection device 14B is wirelessly transmitted as an optical signal to the corresponding right turn vehicle. A control device 14C constituted by a microcomputer and a right turn vehicle detection device 14D as a right turn vehicle detection means including a laser radar for detecting a right turn vehicle 22 that is about to turn right at the intersection 12 are installed. Yes.

  Each of the pedestrian LED traffic lights 16A, 18A, and 20A has an obstacle detection device 16B, 18B, and 20B having the same configuration as the obstacle detection device 14B, the control device 14C, and the right turn vehicle detection device 14D, and the control device. 16C, 18C, 20C and right turn vehicle detection devices 16D, 18D, 20D are installed.

  The pedestrian LED traffic lights 14A to 20A are a right turn vehicle as a light irradiation device for transmitting a light signal for assisting a driver of a right turn car who is going to turn right at an intersection 12 to a right turn vehicle. The pedestrian LED traffic lights 14E to 20E are for supporting the driving of the driver of the left turn car that is about to turn left at the intersection 12. As a light irradiation device for transmitting an optical signal to a left turn vehicle, the light irradiation device is installed at a position where the left turn vehicle can be irradiated, for example, at a predetermined height from the road surface.

  The pedestrian LED traffic light 14E is an optical signal to the left turn car corresponding to the obstacle detection device 14F having the same configuration as the obstacle detection device 14B and data related to the obstacle detected by the obstacle detection device 14F. A control device 14G composed of a microcomputer for controlling the blue LED and the red LED of the pedestrian LED traffic light 14E so as to be wirelessly transmitted, and a laser radar for detecting a left turn vehicle 22 that is about to turn left at the intersection 12. And a left turn vehicle detection device 14H serving as a left turn vehicle detection means.

  The pedestrian LED traffic lights 16E, 18E, and 20E also have obstacle detection devices 16F, 18F, and 20F having the same configuration as the obstacle detection device 14F, the control device 14G, and the right turn vehicle detection device 14H. 16G, 18G, 20G and right turn vehicle detection devices 16H, 18H, 20H are installed.

  Each vehicle such as the vehicle 22 and the vehicle 28 receives light signals from the pedestrian LED traffic lights 14A, 16A, 18A, 20A and the pedestrian LED traffic lights 14E, 16E, 18E, 20E, and receives the received light. A receiving device 24 configured with a microcomputer that decodes a signal into data related to an obstacle, and an output device 26 that outputs data related to the obstacle decoded by the receiving device 24 are mounted.

  As shown in FIG. 2, the pedestrian LED traffic light 14 </ b> A is provided with an optical transmission unit 38 including a blue LED and a red LED, and the optical transmission unit 38 includes an obstacle detection device 14 </ b> B and A control device 14C to which the right turn vehicle detection device 14D is connected is connected.

  The obstacle detection device 14B outputs lasers on and around the pedestrian crossing 14 and from the time from when the laser is output until it receives a reflected laser based on the reflection of the output laser, on the pedestrian crossing 14 and Based on the detection sensor 30 provided with a laser radar for detecting the pedestrian 46 and the like existing around the pedestrian crossing 14 and the detection result of the monitoring sensor 30, data indicating the presence of the pedestrian 46 is generated and generated. And a signal processing unit 32 that outputs data to the control device 14C.

  The right turn vehicle detection device 14D includes a right turn vehicle detection unit 40 that includes a laser radar that detects a right turn vehicle that is about to turn right at the intersection 12. The right turn vehicle detection unit 40 outputs a laser to the center of the intersection 12 and detects a right turn vehicle at the intersection 12 from the time it takes to receive a reflected laser based on the reflection of the laser output from when the laser is output. To do.

  The control device 14C is generated by the signal generation unit 34 when a right turn vehicle is detected by the signal generation unit 34 that generates an optical signal indicating the data output from the signal processing unit 32 and the right turn vehicle detection unit 40. In order to wirelessly transmit an optical signal to the right turn vehicle 22 based on the optical signal, the light-emitting control unit 36 that controls the optical transmission unit 38 is included.

  In the optical transmission unit 38, the light emission control unit 36 performs optical communication, the lighting state of the blue LED or the red LED is controlled, and the data is wirelessly transmitted as an optical signal by changing the lighting pulse. Data indicating the presence of the pedestrian 46 in the pedestrian crossing is wirelessly transmitted as an optical signal from the blue LED or the red LED of the LED traffic light 14A for the pedestrian.

  When there is a right turn car that is going to turn right at the intersection, the blue LED lights on the traffic light provided on the pedestrian crossing in the direction intersecting the right turn car, but the on-duty ratio is set to a predetermined value or more. By controlling the lighting state of the blue LED, it is possible to prevent the pedestrian or driver from recognizing the blinking state due to the afterimage phenomenon. In this case, the red LED is turned off, but the on-duty ratio is made extremely small so that the lighting state of the red LED is controlled so that the pedestrian or driver cannot recognize the blinking state due to the afterimage phenomenon. Can do.

  As shown in FIG. 3, the pedestrian LED traffic light 18E is provided with an optical transmission unit 58 configured to include a blue LED and a red LED, and the optical transmission unit 58 includes an obstacle detection device 18F and A control device 18G to which the left turn vehicle detection device 18H is connected is connected.

  The obstacle detection device 18F outputs laser on the pedestrian crossing 18 and around the pedestrian crossing 18, and from the time from when the laser is output until it receives the reflected laser based on the reflection of the output laser, on the pedestrian crossing 18 and Based on the monitoring sensor 50 equipped with a laser radar for detecting the pedestrian 48 existing around the pedestrian crossing 18 and the detection result of the monitoring sensor 50, data indicating the presence of the pedestrian 48 is generated and generated. And a signal processing unit 52 that outputs data to the control device 18G.

  The left turn vehicle detection device 18H includes a left turn vehicle detection unit 60 that includes a laser radar that detects a left turn vehicle that is about to turn left at the intersection 12. The left-turn vehicle detection unit 60 outputs a laser to a position (for example, around the left corner 92 in FIG. 1) where a vehicle turning left in the C direction passes at the intersection 12 and the laser output from the time when the laser is output. A left turn vehicle is detected at the intersection 12 from the time until the reflection laser based on the reflection is received.

  The control device 18G is generated by the signal generation unit 54 when a left turn vehicle is detected by the signal generation unit 54 that generates an optical signal indicating data output from the signal processing unit 52 and the left turn vehicle detection unit 60. In order to wirelessly transmit an optical signal to the left turn car 28 based on the optical signal, the light emission control unit 56 that controls the optical transmission unit 58 is included.

  In the optical transmission unit 58, the light emission control unit 56 performs optical communication, the lighting state of the blue LED or the red LED is controlled, and the data is wirelessly transmitted as an optical signal by changing the lighting pulse. Data indicating the presence of the pedestrian 46 in the pedestrian crossing is wirelessly transmitted as an optical signal from the blue LED or red LED of the pedestrian LED traffic light 18A.

  When there is a left turn car that is going to turn left at the intersection, the blue LED lights on the traffic light provided on the pedestrian crossing in the direction crossing the left turn car, but the on-duty ratio is set to a predetermined value or more. By controlling the lighting state of the blue LED, it is possible to prevent the pedestrian or driver from recognizing the blinking state due to the afterimage phenomenon. In this case, the red LED is turned off, but the on-duty ratio is made extremely small so that the lighting state of the red LED is controlled so that the pedestrian or driver cannot recognize the blinking state due to the afterimage phenomenon. Can do.

  As shown in FIG. 4, the receiving device 24 mounted on each vehicle such as the vehicle 22 and the vehicle 28 includes a first optical communication in-vehicle camera (a right-turn compatible receiving unit) and a second optical communication in-vehicle camera ( A light reception unit 62 as a reception unit configured to include a left turn corresponding reception unit), a right / left turn determination unit 64 as a determination unit that determines whether or not the own vehicle is going to turn right and left at the intersection 12, When the right / left turn determination unit 64 determines that the host vehicle is about to turn right at the intersection 12, the first in-vehicle camera for optical communication can receive an optical signal and it is determined that the vehicle is about to turn left. , A light reception control unit 66 as a reception control means for controlling the second in-vehicle camera for optical communication to receive an optical signal, and the optical signal received by the optical reception unit 62 are decoded into data relating to a pedestrian, Decrypted pedestrian It is configured to include a signal decoding unit 68 for outputting the data related to the output device 26.

  The first in-vehicle camera for communication has a viewing angle in the vertical plane of the imaging surface so that the vehicle can receive the optical signal transmitted from the blue LED or the red LED in a state where the vehicle is about to turn right at the intersection 12. Is set.

  In addition, the second communication vehicle-mounted camera is located in the vertical plane of the imaging surface so that the vehicle can receive an optical signal transmitted from the blue LED or the red LED while the host vehicle is about to turn left at the intersection 12. The viewing angle is set.

  Further, the first in-vehicle camera for optical communication and the second in-vehicle camera for optical communication can sweep the imaging surface in a range of a predetermined angle in the horizontal plane, and thereby, the range of the predetermined viewing angle in the horizontal plane. Can receive an optical signal.

  The right / left turn determination unit 64 is configured such that the vehicle speed from the speedometer 94 is not more than a predetermined speed, for example, 15 km / h or less, and the position information from the GPS 96 is located in the right turn lane upstream of the intersection 12 in the traveling direction. If the turn signal from the direction indicator 98 indicates a right turn, it is determined that the host vehicle is about to turn right at the intersection 12, and the vehicle speed from the vehicle speed meter 94 is determined. Is below a predetermined speed, for example, 15 km / h or less, and the position information from the GPS 96 indicates that the host vehicle is located in the left turn lane upstream of the intersection 12 in the traveling direction, or When the turn signal from the indicator 98 indicates a left turn, it is determined that the host vehicle is about to turn left at the intersection 12.

  Next, the operation of the driving support system 10 according to the present embodiment will be described. Hereinafter, the operation of the driving support system 10 when the vehicle 22 turns right in the D direction at the intersection 12 and the operation of the driving support system 10 when the vehicle 28 turns left in the C direction at the intersection 12 will be described as examples. The same applies to the case of the right turn and the left turn at other intersections 12, and the description thereof will be omitted.

  First, an operation when the vehicle 22 turns right in the direction D at the intersection 12 will be described.

  First, when the monitoring sensor 30 of the obstacle detection device 14B detects a pedestrian 46 existing on and around the pedestrian crossing 14, the signal processing unit 32 of the obstacle detection device 14B detects the detected walking. Data relating to the person 46 is generated, and the generated data is output to the control device 14C.

  When the vehicle turning right in the direction D at the intersection 12 is detected by the right turn vehicle detection unit 40 of the right turn vehicle detection device 14D, the light emission control unit 36 uses the data output from the signal processing unit 32 as an optical signal. The blue LED or the red LED of the light transmission unit 38 of the pedestrian LED traffic light 14A is controlled so as to transmit. Thereby, the data regarding the pedestrian 46 is transmitted from blue LED or red LED. At this time, since the optical signal transmitted from the blue LED or the red LED is irradiated at a predetermined irradiation angle, the light signal reaches the center of the intersection 12 so that the right turn vehicle as the target vehicle can be received.

  Here, as shown in FIG. 1, when the vehicle 22 turns on the direction indicator 98 in the right turn direction, a turn signal indicating a right turn starts, and at the intersection 12, the vehicle 22 enters a right turn waiting position in an attempt to turn right in the D direction. If the vehicle speed of the vehicle 22 is low, for example, 15 km / h or less, and the vehicle 22 is positioned in the right turn lane upstream of the intersection 12 in the traveling direction within a predetermined range (for example, 10 m), the vehicle 22 The left / right turn determination unit 64 of the installed receiving device 24 determines that the host vehicle is about to turn right, and the imaging surface of the optical communication in-vehicle camera of the optical receiving unit 62 of the receiving device 24 sweeps within a predetermined range. An attempt is made to receive a light signal from the blue LED or the red LED of the pedestrian LED traffic light 14A.

  And when the vehicle 22 comes to the position which can receive an optical signal, the optical receiver 62 receives the optical signal from the blue LED or the red LED of the pedestrian LED traffic light 14A, and the signal of the receiving device 62 The decoding unit 68 decodes the received optical signal into data related to the pedestrian 46 and outputs the decoded data to the output device 26. As a result, the content based on the data related to the pedestrian 46 from the output device 26, for example, a voice or image indicating the presence of the pedestrian 46 is output to the driver. Information on obstacles existing in at least one of obstacles around the pedestrian crossing can be obtained.

  Next, an operation when the vehicle 28 turns left in the C direction at the intersection 12 will be described.

  First, when the monitoring sensor 30 of the obstacle detection device 18F detects the pedestrian 48 existing on and around the pedestrian crossing 18, the signal processing unit 32 of the obstacle detection device 18F detects the detected walking. Data relating to the person 48 is generated, and the generated data is output to the control device 18G.

  When the left turn vehicle detection unit 60 detects a vehicle turning left in the direction C at the intersection 12, the light emission control unit 56 walks so as to transmit the data output from the signal processing unit 52 as an optical signal. The blue LED or the red LED of the light transmission unit 58 of the LED signal device 18E for the person is controlled. Thereby, the data regarding the pedestrian 48 is transmitted from blue LED or red LED. At this time, since the optical signal output from the blue LED or the red LED is irradiated at a predetermined irradiation angle, the vehicle 22 waits for a left turn at the left corner 92 so that the left turn vehicle as the target vehicle can be received. It reaches the vicinity of the area 90 that is assumed.

  Here, as shown in FIG. 1, when the vehicle 28 turns on the direction indicator 98 in the left turn direction, a turn signal indicating a left turn is started, and the vehicle 28 is in a left turn waiting position in an attempt to turn left in the C direction at the intersection 12. Or if the vehicle speed of the vehicle 28 is low, for example, 15 km / h or less, and the vehicle 28 is positioned in the left turn lane upstream of the center of the intersection 12 in a predetermined range (for example, 10 m) in the traveling direction, The left / right turn determination unit 64 of the mounted receiving device 24 determines that the host vehicle is about to turn left, and the imaging surface of the optical communication in-vehicle camera of the optical receiving unit 62 of the receiving device 24 sweeps within a predetermined range. The pedestrian LED traffic light 18E tries to receive a light signal from the blue LED or red LED.

  And when the vehicle 28 comes to the position which can receive an optical signal, the optical receiver 62 receives the optical signal from the blue LED or the red LED of the pedestrian LED traffic light 18E, and the signal of the receiving device 62 The decoding unit 68 decodes the received optical signal into data related to the pedestrian 48 and outputs the decoded data to the output device 26. Thereby, since the content based on the data regarding the pedestrian 48 from the output device 26, for example, a voice or an image indicating the presence of the pedestrian 48, is output to the driver, the driver can check the obstacle on the pedestrian crossing, and Information on obstacles existing in at least one of obstacles around the pedestrian crossing can be obtained.

  As described above, according to the driving support system 10 according to the present embodiment, it is possible to handle data related to obstacles with directional optical signals without requiring a plurality of high-cost laser radars. By transmitting wirelessly to the right turn car 22 or the left turn car 28, the data regarding the obstacle can be transmitted only to the corresponding right turn car 22 or the left turn car 28, so that the cost is not increased, and The driver of the corresponding right turn vehicle at the intersection 12 or the driver of the corresponding left turn vehicle can receive driving assistance.

  Further, in the driving support system 10 according to the present embodiment, since the optical signal is wirelessly transmitted using the pedestrian LED traffic light 14A and the pedestrian LED traffic light 18E, the driving support device according to the present embodiment is reduced. Can be configured at cost.

  Further, in the driving support system 10 according to the present embodiment, an optical signal is received when it is determined that the own vehicle is going to turn right and left at the intersection, so it is unnecessary except when the vehicle is going to turn right and left. The reception of the optical signal can be prevented.

  In the driving support system 10 according to the present embodiment, the pedestrian LED traffic light 14A, the obstacle detection device 14B, the control device 14C, and the right turn vehicle detection device 14D are drivers of a right turn vehicle that is about to turn right at the intersection 12. In order to support the driving of the vehicle, it has a function as a driving support device that wirelessly transmits data related to the obstacle using an optical signal.

  In the driving support system 10 according to the present embodiment, the pedestrian LED traffic light 18E, the obstacle detection device 18F, the control device 18G, and the left turn vehicle detection device 18H are drivers of a left turn vehicle that is about to turn left at the intersection 12. In order to support the driving of the vehicle, it has a function as a driving support device that wirelessly transmits data related to the obstacle using an optical signal.

  In the driving support system 10 according to the present embodiment, the receiving device 24 receives the optical signal, decodes the received optical signal into data related to the obstacle, and outputs the decoded data from the output device 20. It has a function as a device.

  In this embodiment, the control device 14C and the control device 18G respond to the optical signal using the pedestrian LED traffic light 14A and the pedestrian LED traffic light 18E provided with the blue LED and the red LED as the light irradiation device. Although the example of controlling the lighting state of the light irradiation device has been described, the control device 14C and the control device 18G use the traffic light or street light provided with a near infrared LED as the light irradiation device, and the light is emitted in accordance with the optical signal. You may make it control the lighting state of an irradiation apparatus.

  Further, in the present embodiment, a right turn vehicle detection device 14D is provided, and when the right turn vehicle detection device 14D detects a right turn vehicle, the light emission control unit 36 generates data regarding the obstacle generated by the signal generation unit 34. Although the example of controlling the blue LED or the red LED of the light transmission unit 38 so as to transmit the light signal has been described, the light emission control unit 36 does not detect the right turn vehicle without providing the right turn vehicle detection device 14D. You may control blue LED or red LED of the optical transmission part 38 so that the data regarding the obstacle produced | generated by the production | generation part 34 may be transmitted with an optical signal.

  Further, in the present embodiment, a left turn vehicle detection device 18H is provided, and when the left turn vehicle detection device 18H detects a left turn vehicle, the light emission control unit 56 generates data regarding the obstacle generated by the signal generation unit 54. Although the example of controlling the blue LED of the light transmission unit 58 so as to transmit with an optical signal has been described, similarly to the above, the light emission control unit 56 does not include the left turn vehicle detection device 18H and does not detect the left turn vehicle. The blue LED or red LED of the light transmission unit 58 may be controlled so that the data related to the obstacle generated by the signal generation unit 54 is transmitted as an optical signal.

  Further, in the present embodiment, the right / left turn determination unit 64 determines whether or not the own vehicle is going to make a right turn and a left turn at the intersection 12, but judges whether or not the vehicle is going to make at least one of a right turn and a left turn. You may make it do.

  In the present embodiment, when the light reception control unit 66 determines that the host vehicle is about to turn right at the intersection 12 by the right / left turn determination unit 64, the first in-vehicle camera for optical communication receives an optical signal. The example in which the second in-vehicle camera for optical communication is controlled to be able to receive an optical signal when it is determined that it is possible to turn left is described. At least one of the in-vehicle camera for optical communication and the second in-vehicle camera for optical communication may be controlled to always be able to receive an optical signal.

  In the present embodiment, the obstacle detection devices 14B, 16B, 18B, and 20B and the obstacle detection devices 14F, 16F, 18F, and 20F have been described as having laser radars. As long as it is a sensor that can detect an obstacle present in at least one of the surroundings, at least one of the obstacle detection devices 14B, 16B, 18B, and 20B and the obstacle detection devices 14F, 16F, 18F, and 20F is provided. You may make it provide the said sensor.

  Moreover, in this Embodiment, although the optical receiving part 62 of the receiver 24 demonstrated the example provided with the 1st vehicle-mounted camera for optical communications for receiving an optical signal, and the 2nd vehicle-mounted camera for optical communications, The optical receiver 62 may include a photodiode capable of receiving an optical signal.

It is the schematic which shows the structure of the driving assistance system which concerns on embodiment of this invention. It is a block diagram which shows the structure of the driving assistance apparatus of the driving assistance system which concerns on embodiment of this invention. It is a block diagram which shows the structure of the driving assistance apparatus of the driving assistance system which concerns on embodiment of this invention. It is a block diagram which shows the structure of the driving assistance apparatus of the driving assistance system which concerns on embodiment of this invention.

Explanation of symbols

14A Pedestrian LED traffic light 14B Obstacle detection device 14C Control device 14D Right turn vehicle detection device 30 Monitoring sensor 32 Signal processing unit 34 Signal generation unit 36 Light emission control unit 38 Light transmission unit 40 Right turn vehicle detection unit

Claims (16)

Detecting means for detecting obstacles present on at least one of the pedestrian crossing provided in a direction intersecting with the traveling direction of the right-turning vehicle that is going to turn right at the intersection, and around the pedestrian crossing;
Control means for controlling a light irradiation device installed at a position where the right turn vehicle can be irradiated with light so that data relating to the obstacle detected by the detection means is wirelessly transmitted as an optical signal to the right turn vehicle. When,
A driving support device including Further includes a right turn vehicle detection means for detecting a right turn vehicle that is about to turn right at the intersection;
The driving support device according to claim 1, wherein the control unit controls the light irradiation device to wirelessly transmit when a right turn vehicle is detected by the right turn vehicle detection unit.   The light irradiation device is a pedestrian LED traffic light provided with a blue LED and a red LED, and the control means controls a lighting state of the blue LED or the red LED according to the light signal. Or the driving assistance apparatus of Claim 2.   The said light irradiation apparatus is a near-infrared LED or street light provided in the traffic signal apparatus for pedestrians, and the said control means controls the lighting state of the said light irradiation apparatus according to the said optical signal. The driving support device according to claim 2. Detection means for detecting obstacles present on at least one of the pedestrian crossing provided in the direction intersecting with the traveling direction of the left turn car that is about to turn left at the intersection, and around the pedestrian crossing;
Control means for controlling a light irradiation device installed at a position where the left turn car can be irradiated with light so that data relating to the obstacle detected by the detection means is wirelessly transmitted to the left turn car as an optical signal. When,
A driving support device including Further comprising a left turn vehicle detection means for detecting a left turn vehicle that is about to turn left at the intersection;
The driving support device according to claim 5, wherein the control unit controls the light irradiation device to wirelessly transmit when a left turn vehicle is detected by the left turn vehicle detection unit.   6. The light irradiation device is a pedestrian LED traffic light provided with a blue LED and a red LED, and the control means controls a lighting state of the blue LED or the red LED according to the light signal. Or the driving assistance apparatus of Claim 6.   The said light irradiation apparatus is a near-infrared LED or street light provided in the traffic signal apparatus for pedestrians, The said control means controls the lighting state of the said light irradiation apparatus according to the said optical signal. The driving support device according to claim 6. It is wirelessly transmitted from a light irradiation device that wirelessly transmits an optical signal relating to an obstacle existing on at least one of the pedestrian crossing provided in the direction intersecting with the traveling direction of the right turn car that is going to turn right at the intersection. Receiving means comprising a right turn-compatible receiving unit provided at a position where the optical signal can be received in a state where the optical signal is about to turn right at the intersection;
A driving support device including A judging means for judging whether or not the own vehicle is going to turn right at the intersection;
A reception control means for controlling the right turn correspondence receiving unit to be able to receive the optical signal when the determination means determines that the host vehicle is about to turn right at an intersection;
The driving support device according to claim 9, further comprising:   The driving support device according to claim 10, wherein the determination unit determines whether or not the host vehicle is going to turn right at the intersection based on the host vehicle speed and host vehicle position or a turn signal from a direction indicator. It is wirelessly transmitted from a light irradiation device that wirelessly transmits an optical signal regarding an obstacle existing on at least one of the pedestrian crossing provided in the direction intersecting with the traveling direction of the left turn car that is going to turn left at the intersection. Receiving means provided with a left turn-compatible receiving unit provided at a position where the optical signal can be received in a state where it is about to turn left at the intersection;
A driving support device including A judging means for judging whether or not the own vehicle is going to turn left at the intersection;
A reception control means for controlling the left turn-compatible receiving unit to receive the optical signal when the determination means determines that the host vehicle is about to turn left at an intersection;
The driving support apparatus according to claim 12, further comprising:   The driving support device according to claim 13, wherein the determination unit determines whether or not the host vehicle is going to turn left at the intersection based on the host vehicle speed and host vehicle position or a turn signal from a direction indicator. The driving support device according to any one of claims 1 to 4,
The driving support device according to any one of claims 9 to 11,
Driving support system including. The driving support device according to any one of claims 5 to 8,
The driving support device according to any one of claims 12 to 14,
Driving support system including.

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