JP2008210051A - Driving support system for vehicle - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To precisely determine a possibility of collision between its own vehicle and the other vehicle. <P>SOLUTION: A driving support system for a vehicle includes a means for storing map data, a means 1A for acquiring the other vehicle information indicating the travelling condition and the operating condition of the other vehicle by the inter-vehicle communicating means, a means 1B for acquiring information of the road on which the other vehicle is driving from the map data storing means, a means 1C for estimating a driving intention of a driver in the other vehicle from the other vehicle information and the other vehicle road information, a means 1D for detecting own vehicle information indicating the travelling condition and the operating condition of the own vehicle, a means 1E for acquiring information of the road on which the own vehicle is driving from the map data storing means, a means 1F for estimating a driving intention of a driver in the own vehicle from the own vehicle information and the own vehicle road information, a means 1G for determining the possibility of collision between the own vehicle and the other vehicle based on the both driving intentions acquired by the means for estimating the driving intention of a driver in the other vehicle 1C and the means for estimating the driving intention of a driver in the own vehicle 1F, and a means for providing information according to the collision possibility. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  The present invention relates to a vehicle driving support technology.

As a technique for supporting driving of a vehicle, a technique for avoiding a collision with another vehicle by obtaining information on the other vehicle through inter-vehicle communication is known. For example, in patent document 1, after estimating the approach time to the intersection of the own vehicle based on the position information, the road information, and the vehicle speed information of the own vehicle, the intersection is approximately A technique is disclosed in which a vehicle entering at the same time is specified, and the approach time to the intersection is corrected between the vehicle and the host vehicle.
JP 2006-227690 A

  The technology disclosed in Patent Document 1 determines the possibility of collision between the host vehicle and the other vehicle based on the approach time to the intersection. However, since the approach time of the host vehicle is estimated based on each information at the time of the determination, the possibility of collision cannot be accurately determined when vehicle speed information or the like changes every moment.

  Therefore, an object of the present invention is to accurately determine the possibility of occurrence of a collision between the host vehicle and another vehicle.

  In order to solve the above-mentioned problems and achieve the object, in the invention according to claim 1, information between the map data storage means for storing map data and the own vehicle and other vehicles existing around the own vehicle. Vehicle-to-vehicle communication means for transmitting and receiving, other vehicle information acquisition means for acquiring other vehicle information indicating a running state and an operation state of the other vehicle by the vehicle-to-vehicle communication means, and from the map data storage means, Other vehicle road information acquisition means for acquiring other vehicle road information that is road information to travel, and other vehicle driver intention estimation means for estimating the driver driving intention of the other vehicle from the other vehicle information and the other vehicle road information, The own vehicle information detection means for detecting own vehicle information indicating the running state and the operation state of the own vehicle, and the own vehicle road which is road information on which the own vehicle travels from the map data storage means Own vehicle road information acquisition means for acquiring information, own vehicle driver intention estimation means for estimating driver driving intention of the own vehicle from the own vehicle information and the own vehicle road information, own vehicle driver intention estimation means, and others Based on both driving intentions obtained by the vehicle driver intention estimating means, first determination means for determining the possibility of occurrence of a collision between the host vehicle and the other vehicle, and information corresponding to the possibility of the collision Information providing means for providing information.

  According to the first aspect of the present invention, the possibility of occurrence of a collision between the host vehicle and the other vehicle is determined based on the driver driving intention of the host vehicle and the driver driving intention of the other vehicle. Therefore, accurate determination can be performed.

  Further, in the invention according to claim 2, when it is determined that there is a possibility of a collision between the other vehicle and the host vehicle before the determination in the first determination means. The other vehicle information, the other vehicle road information, the host vehicle information, and the storage means storing the host vehicle road information, and the degree of coincidence between the information at the time of the determination and the information stored in the storage means And a second determination unit that determines whether or not the coincidence calculated by the coincidence calculation unit is greater than a threshold value. The second determination unit includes: Is greater than the threshold, it is determined that there is a possibility of a collision between the host vehicle and the other vehicle, and the other vehicle information and the other vehicle road information at the time of the determination are stored in the storage means. , The vehicle information, the It may store vehicle road information. Thereby, even if it is determined by the first determination means that there is no possibility of collision, the possibility of collision is determined by the second determination means, so the possibility of collision is determined more carefully and accurately. can do.

  Moreover, in the invention which concerns on Claim 3, the said memory | storage means WHEREIN: The said other vehicle information, the said other vehicle road information, the said own vehicle information, and the said own vehicle road information for every place where the occurrence frequency of a traffic accident is high May be stored. As a result, the degree of coincidence needs to be calculated only for the place where the place where the frequency of occurrence of the traffic accident is high and the place where the other vehicle and the host vehicle are located are the same. The calculation speed of the degree can be improved.

  Moreover, in the invention which concerns on Claim 4, the said other vehicle information, the said other vehicle road information, the said own vehicle information, and the said own vehicle road information are memorize | stored in the said memory | storage means for every shape of the intersection. Also good. Accordingly, the degree of coincidence needs to be calculated only for the shape stored as the shape of the intersection where the shape of the intersection matches the shape of the intersection where the other vehicle and the host vehicle exist. The calculation speed of the degree can be improved.

  Further, in the invention according to claim 5, the other vehicle driver intention estimation means estimates a driving intention of a vehicle located behind the right turn waiting vehicle based on the other vehicle information and the other vehicle road information. Also good.

  Moreover, in the invention which concerns on Claim 6, the said other vehicle driver intention estimation means is the information which shows whether the driver of the said other vehicle has recognized the presence of the said own vehicle obtained by inter-vehicle communication. Based on some other vehicle driver recognition information, the driving intention of the driver of the other vehicle may be estimated.

  Further, in the invention according to claim 7, the other vehicle driver intention estimating means is based on the legally limited speed of the road on which the other vehicle travels and the vehicle speed of the other vehicle obtained by inter-vehicle communication, You may estimate the driving intention of the driver of another vehicle.

  Further, in the invention according to claim 8, the other vehicle driver intention estimation means is configured to determine the other vehicle's intention based on the operation frequency or operation timing of the driver of the other vehicle to the operation device obtained by inter-vehicle communication. The driving intention of the driver may be estimated.

  Further, in the invention according to claim 9, the other vehicle driver intention estimation means estimates the driving intention of the driver of the other vehicle based on the driving characteristic information of the driver of the other vehicle obtained by inter-vehicle communication. May be.

  In the inventions according to the above fifth to ninth aspects, the driving intention of the driver of the other vehicle can be estimated easily and accurately.

  In the invention according to claim 10, map data storage means for storing map data, vehicle-to-vehicle communication means for transmitting and receiving information between the own vehicle and other vehicles existing around the own vehicle, Other vehicle information acquisition means for acquiring other vehicle information indicating the running state and operation state of the other vehicle by inter-vehicle communication means, and other vehicle road information which is road information on which the other vehicle travels from the map data storage means Other vehicle road information acquisition means for acquiring vehicle information, own vehicle information detection means for detecting own vehicle information indicating a running state and an operating state of the own vehicle, and road information on which the own vehicle runs from the map data storage means. The own vehicle road information acquisition means for acquiring the own vehicle road information, and the other vehicle information when it is determined that there is a possibility of collision between the other vehicle and the own vehicle in the past, Storage means for storing vehicle road information, the own vehicle information, and the own vehicle road information, and the other vehicle information, the other vehicle road information, the own vehicle information, and the own vehicle road information acquired by each means A degree of coincidence calculating means for calculating a degree of coincidence with each piece of information stored in the storage means, a determining means for determining whether or not the degree of coincidence calculated by the degree of coincidence calculating means is greater than a threshold value, Information providing means for providing information according to the possibility of collision, and the determination means may cause a collision between the host vehicle and the other vehicle when the degree of coincidence is greater than the threshold value. The other vehicle information, the other vehicle road information, the host vehicle information, and the host vehicle road information at the time of the determination are stored in the storage unit.

  According to the invention according to claim 10, the other vehicle information, the other vehicle road information, the host vehicle information, and the host vehicle road information acquired by each unit, and each stored in the storage unit. Since the degree of coincidence with the information is calculated and the possibility of occurrence of a collision between the host vehicle and the other vehicle is determined, accurate determination can be made.

  According to the present invention, the possibility of occurrence of a collision between the host vehicle and another vehicle can be accurately determined.

[System configuration]
FIG. 1 is a diagram schematically showing a configuration of a vehicle driving support system 1 according to an embodiment of the present invention.

  The vehicle driving support system 1 is mounted on a vehicle, and the vehicle-to-vehicle communication device 2 transmits and receives various types of information to and from one or a plurality of other vehicles (also referred to as counterpart vehicles or oncoming vehicles) on which the system is mounted. And the car navigation device 3, the driving state detection device 4 that outputs information on the driving state of the host vehicle, and the surroundings of the host vehicle and the host vehicle based on various information acquired from these devices 2, 3, and 4. ECU 5 that performs driving support control that predicts the possibility of collision with another vehicle and provides information (warning) to the driver according to the prediction result.

  The inter-vehicle communication device 2 includes a transmission / reception antenna 21 and distributes own vehicle information and receives other vehicle information by wireless communication with other vehicles existing within a range of several hundred meters around the own vehicle position, for example. Note that road-to-vehicle communication such as DSRC (narrow band wireless communication system) may be used if the distance to another vehicle is about several tens of meters. The inter-vehicle communication device 2 functions as an inter-vehicle communication unit that transmits and receives information between the own vehicle and other vehicles existing around the own vehicle. The inter-vehicle communication device 2 functions as other vehicle information acquisition means for acquiring other vehicle information indicating the running state and operation state of the other vehicle. The inter-vehicle communication device 2 functions as other vehicle road information acquisition means for acquiring other vehicle road information that is road information on which the other vehicle travels.

  The car navigation device 3 includes a GPS antenna 31 and a GPS receiver 32 and outputs, for example, position information of the own vehicle (information on latitude, longitude, direction, etc.) to the ECU 5. In addition, the car navigation device 3 includes a display 33 that displays an image such as map information and a speaker 34 that emits a voice message or the like by route guidance. The ECU 5 uses the display 33 and the speaker 34 to Information (warning) is provided to the driver with images, voices, etc. regarding the presence of other vehicles approaching or the presence of other vehicles that are highly likely to collide with the host vehicle. The display 33 and the speaker 34 function as information providing means for providing information according to the possibility of collision.

  Further, the car navigation device 3 includes a map database (hereinafter referred to as a map DB) 35, and the ECU 5 from the map DB 35, for example, the position coordinates of the host vehicle after map matching, the front intersection coordinates (columns), and each intersection. Distance, presence / absence of traffic lights at each intersection, intersection angle at each intersection (road connection angle), road information for each branch (road type (national road, prefectural road, etc.), route number, road width, number of lanes, etc.) The vehicle's travel route information (road type, route number, road width, number of lanes, etc.) is obtained (hereinafter, this information is referred to as navigation information). In addition, by incorporating DGPS (differential GPS) in the car navigation device 3, it is possible to receive correction data of FM multiplex broadcasting, correct GPS position information, and improve positioning accuracy. The map DB 35 functions as map data storage means for storing map data. The car navigation device 3 functions as own vehicle road information acquisition means for acquiring own vehicle road information that is road information on which the own vehicle travels from the map data storage means.

  In addition, the car navigation device 3 includes a determination result database (hereinafter referred to as a determination result DB) 36, and the ECU 5 refers to the determination result DB 36 and acquires the acquired other vehicle information, other vehicle road information, own vehicle information, and own vehicle information. The degree of coincidence between the vehicle road information and each piece of information at the time of determining the possibility of a past collision is calculated. The possibility of collision is determined based on the degree of coincidence, and when it is determined that there is a possibility of collision, each information at the time of the determination is stored in the determination result DB. The ECU 5 functions as a degree of coincidence calculation means for calculating the degree of coincidence between the acquired other vehicle information, other vehicle road information, own vehicle information, and own vehicle road information, and each information accumulated in the determination result DB 36. Further, the ECU 5 functions as a third determination unit that determines whether or not the degree of coincidence is greater than a threshold value.

  The traveling state detection device 4 is an autonomous navigation that includes, for example, a vehicle speed sensor that detects the vehicle speed of the host vehicle, an acceleration sensor that detects acceleration, a yaw rate sensor that detects the yaw rate, and a gyrometer that detects the traveling direction (direction) of the host vehicle. Sensors such as devices, and switches such as an ignition switch, a hazard switch, a brake switch, and a winker switch that output an on / off signal, and the ECU 5 obtains the traveling state information of the own vehicle from these sensors and switches. . The traveling state detection device 4 functions as own vehicle information detecting means for detecting own vehicle information indicating the traveling state and the operation state of the own vehicle.

  The ECU 5 is a computer having a CPU 51, a RAM 52, and a ROM 53 as basic configurations. The ROM 53 uses a communication program for exchanging information between different vehicles by the inter-vehicle communication device 2, other vehicle information, navigation information, travel state information, and the like acquired via the inter-vehicle communication device 2. A program for judging the possibility of collision with the vehicle, a program for displaying the position of the host vehicle and the position of the other vehicle on a map, and outputting an alarm for alerting the driver with an image or sound according to the possibility of collision Each is stored. The ECU 5 functions as other vehicle driver intention estimation means for estimating the driver driving intention of the other vehicle from the other vehicle information and the other vehicle road information. Further, the ECU 5 functions as own vehicle driver intention estimating means for estimating the driver driving intention of the own vehicle from the own vehicle information and the own vehicle road information. Further, the ECU 5 determines the possibility of a collision between the host vehicle and the other vehicle based on both driving intentions obtained by the host vehicle driver intention estimation unit and the other vehicle driver intention estimation unit. Functions as a means. The ECU 5 functions as a degree of coincidence calculating unit that calculates the degree of coincidence between each piece of information at the time of determination by the first determining unit and each piece of information stored in the storage unit, and the degree of coincidence calculated by the degree of coincidence calculating unit is greater than a threshold. It functions as a second determination means for determining whether or not it is large.

  In addition to navigation information and traveling state information regarding the position, speed, traveling direction (direction), etc. of the own vehicle, the ECU 5 determines the vehicle size (full length, full width, etc.) of the own vehicle and the type of vehicle (large vehicle, passenger car, emergency vehicle). Etc.) including the unique identification (ID) information (transmission source information) and the ID information (transmission destination information) of the other vehicle with respect to the other vehicle existing within a predetermined vehicle-to-vehicle communication range. 2 (hereinafter, this information is referred to as own vehicle information). Similarly, the ECU 5 receives distribution information related to other vehicles (hereinafter referred to as other vehicle information) from other vehicles.

  In the inter-vehicle communication according to the present embodiment, a broadcast communication method (broadcast method) that allows simultaneous delivery to a plurality of vehicles is applied. However, a transmission source and a destination vehicle are specified and a line connection is established at the start of communication. Such a communication method may be applied.

  Further, the inter-vehicle communication of the present embodiment has a communication interval of about 0.1 seconds, and information is distributed for grasping as a parked vehicle even when the ignition switch of the vehicle is off. .

  In addition, when an infrastructure device (for example, a beacon used for road-to-vehicle communication) is provided at an intersection on the road surface or in the vicinity of the intersection, the vehicle is used by using the infrastructure device provided near the vehicle. Can also distribute its own vehicle information to other nearby vehicles.

  The ECU 5 extracts the intersection where the host vehicle and the other vehicle intersect using the other vehicle information, the navigation information, and the traveling state information, and predicts the distance and arrival time to the intersection and may collide. The other vehicle with the vehicle is identified, and information about the existence of the other vehicle with the possibility of collision is provided (warned) to the own vehicle before the intersection.

  In the present embodiment, information is provided (alarm) using the display 33 and the speaker 34 of the navigation device 3. For example, a head-up display, a buzzer that emits an alarm sound, or a driver is seated. A sheet vibrator or the like that vibrates the seats being used may be used.

  Further, the vehicle is provided with, for example, a CCD camera that images the front of the traveling path of the own vehicle that monitors the surroundings of the own vehicle, a laser radar that measures the distance between the front vehicle and the clearance sonar using ultrasonic waves, The ECU 5 may use the information obtained from these cameras and radars to monitor other vehicles that are traveling ahead or parked ahead of the host vehicle and identify other vehicles that may collide. .

[Collision possibility determination process (first embodiment)]
FIG. 2 is a functional block diagram of the ECU 5 that realizes the vehicle driving support system of the first embodiment.

  In FIG. 2, 1A is an other vehicle information acquisition block which acquires the other vehicle information which shows the driving state and operation state of another vehicle. 1B is an other vehicle road information acquisition block for acquiring other vehicle road information that is road information on which the other vehicle travels. 1C is an other vehicle driver intention estimation block for estimating the driver driving intention of the other vehicle from the other vehicle information and the other vehicle road information. 1D is a host vehicle information detection block that detects host vehicle information indicating the running state and the operation state of the host vehicle. 1E is a host vehicle road information acquisition block that acquires host vehicle road information that is road information on which the host vehicle travels. 1F is a host vehicle driver intention estimation block for estimating driver driving intention of the host vehicle from host vehicle information and host vehicle road information. 1G is a collision occurrence determination block for determining the possibility of a collision between the own vehicle and another vehicle based on both driving intentions obtained by the own vehicle driver intention estimating means and the other vehicle driver intention estimating means. is there.

  FIG. 3 is a flowchart showing an operation procedure of a collision possibility determination process by the vehicle driving support system of the first embodiment.

  First, the inter-vehicle communication device 2 obtains the travel state and operation state (other vehicle information) of another vehicle (step S101), and obtains data (other vehicle road information) related to the travel road of the other vehicle from the map DB 35 ( Step S102). Here, the other vehicle information is information on the position, speed, operation amount, etc. of the other vehicle, and the other vehicle road information is the type of road where the other vehicle exists, the number of lanes, the distance from the intersection, etc. It is information about. Based on the other vehicle information and other vehicle road information obtained here, the driving intention by the driver of the other vehicle is estimated (step S103). For example, when the opponent vehicle starts to accelerate by stepping on the accelerator, it is possible to estimate the driving intention that the vehicle is about to pass the intersection before the host vehicle.

Next, the traveling state detection device 4 detects the traveling state and the operation state (own vehicle information) of the host vehicle (step S104), and acquires data (the own vehicle road information) related to the traveling road of the host vehicle from the map DB 35. (Step S105). Based on the own vehicle information and own vehicle road information obtained here, the driving intention by the driver of the own vehicle is estimated (step S106).
Here, the information regarding the driving intention includes information indicating whether each vehicle is accelerated, decelerated, or stopped at the intersection where the host vehicle and the other vehicle are predicted to intersect.

  Next, the possibility of collision between the other vehicle and the host vehicle is determined based on the driving intention of the other vehicle driver estimated in step S103 and the driving intention of the host vehicle driver estimated in step S106 (step S107). .

  If it is determined in step S107 that there is a possibility of collision, a warning is given to the driver (step S108). When there is no operation for avoiding the collision by the driver after the alarm, the avoidance operation may be automatically performed. On the other hand, if it is determined that there is no possibility of a collision, a series of processing ends without performing an alarm.

  Here, the details of the collision possibility determination process will be described with a specific example. FIGS. 4A and 4B are diagrams for explaining the collision possibility determination process of the first embodiment as a specific example. FIG. 4A is a situation explanatory diagram of this specific example, and FIG. 4B is acquired information of the own vehicle and other vehicles. It is explanatory drawing regarding. It is assumed that the host vehicle is temporarily stopped in order to enter the main road d from the general road c, and that there are two vehicles, the other vehicle a and the other vehicle b, around the host vehicle. The other vehicle a is a vehicle waiting for a right turn at an intersection, and the other vehicle b is a vehicle located behind the vehicle waiting for a right turn (another vehicle a).

  As shown in (b), the other vehicle and the host vehicle acquire information such as an accelerator operation, a brake operation, a direction indicator operation, and a vehicle speed as vehicle information. In addition, the other vehicle and the host vehicle acquire information such as the distance from the intersection of each vehicle, the number of lanes, and the road type as road information. Based on these pieces of information, the intentions of the other vehicle and the host vehicle are estimated. Moreover, in (a), the intentions of the other vehicle and the host vehicle are indicated by arrows, and the positions of the other vehicle and the host vehicle are indicated by broken lines.

  For example, the host vehicle travels straight through the intersection because the distance from the intersection is 0, the direction indicator is not operated, the vehicle speed is 5 km / h, the accelerator is operated, etc. In addition, it is possible to estimate the intention to start acceleration and continue this movement.

  The other vehicle a has a distance of 0 from the intersection, the direction indicator is operated to the right, the vehicle speed is 5 km / h, the accelerator is operated, etc. The intention to continue this movement can be estimated.

  The other vehicle b passes through the intersection because the distance from the intersection is 10 m, the direction indicator is not operated, the vehicle speed is 50 km / h, and the accelerator is operated. Therefore, it is possible to estimate the intention to start acceleration and continue this movement.

  From these intentions, it can be determined that the host vehicle and the other vehicle b are likely to collide with each other because the intention to continue acceleration is estimated. On the other hand, although it is estimated that the own vehicle and the other vehicle a continue to accelerate each other, the intention that the other vehicle a makes a right turn is also estimated. Therefore, it can be determined that there is no possibility of a collision.

[Collision Possibility Determination Process (First Embodiment-Modification 1)]
Although it is the same as in the first embodiment in that the intent of driving of the other vehicle driver and the own vehicle driver is estimated and the collision possibility between the two is determined, the present modified example has a possibility of collision in this determination. When it is determined that there is no difference, it is different in that the determination is performed again with reference to the determination result DB 36.

  FIG. 5 is a flowchart illustrating an operation procedure of a collision possibility determination process according to the first modification of the first embodiment.

  First, similarly to steps S101 to S107, information on other vehicles and information on the own vehicle are acquired, and both driving intentions are estimated (step S201 to step S206). Next, based on both driving intentions, The possibility of collision is determined (step S207), and when it is determined that there is no possibility of collision, the degree of coincidence between the acquired information and the data stored in the determination result DB 36 is calculated (step S208). Next, it is determined whether or not the calculated degree of coincidence is greater than an arbitrary threshold (step S209). If the degree of coincidence is greater than the threshold value in step S209 and if it is determined in step S207 that there is a possibility of a collision, the process proceeds to step S210, and other vehicle information, other vehicle road information, and the own vehicle at this time are processed. The information and the own vehicle road information are accumulated in the determination result DB 36 (step S211). The data storage method of the determination result DB 36 will be described later. Thereafter, a warning is given to the driver (step S212).

  FIG. 6 is a diagram illustrating the configuration of the determination result DB 36 in which the determination result in step S210 is stored. FIG. 6A is a diagram illustrating the configuration of the determination result DB 36 stored for each accident occurrence point, and FIG. It is a figure which shows the structure of determination result DB36 stored according to intersection shape. In step S207, when it is determined that there is a possibility of collision between the host vehicle and another vehicle, the host vehicle information at the time of determination for each place where the frequency of occurrence of traffic accidents is high or for each intersection shape The own vehicle road information, the other vehicle information, and the other vehicle road information are stored in the determination result DB 36. Note that accident-prone points and intersection shapes are stored in the determination result DB 36 in advance. The own vehicle information and the other vehicle information are stored by being subdivided into, for example, a position, a speed, and an operation amount. Further, the host vehicle road information and the other vehicle road information are stored by being subdivided into, for example, a road type, a slope, a curve angle, and the like. The information stored here is determined in consideration in the subsequent determination in step S210.

  In this modification, even if it is determined that there is no possibility of collision based on the driving intentions of the other vehicle driver and the own vehicle driver, the determination result DB 36 in which data determined that there is a possibility of collision in the past is accumulated. Since the determination is performed again based on the degree of coincidence between the data in the database and the acquired information, more careful determination can be performed.

[Collision possibility determination process (first embodiment-modification 2)]
In the first modification, the data in the determination result DB 36 is used for the collision possibility determination, but the present modification is different in that it is used for simplifying the collision possibility determination process.

  FIG. 7 is a flowchart illustrating the operation procedure of the collision possibility determination process according to the second modification of the first embodiment.

  First, other vehicle information is acquired by inter-vehicle communication (step S301), and other vehicle road information is acquired from the map DB 35 (step S302). Next, the host vehicle information and host vehicle road information are acquired in the same manner (steps S303 and S304). Next, the degree of coincidence between the acquired information and the data in the determination result DB 36 is calculated (step S305). For example, the acquired information includes host vehicle information “with right direction indicator operation”, host vehicle road information “main road”, other vehicle information “no direction indicator operation”, other vehicle road information “general road” And the information in the determination result DB includes own vehicle information “with right direction indicator operation”, own vehicle road information “main road”, other vehicle information “no direction indicator operation”, other vehicle road information If it is a “main road”, it can be calculated that the probability is 3/4, that is, the degree of coincidence is 75%.

  It is determined whether or not the degree of coincidence calculated in step S305 is greater than an arbitrary threshold (step S306). If it is determined that the degree of coincidence is not greater than the threshold, a series of processing ends. On the other hand, if it is determined that the degree of coincidence is greater than the threshold value, the driving intentions of the other vehicle driver and the own vehicle driver are estimated (steps S307 and S308), and the possibility of collision is determined based on the driving intentions of both. Determination is made (step S309). For example, when the threshold is set to 80%, the degree of coincidence is 75% in the above-described example, and the process proceeds to step S307.

  If it is determined in step S309 that there is no possibility of collision, the series of processing ends. On the other hand, if it is determined in step S309 that there is a possibility of a collision, the other vehicle information, the other vehicle road information, the own vehicle information, and the own vehicle road information are accumulated in the determination result DB 36 (step S310). Thereafter, an alarm is given to the driver (step S311).

  In this modification, it is necessary to acquire other vehicle information, other vehicle road information, own vehicle information, and own vehicle road information. However, when the degree of coincidence between these pieces of information and the data in the determination result DB 36 is greater than a threshold value. Does not estimate the driving intention of the other vehicle driver and the own vehicle driver, and does not perform the collision possibility determination, leading to a reduction in the load on the ECU 5 and an increase in the determination speed.

[Collision possibility determination process (second embodiment)]
In 1st Embodiment, the driving intention of the own vehicle is estimated from the own vehicle information and the own vehicle road information, the driving intention of the other vehicle is estimated from the other vehicle information and the other vehicle road information, and both driving intentions are compared. However, the present embodiment is different in that the possibility of collision is not determined based on both driving intentions.

  FIG. 8 is a functional block diagram of the ECU 5 that realizes the vehicle driving support system of the present embodiment.

  In FIG. 8, 2A is an other vehicle information acquisition block which acquires the other vehicle information which shows the driving state and operation state of another vehicle. 2B is an other vehicle road information acquisition block for acquiring other vehicle road information that is road information on which the other vehicle travels. 2C is a host vehicle information detection block that detects host vehicle information indicating the running state and the operation state of the host vehicle. 2D is a host vehicle road information acquisition block that acquires host vehicle road information that is road information on which the host vehicle is traveling. 2E is a coincidence degree calculation block that calculates the degree of coincidence between the other vehicle information, the other vehicle road information, the own vehicle information, and the own vehicle road information acquired by each means and each information stored in the determination result DB 36. . 2F is a determination block for determining whether or not the degree of coincidence calculated by the degree of coincidence calculation block is greater than a threshold value.

  FIG. 9 is a flowchart illustrating an operation procedure of a collision possibility determination process according to the second embodiment.

  First, as in the first embodiment, other vehicle information, other vehicle road information, own vehicle information, and own vehicle road information are acquired (steps S401 to S404). Next, the degree of coincidence between the acquired information and the information stored in the determination result DB 36 is calculated (step S405). If the degree of coincidence calculated in step S405 is greater than an arbitrary threshold value, it is determined that there is a possibility of collision, and other vehicle information, other vehicle road information, own vehicle information, and own vehicle road information at that time are determined. Accumulated in the DB 36 (step S407). Thereafter, an alarm is given to the driver (step S408). On the other hand, if the degree of coincidence calculated in step S405 is smaller than an arbitrary threshold value, it is determined that there is no possibility of a collision, and a series of processing ends.

  In the present embodiment, it is assumed that other vehicle information, other vehicle road information, own vehicle information, and own vehicle road information at the time of determination when it is determined that there is a possibility of a collision in the past in the determination result DB 36 is accumulated. As described above, the degree of coincidence is calculated by comparing the data in the determination result DB 36 with the acquired data without estimating the intentions of the other vehicle driver and the own vehicle driver. Since the possibility of collision is determined based on this degree of coincidence, the possibility of collision between the host vehicle and the other vehicle can be determined easily and accurately.

  The other vehicle driver intention estimation means of the present invention is based on information (other vehicle driver recognition information) obtained by inter-vehicle communication indicating whether the other vehicle driver recognizes the existence of the host vehicle. You may estimate the driving intention of the driver of another vehicle. For example, by detecting the viewpoint of the other vehicle driver with a camera or the like provided on the dashboard of the other vehicle, it is determined whether or not the other vehicle driver is looking away and driving away. In the case where it is determined that the vehicle travels straight at the same steering angle and vehicle speed.

  Further, the other vehicle driver intention estimation means of the present invention estimates the driving intention of the driver of the other vehicle based on the legal speed limit of the road on which the other vehicle travels and the vehicle speed of the other vehicle obtained by inter-vehicle communication. May be. For example, when another vehicle is driving at a speed that exceeds the legal speed limit of the road where the other vehicle exists, it is determined that the other vehicle is dangerous, and processing such as changing the threshold value for the determination is performed. It can be carried out.

  Further, the other vehicle driver intention estimation means of the present invention may estimate the driving intention of the other vehicle driver based on the operation frequency or operation timing of the other vehicle driver to the operation device obtained by the inter-vehicle communication. . For example, when the other vehicle driver is operating a CD player or the like while driving, it is possible to determine that the other vehicle is dangerous and to perform processing such as changing a threshold value for the determination.

  Moreover, the other vehicle driver intention estimation means of the present invention may estimate the driving intention of the driver of the other vehicle based on the driving characteristic information of the other vehicle driver obtained by the inter-vehicle communication. For example, information such as the degree of risk estimated from the traffic accident history, traffic law violation history, etc. of other vehicle drivers can be obtained, and processing such as changing the threshold value for determination can be performed.

1 is a diagram schematically showing a configuration of a vehicle driving support system 1 according to an embodiment of the present invention. It is a functional block diagram of ECU5 which implement | achieves the driving assistance system 1 for vehicles of 1st Embodiment. It is a flowchart which shows the collision possibility determination processing processing by the vehicle driving assistance system 1 of 1st Embodiment. It is a figure for demonstrating the collision possibility determination process of 1st Embodiment by a specific example, (a) is the condition explanatory drawing of this specific example, (b) is explanatory drawing regarding the acquisition information of the own vehicle and other vehicles. is there. It is a flowchart which shows the operation | movement procedure of the collision possibility determination process in the modification 1 of 1st Embodiment. It is a figure which illustrates the structure of determination result DB36 in which the determination result in step S210 was stored, (a) is a figure which shows the structure of determination result DB36 stored according to accident frequent occurrence point, (b) is stored according to intersection shape It is a figure which shows the structure of determined judgment result DB36. It is a flowchart which shows the operation | movement procedure of the collision possibility determination process in the modification 2 of 1st Embodiment. It is a functional block diagram of ECU5 which implement | achieves the driving assistance system 1 for vehicles of 2nd Embodiment. It is a flowchart which shows the operation | movement procedure of the collision possibility determination process of 2nd Embodiment.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Vehicle drive assistance system 2 Inter-vehicle communication apparatus 3 Car navigation apparatus 4 Running condition detection apparatus 5 ECU
35 Map database 1A Other vehicle information acquisition block 1B Other vehicle road information acquisition block 1C Other vehicle driver intention estimation block 1D Own vehicle information detection block 1E Own vehicle road information acquisition block 1F Own vehicle driver intention estimation block 1G Collision occurrence determination block

Claims (10)

Map data storage means for storing map data;
Vehicle-to-vehicle communication means for transmitting and receiving information between the host vehicle and other vehicles existing around the host vehicle;
Other vehicle information acquisition means for acquiring other vehicle information indicating a running state and an operation state of the other vehicle by the inter-vehicle communication means;
Other vehicle road information acquisition means for acquiring other vehicle road information that is road information on which the other vehicle travels from the map data storage means;
Other vehicle driver intention estimation means for estimating a driver driving intention of the other vehicle from the other vehicle information and the other vehicle road information;
Own vehicle information detecting means for detecting own vehicle information indicating a running state and an operating state of the own vehicle;
Own vehicle road information acquisition means for acquiring own vehicle road information which is road information on which the own vehicle travels from the map data storage means;
Own vehicle driver intention estimating means for estimating the driver driving intention of the own vehicle from the own vehicle information and the own vehicle road information;
First determination means for determining the possibility of occurrence of a collision between the own vehicle and the other vehicle based on both driving intentions obtained by the own vehicle driver intention estimation means and the other vehicle driver intention estimation means; ,
Information providing means for providing information according to the possibility of collision;
A vehicle driving support system comprising: Further, the other vehicle information and the other vehicle road information when it is determined that there is a possibility of occurrence of a collision between the other vehicle and the host vehicle before the time of the determination in the first determination means. A storage means for storing the own vehicle information and the own vehicle road information, a coincidence degree calculating means for calculating a coincidence degree between each information at the time of the determination and each information accumulated in the storage means, and the coincidence Second determination means for determining whether or not the degree of coincidence calculated by the degree calculation means is greater than a threshold value,
When the degree of coincidence is greater than the threshold, the second determination unit determines that there is a possibility of a collision between the host vehicle and the other vehicle, and stores the storage unit at the time of the determination. The vehicle driving support system according to claim 1, wherein the other vehicle information, the other vehicle road information, the host vehicle information, and the host vehicle road information are stored.   The said storage means stores the said other vehicle information, the said other vehicle road information, the said own vehicle information, and the said own vehicle road information for every place where the occurrence frequency of a traffic accident is high. 2. A vehicle driving support system according to 2.   The vehicle according to claim 2, wherein the storage unit stores the other vehicle information, the other vehicle road information, the host vehicle information, and the host vehicle road information for each shape of an intersection. Driving support system.   2. The vehicle according to claim 1, wherein the other vehicle driver intention estimation unit estimates a driving intention of a vehicle located behind a vehicle waiting for a right turn based on the other vehicle information and the other vehicle road information. Driving support system.   The other vehicle driver intention estimation means is based on other vehicle driver recognition information obtained by inter-vehicle communication, which is information indicating whether or not the driver of the other vehicle recognizes the presence of the host vehicle. The vehicle driving support system according to claim 1, wherein the driving intention of a driver of another vehicle is estimated.   The other vehicle driver intention estimation means estimates the driving intention of the driver of the other vehicle based on the legally limited speed of the road on which the other vehicle travels obtained by inter-vehicle communication and the vehicle speed of the other vehicle. The vehicle driving support system according to claim 1.   The other vehicle driver intention estimation means estimates the driving intention of the driver of the other vehicle based on the operation frequency or operation timing of the driver of the other vehicle to the operating device obtained by inter-vehicle communication. The vehicle driving support system according to claim 1.   The said other vehicle driver intention estimation means estimates the driving intention of the driver of the said other vehicle based on the driving characteristic information of the driver of the said other vehicle obtained by the inter-vehicle communication. Vehicle driving support system. Map data storage means for storing map data;
Vehicle-to-vehicle communication means for transmitting and receiving information between the host vehicle and other vehicles existing around the host vehicle;
Other vehicle information acquisition means for acquiring other vehicle information indicating a running state and an operation state of the other vehicle by the inter-vehicle communication means;
Other vehicle road information acquisition means for acquiring other vehicle road information that is road information on which the other vehicle travels from the map data storage means;
Own vehicle information detecting means for detecting own vehicle information indicating a running state and an operating state of the own vehicle;
Own vehicle road information acquisition means for acquiring own vehicle road information which is road information on which the own vehicle travels from the map data storage means;
The other vehicle information, the other vehicle road information, the own vehicle information, and the own vehicle road information when it is determined that there is a possibility of occurrence of a collision between the other vehicle and the own vehicle in the past. Accumulated storage means;
A degree of coincidence calculation means for calculating a degree of coincidence between the other vehicle information, the other vehicle road information, the own vehicle information, and the own vehicle road information acquired by each means and each information stored in the storage means; ,
Third determination means for determining whether or not the degree of coincidence calculated by the degree of coincidence calculating means is greater than a threshold;
Information providing means for providing information according to the possibility of collision;
With
When the degree of coincidence is greater than the threshold, the third determination unit determines that there is a possibility of a collision between the host vehicle and the other vehicle, and stores the storage unit at the time of the determination. The other vehicle information, the other vehicle road information, the host vehicle information, and the host vehicle road information are stored.

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