JP2008186265A - Vehicle driving support system - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a vehicle driving support system 10 surely decelerating a vehicle before a railroad crossing to stop, and safely start the vehicle. <P>SOLUTION: This vehicle driving support system has: an image detection means 11 having a TV camera 15, and detecting image data obtained by imaging a road condition in a travel direction of the vehicle; an image analysis means 12 detecting a specific object in the travel direction of the vehicle based on the image data; an output means 13 notifying a driver that the vehicle approaches the railroad crossing when the image analysis means 12 detects the railroad crossing in the travel direction of the vehicle, and urging the driver to stop and decelerate the vehicle; and a vehicle control means 14 assisting the stop and the deceleration of the vehicle according to a deceleration amount of the vehicle. The vehicle driving support system also has an onboard car navigation system 41, compares a detection result of the image analysis means 12 and the onboard car navigation system 41, and controls the vehicle control means 14 according to the comparison result. The vehicle runs in a navigation mode in consideration of the actual road condition. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  The present invention relates to a vehicle driving support system.

The driver is required by law to cross the railroad crossing after confirming safety by decelerating and temporarily stopping the vehicle before the railroad crossing.
However, the current situation is that a driver's operation error (accelerator and brake operation error, etc.) and breakage of the circuit breaker due to excessive crossing, or a vehicle entering the level crossing and a train colliding there will not be left behind. is there.

  On the other hand, there is known a device that notifies the driver that the vehicle has approached the crossing even if the driver is not conscious, and temporarily stops the vehicle before the crossing (see, for example, Patent Document 1). .

  The brake control device disclosed in Patent Document 1 discriminates the sound of the crossing alarm from the means for detecting that the current vehicle position by the vehicle navigation system approaches the crossing and the sound from the external sound collector When both the two detection means send out detection outputs, the brake control is automatically performed if there is no brake operation, and the detection output is given to the means for identifying and detecting the sound of the crossing alarm device. As long as the operation continues, a control circuit is provided to maintain the brake pressure even when the brake pedal is released.

  However, since the brake control device disclosed in Patent Document 1 determines the brake control based on the sound of the alarm device, there is a risk of erroneous determination due to the influence of ambient noise and the like.

  In addition, control is performed on the assumption that the result of detecting that the current position of the vehicle by the vehicle navigation system approaches a railroad crossing is always correct, so if the detection result does not match the actual road condition There is a risk of unintended operations.

When the detection result does not match the actual road condition, for example, because the map data that is not up-to-date is stored in the vehicle navigation system, there is a crossing on the map, but it is removed due to a three-dimensional intersection such as road expansion. If there are actually no crossings.
Although there is a crossing on the map, the road is divided into a side road crossing the crossing and an elevated road that crosses the crossing, and the vehicle may travel on the elevated road.
JP 2003-312461 A

  The present invention provides a vehicle driving support system that can decelerate and temporarily stop a vehicle before a crossing and can start safely.

  A vehicle driving support system according to an aspect of the present invention includes a TV camera, and includes image detection means for detecting image data obtained by imaging a road condition in the traveling direction of the vehicle, and the traveling direction of the vehicle based on the image data. An image analyzing means for detecting a specific object; and when the image analyzing means detects a crossing in the traveling direction of the vehicle, the driver is notified that the crossing is approaching, and the vehicle is decelerated and It is characterized by comprising output means for encouraging a temporary stop and vehicle control means for assisting the deceleration and temporary stop of the vehicle in accordance with the deceleration amount of the vehicle.

  ADVANTAGE OF THE INVENTION According to this invention, the vehicle driving assistance system which can decelerate temporarily and stop temporarily before a crossing and can start safely is obtained.

  Embodiments of the present invention will be described below with reference to the drawings.

  A vehicle driving support system according to an embodiment of the present invention will be described with reference to FIGS. 1 and 2. FIG. 1 is a block diagram showing the configuration of the vehicle driving support system, and FIG. 2 is a flowchart showing the overall operation of the vehicle driving support system.

  As shown in FIG. 1, the vehicle driving support system 10 according to the present embodiment specifies image detection means 11 that detects image data obtained by imaging road conditions in the traveling direction of the vehicle, and specifies the traveling direction of the vehicle based on the image data. The image analysis means 12 for detecting the target object, and when the image analysis means 12 detects a crossing in the traveling direction of the vehicle, the driver is notified that the crossing is approaching, and the vehicle is decelerated and paused. Output means 13 for prompting and vehicle control means 14 for assisting deceleration and temporary stop of the vehicle according to the deceleration amount of the vehicle are provided.

  The image detection unit 11 includes an autofocus mechanism, and includes a TV camera 15 using, for example, a CCD (Charge Coupled device) as an image sensor, and an AF / camera control unit 16 that controls autofocus and camera operation. Image data obtained by imaging a road condition in the traveling direction of the vehicle is detected.

Objects for specifying road conditions include traffic lights and railroad crossings located relatively far away, and warning lights and barriers for crossings located relatively close to each other.
Therefore, the TV camera 15 having an autofocus mechanism has a focal length depending on the use of a traffic light located at a relatively far distance, a use for imaging a crossing, and a use for imaging a crossing warning light or a barrier light located relatively close. It is desirable to have an autofocus mechanism in an optical lens system having different optical lens systems and at least a shorter focal length. Thereby, optimal image data can be obtained respectively.

  The image analysis unit 12 includes an analog / digital conversion unit 20 that converts the image data from the image detection unit 11 into digital data, an image storage unit 21 that stores the digitally converted image data, and a traffic signal, a railroad crossing, and an alarm from the image data. An arithmetic processing unit 22 having an image processing processor for detecting a light, a light block, etc. by pattern matching, and a microprocessor for judging the operation of the output means 13 and the vehicle control means 14 according to the detection results, A data storage unit 23 that stores data, a program storage unit 24 that stores the processing procedure of the arithmetic unit, and an interface 25 that exchanges data and signals with the outside are provided.

  The output means 13 includes a display 30 for displaying information indicating that the vehicle is approaching a railroad crossing, a message for prompting the vehicle to decelerate and pause, and a speaker 31 for transmitting the information by voice. is doing.

  The vehicle control means 14 includes an engine control means 32 for controlling the fuel supply amount and a brake control means 33 for controlling the brake depression amount.

The engine control means 32 has an electronic control circuit 34 and an engine control unit 35. When the vehicle deceleration by the driver is insufficient, the electronic control circuit 34 drives the engine control unit 35 to reduce the fuel supplied to the engine 36 according to a command from the image analysis means 12.
Similarly, when the electronic control circuit 34 receives a command to cancel the temporary stop of the vehicle from the image analysis means 12, the electronic control circuit 34 drives the engine control unit 35 to return the fuel supply to the engine 36 to normal.

  The brake control means 33 includes a vehicle speed sensor 37 for detecting the deceleration / stop state of the vehicle, a brake sensor 38, and a brake control unit 39.

The vehicle speed sensor 37 detects that the traveling speed of the vehicle is zero, and the brake sensor 38 detects that the driver is operating the brake 40.
Based on the outputs of both the vehicle speed sensor 37 and the brake sensor 38, the vehicle deceleration and temporary stop conditions are determined, and the vehicle deceleration and temporary stop signals are output to the image analysis means 12.

  The brake control unit 39 operates in response to a command from the image analysis means 12 and assists the deceleration of the vehicle by increasing the amount of depression of the brake 40 when the deceleration of the vehicle by the driver is insufficient.

  Further, the vehicle navigation system 41 having a function of obtaining current position information of the vehicle by GPS and detecting that the vehicle is approaching a specific object from the map information stored in the storage unit is provided. .

  Furthermore, when the vehicle is equipped with the car navigation system 41, the image analysis means 12 provides information such as a traffic light registered at the current location map from the car navigation system 41 through the interface 25 and the installation location such as a railroad crossing. Can be obtained in advance.

  As shown in FIG. 2, the presence / absence of the vehicle navigation system 41 is checked (step S01). If the vehicle navigation system 41 is not installed (No in step S01), the vehicle travels in the normal mode based on the judgment of the driver. However, if the vehicle navigation system 41 is equipped (Yes in step S01), the vehicle travels in the navigation mode according to the guidance of the vehicle navigation system 41 (step 15).

  First, a case where the vehicle travels in the normal mode without the vehicle navigation system 41 will be described.

  The image detection means 12 detects image data of road conditions in the traveling direction of the vehicle (step S03).

  Next, the image analysis unit 13 detects a specific object in the traveling direction of the vehicle based on the image data (step S04).

  Next, it is checked whether or not the specific target part is a crossing (step S05). When a crossing is detected (Yes in step S05), the output means 13 notifies that the crossing is approaching, and the vehicle is decelerated. A message prompting the suspension is displayed on the display 30, and at the same time, the driver is notified by voice from the speaker 31 to prompt the vehicle to decelerate and pause (step S06).

Next, it is checked by the vehicle speed sensor 37 and the brake sensor 38 of the brake control means 33 whether the driver depresses the brake 40 and the vehicle is sufficiently decelerated (step S07).
If there is no deceleration (No in step S07), the vehicle control means 14 assists the deceleration (step S08).

  Specifically, the fuel supply to the engine 36 is controlled by the engine control means 32, and when the deceleration is insufficient, the brake control unit 39 assists the deceleration of the vehicle and temporarily stops the vehicle at a predetermined position ( Step S09).

  On the other hand, if the vehicle is sufficiently decelerated (Yes in step S07), the vehicle can be temporarily stopped only by the driver's operation, and the process goes to step S09.

  Next, the image detection means 12 and the image analysis means 13 check the flashing of the crossing warning light (step S10), and while the flashing of the crossing warning light is detected (Yes in step S10), step S09. Return to and continue the pause.

  On the other hand, when the flashing of the warning light is no longer detected (No in step S10), the presence / absence of the crossing barge is checked (step S11). Is checked (step S12), and while the barrier is down (Yes in step S12), the process returns to step S09 and the pause is continued.

  On the other hand, when it is confirmed that the barrier rod has been raised (No in Step S12), the temporary stop is canceled (Step S13), and the vehicle starts traveling in the normal travel mode by the driver (Step S14).

  Next, a case where the vehicle has the vehicle navigation system 41 and travels in the navigation mode will be described.

  The vehicle navigation system 41 obtains the current position information of the vehicle by GPS, and it is checked from the current position information of the vehicle and the map data stored in the vehicle navigation system 41 whether the vehicle is approaching the crossing (step) S16).

  When the vehicle is approaching a railroad crossing (Yes in step S16), the image data of the road condition in the traveling direction is detected by the image detection means 12 (step S17), and the specific object is determined based on the image data by the image analysis means 13. An object is detected (step S18).

  Next, it is checked whether or not the specific target part is a crossing (step S19). When a crossing is detected (Yes in step S19), the process goes to step S06 and the output means 13 determines that the crossing is approaching. The vehicle and prompts the vehicle to slow down and pause.

  On the other hand, when the vehicle is not approaching the crossing (No in Step S16) and when the crossing is not detected (No in Step S19), the process returns to Step S16, and Steps S16 to S19 are repeated.

Next, the operation when the image analysis unit 12 detects a crossing in the vehicle traveling direction will be specifically described with reference to FIGS. 3 and 4.
FIG. 3 is a schematic diagram showing a first road situation at a railroad crossing, and FIG. 4 is a schematic diagram showing a second road situation at a railroad crossing.

As shown in FIG. 3, in the first road situation 50, alarm devices 54 a to 54 d are installed at a crossing 53 where the road 51 and the tracks 52 a and 52 b intersect.
The train 55 travels on the track 52b and approaches the railroad crossing 53. The alarm devices 54 a to 54 d flash the alarm light all together, and the shutting bar 56 goes down to notify that the train 55 passes the railroad crossing 53.

The vehicle 57 is traveling on the road 51 toward the railroad crossing 53 while monitoring the traveling direction by the image detection means 11.
Vehicles 57a and 57b show how the vehicle 57 approaches the railroad crossing 53, decelerates and temporarily stops.

  Since the vehicle 57 travels in front of the crossing 53 and the crossing 53 is out of the detection range of the image detection unit 11, the image analysis unit 12 does not detect the crossing 53 in the traveling direction.

  When the vehicle 57a approaches the crossing and the crossing 53 enters the detection range of the image detection unit 11, the image analysis unit 12 detects the crossing 53 in the traveling direction.

Here, the driver is notified by the output means 13 that the railroad crossing 53 is approaching, and the vehicle is prompted to decelerate and pause.
Upon receiving the notification, the driver steps on the brake 40 and decelerates the vehicle. When the deceleration amount of the vehicle 57a is insufficient, the vehicle control means 14 assists the deceleration of the vehicle 57a, and when the vehicle 57a approaches the stop line 58, the vehicle 57b is temporarily stopped.

  As a result, the vehicle 57b can be surely temporarily stopped at the stop line 70 and waits for the train 68 to pass.

Next, while the image detection means 11 and the image analysis means 12 detect a state in which the warning lights of the alarm devices 54a to 54d of the crossing 53 are blinking, the vehicle control means 14 fixes the brake 40, and the vehicle 57b continues the pause.
Furthermore, the brake 40 is fixed by the vehicle control means 14 while the image detecting means 11 and the image analyzing means 12 are detecting the state in which the blocking rod 56 is installed at the crossing 53 and the blocking rod 56 is descending. Then, the vehicle 57b continues to be temporarily stopped.

  Thus, it is possible to prevent a dangerous act in which the driver gets ahead and enters the railroad crossing 53 before the passage of the railroad crossing 53 of the train 55 is completed.

  When the blinking of the warning lights of the alarm devices 54a to 54d is completed and the state in which the blocking bar 56 is raised is confirmed, the vehicle 57b is released from the temporary stop and can start.

  As shown in FIG. 4, the second road situation 60 is such that the elevated road 61 crosses over the tracks 62a and 62b and the side road 63 parallel to the elevated road 61 intersects with the tracks 62a and 62b. ing.

  Alarms 65a to 65d are installed at a crossing 64 where the side road 63 and the tracks 62a and 62b intersect.

  The first vehicle 66 travels on the side road 63 toward the railroad crossing 64, and the second vehicle 67 travels on the elevated road 61 toward the railroad crossing 64.

  The first vehicle 66 and the second vehicle 67 each have a vehicle navigation system 41, and the drivers of the first vehicle 66 and the second vehicle 67 are traveling according to the guidance of the vehicle navigation system 41 (navigation mode). .

  A train 68 runs on the track 62a and approaches the railroad crossing 64. The alarm devices 65a to 65d flash the alarm light at the same time, and the shut-off rod 69 descends to notify that the train 68 passes the railroad crossing 64.

  When the vehicle navigation system 41 of the vehicle 66 obtains the current position information of the vehicle 66 by GPS and detects the closest crossing 64 in the traveling direction of the vehicle 66 with reference to the stored map information, the image detection means 11 images the road condition in the traveling direction of the vehicle 66 and outputs the captured image data to the image analysis means 12.

  Next, when the image analysis means 12 detects that there is a crossing 64 in the traveling direction of the vehicle 66, the output means 13 notifies the driver that the crossing 64 is approaching, and the vehicle 66 is decelerated and paused. Prompted.

  Upon receiving the notification, the driver steps on the brake 40 and decelerates the vehicle 66. When the deceleration amount of the vehicle 66 is insufficient, the vehicle control means 14 assists the deceleration of the vehicle 66, and when the vehicle 66 approaches the stop line 70, the vehicle 66 is temporarily stopped.

  As a result, the vehicle 66 can be surely temporarily stopped at the stop line 70 and waits for the train 68 to pass.

Next, while the image detection means 11 and the image analysis means 12 detect a state in which the warning lights of the alarm devices 65a to 65d of the crossing 64 are blinking, the vehicle control means 14 fixes the brake 40, and the vehicle 66 continues the pause.
Furthermore, the brake 40 is fixed by the vehicle control means 14 while the image detecting means 11 and the image analyzing means 12 are detecting the state in which the blocking rod 69 is installed at the crossing 64 and the blocking rod 69 is lowered. The vehicle 66 continues to be temporarily stopped.

  Thus, it is possible to prevent a dangerous act in which the driver gets ahead and enters the railroad crossing 64 before the passage of the railroad railroad crossing 64 is completed.

  When the flashing of the warning lights of the alarm devices 65a to 65d is completed and the state where the barrier rod 69 is raised is confirmed, the vehicle 66 is released from the temporary stop and can start.

  Similarly, the vehicle navigation system 41 of the vehicle 67 obtains the current position information of the vehicle 67 by GPS, and detects the closest crossing 64 in the traveling direction of the vehicle 67 with reference to the stored map information.

As a result, the image detection unit 11 captures the road condition in the traveling direction of the vehicle and outputs the captured image data to the image analysis unit 12.
However, since the elevated road 61 is three-dimensionally intersected with the crossing 64, the image analysis means 12 does not detect the crossing 64.

  Therefore, although the vehicle navigation system 41 detects the crossing 64 in the traveling direction of the vehicle 67, the image analysis means 12 does not detect the crossing 64 in the traveling direction of the vehicle 67, so that the detection results of both do not match. .

  This is because when the map data stored in the vehicle navigation system 41 is not up-to-date, the vehicle navigation system 41 cannot distinguish the elevated road 61 and the side road 63, and the vehicle 67 progresses regardless of which one is traveling. This is because it is determined that there is a crossing 64 in the direction.

  In this case, the detection result of the image analysis unit 12 is given priority, and a message is displayed on the display 30 by the output unit 13 so as to continue traveling of the vehicle 67, and a sound is output from the speaker 31 to notify the driver.

  As a result, the driver can continue driving safely without being confused by a message prompting erroneous deceleration and temporary stop.

  Thereby, even if the detection result of the vehicle navigation system 41 does not coincide with the actual road condition, it is possible to prevent a fear that an unintended operation is performed.

  As described above, the vehicle driving support system 10 according to the present embodiment includes the TV camera 15, and when the crossing 53 is detected in the traveling direction of the vehicle, the vehicle is notified of deceleration and temporary stop of the vehicle, and the vehicle is decelerated. The vehicle is assisted in deceleration and temporary stop according to the amount.

  As a result, it is possible to obtain the vehicle driving support system 10 that can surely decelerate and temporarily stop the vehicle before the railroad crossing 53 and start it safely.

Further, the detection results of the in-vehicle car navigation system 41 and the image analysis unit 12 are compared, and the vehicle control unit 14 is controlled according to the comparison result.
As a result, the vehicle driving support system 10 capable of traveling in the navigation mode while taking into consideration actual road conditions is obtained.

  Here, a case has been described in which the passage of a train is completed, that is, permission to enter a railroad crossing is detected by detecting the flashing of the warning light of the alarm and the state where the barrier is lowered. You may make it refer.

When the image detection means 11 and the image analysis means 12 detect that the host vehicle is stuck in the crossing, the output means 13 takes a countermeasure for avoiding the accident, for example, the host vehicle escapes from the crossing. The driver may be notified by voice of a method for making a contact, a method for emergency contact with related organizations, a method for evacuating a driver (including a passenger if a passenger is present), and the like.
This has the advantage that the driver can assist in ensuring safety without panicking.

  Although the case where a CCD is used as the imaging element of the TV camera 15 has been described, a CMOS sensor may be used. An infrared imaging element can also be used.

The block diagram which shows the structure of the vehicle driving assistance system which concerns on the Example of this invention. The flowchart which shows operation | movement of the vehicle driving assistance system which concerns on the Example of this invention. The schematic diagram which shows the 1st road condition of the vehicle driving assistance system which concerns on the Example of this invention. The schematic diagram which shows the 2nd road condition of the vehicle driving assistance system which concerns on the Example of this invention.

Explanation of symbols

DESCRIPTION OF SYMBOLS 10 Vehicle driving support system 11 Image detection means 12 Image analysis means 13 Output output means 14 Vehicle control means 15 TV camera 16 AF / camera control part 20 A / D conversion part 21 Image storage part 22 Calculation part 23 Data storage part 24 Program storage Unit 25 Interface 30 Display 31 Speaker 32 Engine control means 33 Brake control means 34 Electronic control circuit 35 Engine control unit 36 Engine 37 Vehicle speed sensor 38 Brake sensor 39 Brake control unit 40 Brake 41 Vehicle navigation system 50 First road situation 51 Road 52a , 52b, 62a, 62b Railroad track 53, 64 Rail crossing 54, 65 Alarm 55, 68 Train 56, 69 Barrier 57 Vehicle 58, 70 Stop line 60 Second road condition 61 Elevated road 63 Side road 66 First vehicle 67 First Vehicle 69 blocking rod

Claims (5)

An image detecting means having a TV camera and detecting image data obtained by imaging a road condition in the traveling direction of the vehicle;
Image analysis means for detecting a specific object in the traveling direction of the vehicle based on the image data;
An output means for notifying the driver that the crossing is approaching when the image analysis means detects a crossing in the traveling direction of the vehicle, and prompting the vehicle to decelerate and pause;
Vehicle control means for assisting deceleration and temporary stop of the vehicle according to a deceleration amount of the vehicle;
A vehicle driving support system comprising:   A vehicle navigation system having a function of detecting that the vehicle is approaching a specific object from current position information of the vehicle and stored map information, and a traveling direction of the vehicle by the vehicle navigation system The detection result of the specific object is compared with the detection result of the specific object in the traveling direction of the vehicle by the image analysis means, and according to the comparison result, the output means and the vehicle control means are The vehicle driving support system according to claim 1, wherein the vehicle driving support system is controlled. When the vehicle navigation system detects the crossing in the traveling direction of the vehicle and the image analysis means detects the crossing in the traveling direction of the vehicle, the output means approaches the crossing. Notifying the driver, prompting the vehicle to decelerate and pause, assisting the vehicle decelerating and pausing by the vehicle control means according to the deceleration amount of the vehicle,
When the vehicle navigation system detects the crossing in the traveling direction of the vehicle, but the image analysis means does not detect the crossing in the traveling direction of the vehicle, the output means informs the driver of the crossing. The vehicle driving support system according to claim 2, wherein notification is made so as to continue the running of the vehicle.   2. The vehicle according to claim 1, wherein the vehicle control unit continues to pause the vehicle while the image analysis unit detects a state in which the crossing warning light is blinking. 3. Driving support system.   2. The vehicle driving according to claim 1, wherein the vehicle control unit continues the temporary stop of the vehicle while the image analysis unit detects a state in which the crossing barge is lowered. Support system.

Images