JP2008210058A - Vehicle accident prevention device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a vehicle accident prevention device preventing a rear-end collision accident. <P>SOLUTION: A range (dilemma zone) of a distance from a crossing in which a vehicle cannot enter before a traffic signal changes from yellow nor stop before the crossing when a prescribed amount of operation is applied to a brake is derived by a dilemma zone decision part 18. When the distance between the crossing and the vehicle detected by a crossing distance detection part 16 is within the range, notification for preventing a rear-end collision is made to a following vehicle. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  The present invention relates to a vehicle accident prevention apparatus, and more particularly, to a vehicle accident prevention apparatus that performs notification for preventing a rear-end collision with respect to a subsequent vehicle.

  Conventionally, various techniques for preventing a rear-end collision of a vehicle have been proposed.

  For example, in Patent Document 1, area information indicating an area where traffic congestion is predicted is stored in advance, and the brake lamp blinks when the brake operation point is within the area where traffic congestion indicated by the area information is predicted. Technology is disclosed.

  Japanese Patent Application Laid-Open No. 2004-228561 discloses a technique for lighting the warning light of the host vehicle for a certain period when the front of the vehicle is imaged by an imaging device and the warning light of the preceding vehicle is detected.

Further, Patent Literature 3 acquires information indicating the time until the start of the yellow lighting state of the traffic light provided at the intersection where the vehicle passes next, the distance to the intersection of the vehicle, and the traveling speed of the vehicle. , (1) a travel speed condition in which the vehicle can stop before the intersection, and (2) a travel speed condition in which the vehicle can enter the intersection by the end of the yellow lighting state at the intersection, and the limit of the condition (1) A technique for providing speed information indicating the travel speed or the limit travel speed of the condition (2) is disclosed.
JP 2002-236980 A JP 2001-113394 A JP 2006-139707 A

  However, the techniques described in Patent Documents 1 to 3 have a problem that a rear-end collision may not be prevented.

  In other words, Patent Document 1 cannot prevent rear-end collisions outside areas where traffic congestion is predicted.

  Moreover, in patent document 2, since the lighting of the warning light of a preceding vehicle is detected, it is not possible to prevent a rear-end collision in which the host vehicle is the leading vehicle.

  Furthermore, Patent Document 3 states that from the intersection where the vehicle cannot enter the intersection until the yellow lighting state of the traffic light ends, and the vehicle cannot be stopped before the intersection even if the brake operation used during normal driving is performed. This technology provides speed information so as not to fall within a distance range (so-called dilemma zone), and a rear-end collision cannot be prevented when the vehicle is located in the dilemma zone.

  The present invention has been made to solve the above-described problems, and an object of the present invention is to provide a vehicle accident prevention apparatus that can prevent a rear-end collision.

  In order to achieve the above-mentioned object, the invention according to claim 1 detects the lighting state of the traffic signal at the intersection where the traffic signal is provided and the speed detection means for detecting the traveling speed of the vehicle, and the traffic signal is next passed. When it is detected that the traffic light has been switched to a yellow light state by the light state detection means and the light state detection means, the vehicle is controlled based on the traveling speed detected by the speed detection means. Deriving means for deriving a range of distance from the intersection that cannot enter the intersection before the end of the lighting state and cannot stop before the intersection when a predetermined amount of braking operation is performed; A distance detecting means for detecting a distance from the intersection of the vehicle, and a distance detected by the distance detecting means included in the range derived by the deriving means And a, and a notification unit for reporting to prevent rear-end collision against a following vehicle.

  According to the first aspect of the present invention, the traveling speed of the vehicle is detected by the speed detection means, and the lighting state of the traffic signal at the intersection where the traffic signal is provided, which the vehicle passes next, is detected by the lighting state detection means. When the light state detection means detects that the traffic light has been switched to the yellow light state by the derivation means, the vehicle is terminated based on the traveling speed detected by the speed detection means. A range of distances from the intersection that cannot be entered before the intersection and cannot be stopped before the intersection when a predetermined amount of braking operation is performed is derived. The predetermined amount is an operation amount of the brake operation used by the driver during the normal travel, and the average value may be applied by measuring the operation amount of the brake operation during the normal travel of the plurality of drivers. Further, the operation amount of the brake operation during normal traveling may be measured for each vehicle, and the operation amount of each driver may be applied.

  In the present invention, when the distance from the intersection of the vehicle is detected by the distance detection means, and the distance detected by the distance detection means is included in the range derived by the derivation means by the notification means, the following vehicle In order to prevent rear-end collision, notification is performed.

  Thus, according to the first aspect of the present invention, the vehicle cannot enter the intersection before the yellow light of the traffic light ends, and before the intersection when a predetermined amount of braking operation is performed. Deriving the range of the distance from the intersection that cannot be stopped, and when the distance from the intersection of the vehicle is included in the range, the following vehicle is notified to prevent a rear-end collision, thus preventing a rear-end collision accident Can do.

  The notification means according to the first aspect of the invention may perform the notification by turning on a brake lamp of the vehicle regardless of whether or not a brake operation is performed, as in the second aspect of the invention.

  The invention according to claim 1 or claim 2 further includes imaging means for imaging the front of the vehicle in the running direction, as in the invention according to claim 3, wherein the lighting state detection means is controlled by the imaging means. You may detect the lighting state of the said traffic light based on the imaged image.

  Furthermore, the invention according to any one of claims 1 to 3 further includes a following vehicle distance detecting means for detecting a distance between the vehicle and the following vehicle, as in the invention according to claim 4, The informing means is configured to determine whether the succeeding vehicle is within the range based on a distance from the intersection detected by the distance detecting means and a distance between the vehicle and the succeeding vehicle detected by the succeeding vehicle distance detecting means. It may be determined whether or not the vehicle is included in the vehicle, and the notification may be performed when the succeeding vehicle is out of the range.

  On the other hand, in order to achieve the above object, the invention according to claim 5 detects speed detection means for detecting the traveling speed of the vehicle, position detection means for detecting the position of the vehicle, and presence / absence of brake operation of the vehicle. A brake operation detecting means, a determining means for determining whether or not a deceleration action of the vehicle is difficult to predict when a brake operation of the vehicle is detected by the brake operation detecting means; and And a notifying unit for notifying the subsequent vehicle of a rear-end collision when it is determined that the vehicle deceleration behavior is difficult to predict.

  In the invention according to claim 5, the traveling speed of the vehicle is detected by the speed detecting means, the position of the vehicle is detected by the position detecting means, and the presence or absence of the brake operation of the vehicle is detected by the brake operation detecting means.

  In the present invention, when the brake operation detecting means detects the vehicle brake operation, the determining means determines whether or not the vehicle deceleration behavior is difficult to predict. When it is determined that the deceleration behavior of the vehicle is difficult to predict, a notification for preventing a rear-end collision is given to the following vehicle.

  Thus, according to the fifth aspect of the present invention, when a brake operation of the vehicle is detected, it is determined whether or not the vehicle deceleration behavior is difficult to predict, and the vehicle deceleration behavior is difficult to predict. When it is determined that the situation is present, a notification for preventing a rear-end collision is given to the following vehicle, so that a rear-end collision can be prevented.

  The invention according to claim 5 is provided on the side of the road as in the invention according to claim 6, and a brake operation is performed on the vehicle to decelerate or temporarily stop the vehicle when the vehicle enters. Storage means for storing position information indicating a predetermined landmark position, and the vehicle position detected by the position detection means when the brake operation of the vehicle is detected by the brake operation detection means; and An estimation means for estimating a stop position when a predetermined amount of braking operation is performed on the vehicle traveling at the travel speed from the position based on the travel speed detected by the speed detection means; and The stop position estimated by the estimation means is within a predetermined distance from the landmark position indicated by the position information stored in the storage means. The case, the deceleration behavior of the vehicle may be determined to be a difficult situation to predict.

  The storage means includes a semiconductor storage element such as a RAM (Random Access Memory) and a flash memory, an xD picture card (xD-Picture Card (registered trademark)), a compact flash (CompactFlash (registered trademark)). ), A portable storage medium such as a microdrive (registered trademark), a fixed storage medium such as a hard disk, or an external storage device provided in a server computer connected to a network. The landmark may be any landmark as long as a brake operation is performed on the vehicle in order to decelerate or temporarily stop the vehicle when entering the vehicle such as a store on the side of the road. Good.

  According to a sixth aspect of the present invention, as in the seventh aspect of the present invention, road condition detecting means for detecting the number of lanes on the road on which the vehicle is traveling and the lane position on which the vehicle is traveling is further provided. And the determination means determines whether or not the vehicle can enter the landmark based on the number of lanes and the lane position detected by the road condition detection means. It may be determined that the deceleration action is difficult to predict.

  According to a seventh aspect of the invention, as in the eighth aspect of the invention, the road condition detecting means further detects a position of a median strip of a road on which the vehicle is traveling, and the judging means Determining whether the vehicle can make a U-turn at the stop position estimated by the estimation means based on the number of lanes, the lane position and the position of the median strip detected by the road condition detection means, If a U-turn is possible, it may be determined that the deceleration behavior of the vehicle is difficult to predict.

  The invention according to any one of claims 6 to 8 further includes an acquisition means for acquiring traffic regulation information indicating a traffic regulation location on a road, as in the invention according to claim 9, wherein the determination is performed. The means may determine that the deceleration behavior of the vehicle is difficult to predict when the stop position estimated by the estimation means is a traffic restriction location indicated by traffic restriction information.

  Further, the landmark according to any one of claims 6 to 9 is preferably a store provided on the side of the road as in the invention according to claim 10.

  Furthermore, the notification means according to any one of claims 5 to 10 is a case where the deceleration action of the vehicle is easy to predict when the deceleration action of the vehicle is difficult to predict. The notification may be performed by turning on a brake lamp of the vehicle so that the visibility is higher than that.

  As described above, according to the present invention, there is an excellent effect that a rear-end collision can be prevented.

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

  FIG. 1 shows a configuration of a vehicle accident prevention apparatus 10 according to the present embodiment.

  The vehicle accident prevention apparatus 10 according to the present embodiment is mounted on a vehicle and controls the lighting state of a brake lamp 26 to notify a subsequent vehicle to prevent a rear-end collision. .

  As shown in FIG. 1, the vehicle accident prevention apparatus 10 includes a speed detection unit 12, a traffic light lighting state detection unit 14, an intersection distance detection unit 16, a dilemma zone determination unit 18, a lighting control unit 20, and a camera 22. And a brake operation detecting unit 24.

  The speed detection unit 12 is connected to the dilemma zone determination unit 18. A vehicle speed pulse signal is input to the speed detector 12 from a vehicle speed sensor (not shown) provided in the vehicle. The speed detection unit 12 detects the travel speed of the vehicle based on the input vehicle speed pulse signal, and outputs speed information indicating the detected travel speed to the dilemma zone determination unit 18.

  The camera 22 is connected to the traffic light lighting state detection unit 14 and the intersection distance detection unit 16. The camera 22 can capture a color image, and is attached to the front side of the vehicle such as a front grill or a bumper of the vehicle. The camera 22 continuously captures images in front of the traveling direction of the vehicle, and outputs image information indicating the images obtained by the imaging to the traffic light lighting state detection unit 14 and the intersection distance detection unit 16. .

  The traffic light lighting state detection unit 14 is connected to the dilemma zone determination unit 18. The traffic light lighting state detection unit 14 is configured to detect the lighting state of the traffic light at the intersection where the traffic signal is provided, on which the vehicle passes next, based on the image indicated by the image information input from the camera 22. .

  Specifically, the traffic light lighting state detection unit 14 performs image processing such as pattern matching on the image indicated by the image information to detect the traffic light, and detects the lighting state of the traffic light when the traffic light is detected. . The traffic light detection unit 14 outputs signal detection information indicating whether or not a traffic signal has been detected, and, when a traffic signal is detected, to the dilemma zone determination unit 18.

  The intersection distance detection unit 16 is connected to the dilemma zone determination unit 18. The intersection distance detection unit 16 is configured to detect a distance from an intersection provided with a traffic signal of the vehicle based on an image indicated by image information input from the camera 22.

  Specifically, the intersection distance detection unit 16 performs image processing such as pattern matching on the image indicated by the image information to detect an intersection provided with a traffic light, and all the images in the captured image are Assuming that the vehicle is on a plane, the distance from the vehicle intersection is detected from the position of the detected intersection in the image, and distance information indicating the detected distance is output to the dilemma zone determination unit 18. For example, a laser radar or a millimeter wave radar may be used as the intersection distance detection unit 16. Moreover, you may use what combined these arbitrarily. Moreover, when using a camera, it is good also as what detects the distance from the intersection of a vehicle with the method of a moving stereo from the imaged several image, image | photographing the same area | region several times, moving with one camera. Furthermore, it is good also as what detects the distance from the intersection of a vehicle by the stereo method from the several image imaged with each camera by providing several cameras which image the same area | region at predetermined distance.

  The brake operation detection unit 24 is connected to the dilemma zone determination unit 18 and the lighting control unit 20. The brake operation detection unit 24 is connected to a brake switch (not shown) provided on the brake pedal. The brake operation detection unit 24 detects the depression of the brake pedal based on the on / off state of the brake switch, and outputs brake operation information indicating the presence or absence of the brake operation to the dilemma zone determination unit 18 and the lighting control unit 20. Has been.

  The dilemma zone determination unit 18 is connected to the lighting control unit 20. The dilemma zone determination unit 18 determines whether or not the vehicle is located in the dilemma zone, and outputs a lighting instruction signal that instructs the lighting of the brake lamp to the lighting control unit 20 when the vehicle is located in the dilemma zone. Has been.

  Specifically, the dilemma zone determination unit 18 lights the traffic light at the intersection where the traffic signal is provided, on which the vehicle passes next, based on the traffic light detection information and the lighting state information input from the traffic light lighting state detection unit 14. It is determined whether or not the state has been switched to a yellow lighting state. The dilemma zone determination unit 18 derives the range of the distance from the intersection that becomes the dilemma zone based on the traveling speed indicated by the speed information input from the speed detection unit 12 when the traffic light is switched to the yellow lighting state. . When the distance from the vehicle intersection indicated by the distance information input from the intersection distance detection unit 16 is included in the derived dilemma zone, the dilemma zone determination unit 18 relates to the lighting control unit 20 regarding the brake operation. A lighting instruction signal for instructing lighting of the brake lamp 26 is output.

  The lighting control unit 20 is connected to the brake lamp 26. The lighting control unit 20 detects the depression of the brake pedal based on the brake operation information input from the brake operation detection unit 24 and lights the brake lamp 26. Further, when the lighting instruction signal is input from the dilemma zone determination unit 18, the lighting control unit 20 lights the brake lamp 26 according to the lighting instruction signal.

  Next, with reference to FIG. 2, the operation of the vehicle accident prevention apparatus 10 according to the present embodiment will be described. FIG. 2 is a flowchart showing the flow of the brake lamp lighting control process executed by the dilemma zone determination unit 18. The brake lamp lighting control process is started when a process start instruction signal is received from a vehicle control device (not shown), for example, when a vehicle engine switch is turned on.

  In step 100 in the figure, the brake operation flag BF, the automatic lighting flag OF, and the dilemma zone flag ZF used in the brake lamp lighting control process are each initialized to zero.

  In the next step 102, for example, it is determined whether or not a processing end instruction signal is input from a vehicle control device (not shown) by turning off the engine switch. If the determination is negative, the process proceeds to step 104. If the determination is affirmative, the brake lamp lighting control process ends.

  In step 104, it is determined whether or not a brake operation is detected based on the brake operation information input from the brake operation detection unit 24. If the determination is affirmative, the process proceeds to step 106, whereas the determination is negative. Goes to step 108.

  In step 106, “1” is stored in the brake operation flag BF. On the other hand, in step 108, “0” is stored in the brake operation flag BF.

  In step 110, it is determined whether or not “1” is stored in the dilemma zone flag ZF. If the determination is affirmative, the process proceeds to step 130. If the determination is negative, the process proceeds to step 114.

  In step 114, it is determined whether or not the traffic light has been switched to the yellow lighting state based on the lighting state information input from the traffic light lighting state detection unit 14. If the determination is affirmative, the process proceeds to step 116, while the negative determination is made. If so, the process proceeds to step 140.

  In step 116, the range of the distance from the intersection serving as the dilemma zone is derived based on the traveling speed indicated by the speed information input from the speed detector 12.

  Specifically, a vehicle traveling at the traveling speed indicated by the speed information could not enter the intersection until the yellow light of the traffic light ended, and a predetermined amount of braking operation used during normal traveling was performed. In this case, the range of the distance from the intersection that cannot be stopped before the intersection is derived.

  That is, as shown in FIG. 3, when the traffic light 36 changes to a yellow lighting state when the vehicle 30 is traveling toward the intersection 32, the distance L from the intersection 32 is a predetermined amount used during normal traveling. The range in which the vehicle 30 can stop at the stop line 34 in front of the intersection 32 by the brake operation (range A in FIG. 3), the vehicle 30 cannot enter the intersection 32 until the yellow lighting state of the traffic light 36 ends, In addition, when the brake operation of the predetermined amount is performed, the vehicle 30 cannot be stopped at the stop line 34 before the intersection 32 (range B in FIG. 3), until the yellow lighting state of the traffic light 36 ends. The vehicle 30 can be divided into a range in which the vehicle 30 can enter the intersection 32 (range C in FIG. 3) and a range in the intersection 32 (range D in FIG. 3). This range B is a dilemma zone.

Here, when the traveling speed of the vehicle 30 is V and the lighting time from the start of the yellow light of the traffic light 36 to the end of the light is Y (for example, 3 seconds), until the yellow lighting state of the traffic light 36 is completed. The distance L ₁ [m] from the intersection at which the vehicle 30 can enter the intersection is obtained from the following equation (1).

L ₁ = Y × V (1)

Further, when the brake reaction time of the driver is τ (for example, 0.7 seconds) and the average deceleration by a predetermined amount of brake operation that is normally used is d (for example, 3.0 m / second ² ), The distance L ₂ [m] from the intersection at which the vehicle 30 can be stopped at the stop line 34 before the intersection 32 by a fixed braking operation is obtained from the following equation (2).

L ₂ = τ × V + V ² / 2d (2)

FIG. 4 shows how the distance L ₁ and the distance L ₂ change according to the traveling speed V of the vehicle 30. The range of the distances L _{1 to} L ₂ is a dilemma zone corresponding to the traveling speed V. However, when L ₁ > L ₂ , the vehicle 30 can pass through the intersection 32 and stop at the stop line 34, so that it does not become a dilemma zone (option zone in FIG. 4).

  For example, when the traveling speed V of the vehicle 30 is about 55 km / h (V = 15 m / second), the range T1 is a dilemma zone, and the traveling speed V of the vehicle 30 is about 70 km / h (V = 20 m / second). In some cases, the range T2 is a dilemma zone.

  In the next step 118, it is determined whether or not the distance from the vehicle intersection indicated by the distance information input from the intersection distance detection unit 16 is included in the dilemma zone derived in step 116, and the determination is affirmative. If YES, the process proceeds to step 122. If NO is determined, the process proceeds to step 140.

  In step 122, “1” is stored in each of the automatic lighting flag OF and the dilemma zone flag ZF.

  On the other hand, in step 130, it is determined whether the vehicle has passed the intersection or the vehicle has stopped. If the determination is affirmative, the process proceeds to step 132. If the determination is negative, the process proceeds to step 134. Transition.

  In step 132, “0” is stored in the dilemma zone flag ZF. That is, the dilemma zone flag ZF is initialized when the vehicle passes through the intersection or when the vehicle stops even if the traffic light is located in the dilemma zone at the start of the yellow light.

  In the next step 134, it is determined whether or not a predetermined time (for example, 3 seconds) has elapsed since “1” was stored in the automatic lighting flag OF in step 122. If the determination is affirmative, step 136 is performed. On the other hand, if a negative determination is made, the process proceeds to step 140.

  In step 136, “0” is stored in the automatic lighting flag OF. That is, when the predetermined time has elapsed, the automatic lighting flag OF is initialized even if the vehicle is located in the dilemma zone.

  In step 140, it is determined whether or not “1” is stored in each of the brake operation flag BF and the dilemma zone flag ZF. If the determination is affirmative, the process proceeds to step 142. If the determination is negative, Control goes to step 144.

  In step 142, a lighting instruction signal for instructing the lighting of the brake lamp 26 to be output to the lighting control unit 20 is output, and then the process proceeds to step 102.

  On the other hand, in step 144, it is determined whether or not “1” is stored in the automatic lighting flag OF. If the determination is affirmative, the process proceeds to step 146. If the determination is negative, the process proceeds to step 148. To do.

  In step 146, after a lighting instruction signal for instructing the lighting control unit 20 to automatically turn on the brake lamp 26 is output, the process proceeds to step 102.

  On the other hand, in step 148, it is determined whether or not “1” is stored in the brake operation flag BF. If the determination is affirmative, the process proceeds to step 150. If the determination is negative, the process proceeds to step 152. To do.

  In step 150, a lighting instruction signal for instructing normal lighting of the brake lamp 26 is output to the lighting control unit 20, and then the process proceeds to step 102.

  On the other hand, in step 152, a lighting instruction signal that instructs the lighting controller 20 to turn off the brake lamp 26 is output, and then the process proceeds to step 102.

  FIG. 5 and FIG. 6 show an example of the travel position with respect to the intersection of the vehicle, the lighting state of the traffic light yellow, and the lighting state of the brake lamp 26 according to the presence or absence of the brake operation.

  As shown in FIG. 5, for example, when a traffic light is switched to a yellow lighting state, the vehicle is located in a range B that is a dilemma zone, and the vehicle passes through an intersection as it is without performing a brake operation. The brake lamp 26 is automatically turned on for the predetermined time (for example, 3 seconds).

  Here, when the driver's own vehicle is located in the dilemma zone, the driver is confused as to whether to accelerate the vehicle and pass the intersection, or to perform a sudden braking operation to stop the vehicle.

  For this reason, when the vehicle is located in the dilemma zone, the brake lamp 26 of the vehicle is automatically turned on, so that the driver of the subsequent vehicle can be alerted. Therefore, a rear-end collision from the subsequent vehicle can be prevented. .

  Further, for example, as shown in FIG. 6, when the traffic light is switched to the yellow lighting state, the vehicle is located in a range B that is a dilemma zone, and the vehicle is braked and stopped. The brake lamp 26 is automatically turned on before the operation, and then the brake lamp 26 is lit up in accordance with the brake operation. The emphasis lighting may be any lighting as long as it is lit so as to increase the visibility. For example, the lighting of the brake lamp 26 blinks, the lighting area of the brake lamp 26 is changed, or the lighting is turned on. The position may be changed.

  In this way, when the vehicle is located in the dilemma zone, the brake lamp 26 is automatically turned on, so that the driver of the succeeding vehicle can be alerted to the vehicle. In addition, since the brake lamp 26 is highlighted to light according to the brake operation, the driver of the succeeding vehicle can be made to strongly recognize that the vehicle is stopped, so that a rear-end collision from the succeeding vehicle can be prevented.

  As described above, according to the present embodiment, the dilemma zone determination unit 18 cannot enter the intersection until the yellow light of the traffic light ends, and a predetermined amount of braking operation is performed. In this case, a range (dilemma zone) of the distance from the intersection that cannot stop before the intersection is derived, and the distance from the intersection of the vehicle detected by the intersection distance detection unit 16 is included in the range, On the other hand, since the notification for preventing the rear-end collision is performed, the rear-end collision can be prevented.

[Second Embodiment]
FIG. 7 shows the configuration of the vehicle accident prevention apparatus 10 according to the second embodiment. The same parts in FIG. 1 as those in FIG. 1 are denoted by the same reference numerals as those in FIG.

  As shown in the figure, the vehicle accident prevention apparatus 10 according to the second embodiment further includes a subsequent vehicle distance detection unit 28 and a laser survey meter 29.

  The laser survey meter 29 is connected to the subsequent vehicle distance detection unit 28. The laser survey meter 29 includes, for example, a light emitting element that emits an infrared light pulse and a light receiving element that receives an infrared light pulse reflected by an object to be detected, such as a bumper behind the vehicle. It is attached to the back of the running direction.

  The subsequent vehicle distance detection unit 28 is connected to the dilemma zone determination unit 18. The succeeding vehicle distance detection unit 28 is configured to receive the infrared light pulse reflected by the succeeding vehicle with the light receiving element based on the time when the light emitting element of the laser survey meter 29 emits light and the infrared light pulse is irradiated. Based on the time, the distance to the following vehicle based on the host vehicle is measured, and the following vehicle distance information indicating the distance is output to the dilemma zone determination unit 18.

  Next, the operation of the vehicle accident prevention apparatus 10 when the brake lamp lighting control process according to the second embodiment is executed will be described with reference to FIG. In the figure, the same processes as those in FIG. 2 are denoted by the same reference numerals as those in FIG.

  In step 120, based on the distance between the vehicle and the following vehicle indicated by the vehicle distance information input from the subsequent vehicle distance detection unit 28, and the distance from the vehicle intersection indicated by the distance information input from the intersection distance detection unit 16, It is determined whether or not the following vehicle is included in the dilemma zone. If the determination is affirmative, the process proceeds to step 140. If the determination is negative, the process proceeds to step 122.

  That is, the vehicle accident prevention apparatus 10 according to the present embodiment automatically turns on the brake lamp 26 when the following vehicle is not included in the dilemma zone.

  As described above, according to this embodiment, the distance between the vehicle and the following vehicle is detected by the following vehicle distance detection unit 28, and whether or not the following vehicle is included in the dilemma zone by the dilemma zone determination unit 18. When the following vehicle is not included in the dilemma zone, the brake lamp 26 is automatically turned on to prevent sudden braking operation on the following vehicle when the following vehicle is included in the dilemma zone. be able to.

[Third Embodiment]
FIG. 9 shows the configuration of the vehicle accident prevention apparatus 10 according to the third embodiment. The same parts in FIG. 1 as those in FIG. 1 are denoted by the same reference numerals as those in FIG.

  As shown in the figure, the vehicle accident prevention apparatus 10 according to the third embodiment is replaced with the traffic light lighting state detection unit 14, the intersection distance detection unit 16, and the dilemma zone determination unit 18 shown in FIG. The navigation unit 52, the road condition detection unit 54, and the deceleration condition determination unit 56 are provided.

  The navigation unit 52 includes a vehicle position information detection unit 60, an information storage unit 62, and a VICS (Vehicle Information and Communication System) information reception unit 64.

  The vehicle position information detecting unit 60 is connected to a GPS (Global Positioning System) receiver (not shown) mounted on the vehicle, and based on signals received from a plurality of GPS satellites by the GPS receiver, the latitude of the vehicle, Detects the position on the earth such as longitude and altitude. Note that a gyro sensor may be used as the vehicle position information detection unit 60 instead of the GPS device, or a hybrid type using both the GPS device and the gyro sensor may be used.

  The information storage unit 62 stores map information indicating a road map in advance. Note that the map information according to the present embodiment includes information indicating the position of a store such as a restaurant provided on the side of the road.

  The VICS information receiving unit 64 receives traffic information such as traffic regulation information due to construction transmitted by radio wave beacons, optical beacons, FM multiplex broadcasting, etc. provided on the road, and the traffic information is stored in the information storage unit 62. Remember me.

  The navigation unit 52 informs the driver based on the position of the own vehicle detected by the vehicle position information detection unit 60, the map information stored in the information storage unit 62, and the traffic information received by the VICS information reception unit 64. On the other hand, information about a map is provided together with the current position of the vehicle, route information, and traffic information by video and audio.

  In addition, the navigation unit 52 is connected to the deceleration state determination unit 56. The navigation unit 52 outputs host vehicle position information indicating the position of the host vehicle detected by the vehicle position information detection unit 60 to the deceleration state determination unit 56. The navigation unit 52 provides various information stored in the information storage unit 62 in response to a read request from the vehicle position information detection unit 60.

  The road condition detection unit 54 is connected to the camera 22 and the deceleration condition determination unit 56. Based on the image indicated by the image information input from the camera 22, the road condition detection unit 54 determines the number of lanes on the road on which the host vehicle is traveling, the lane position on which the host vehicle is traveling, and the median strip of the road. It is assumed that road conditions such as the location of the road are detected.

  Specifically, the road condition detection unit 54 performs image processing such as filtering and differentiation on the image indicated by the image information to detect edges and identify road lane markings so that the host vehicle travels. The number of road lanes, the lane position where the host vehicle is traveling, and the position of the median strip are detected. The road condition detection unit 54 outputs the detected number of lanes, lane position, and position of the median strip to the deceleration condition determination unit 56 as road condition information.

  The deceleration state determination unit 56 is connected to the lighting control unit 20 and the brake operation detection unit 24. The deceleration state determination unit 56 detects depression of the brake pedal based on the brake operation information input from the brake operation detection unit 24, and it is difficult to predict vehicle deceleration when a brake operation is detected. It is supposed to determine whether there is. The deceleration state determination unit 56 outputs a lighting instruction signal for instructing normal lighting of the brake lamp 26 to the lighting control unit 20 when the deceleration can be predicted, and the brake lamp 26 when the deceleration is difficult to predict. Is output to the lighting control unit 20.

  Next, the operation of the vehicle accident prevention apparatus 10 according to the present embodiment will be described with reference to FIG. FIG. 10 is a flowchart showing the flow of the deceleration state determination process executed by the deceleration state determination unit 56. The deceleration state determination process is started when a process start instruction signal is received from a vehicle control device (not shown), for example, when a vehicle engine switch is turned on.

  In step 200 in the figure, the brake operation flag BF and the emphasis lighting flag KF used in the deceleration state determination process are each initialized to zero.

  In the next step 202, for example, it is determined whether or not a processing end instruction signal is input from a vehicle control device (not shown) by turning off the engine switch. If the determination is negative, the process proceeds to step 204. If the determination is affirmative, the deceleration state determination process ends.

  In the next step 204, it is determined whether or not a brake operation is detected based on the brake operation information input from the brake operation detection unit 24. If the determination is affirmative, the process proceeds to step 210, while the determination is negative. If YES, go to step 206.

  In step 206, “0” is stored in the brake operation flag BF. In the next step 208, a lighting instruction signal for instructing to turn off the brake lamp 26 is output to the lighting control unit 20, and then the process proceeds to step 202. .

  On the other hand, in step 210, it is determined whether or not “1” is stored in the brake operation flag BF. If the determination is affirmative, the process proceeds to step 224. If the determination is negative, the process proceeds to step 212. To do.

  In step 212, “1” is stored in the brake operation flag BF.

  In the next step 214, based on the vehicle position indicated by the own vehicle position information input from the navigation unit 52 and the travel speed indicated by the speed information input from the speed detection unit 12, the vehicle travels from the position at the travel speed. A stop position when a predetermined amount of brake operation that is normally used in the vehicle is performed is estimated.

That is, for example, as shown in FIG. 11 (A), the traveling speed of the vehicle 30 is V, and the average deceleration due to a predetermined amount of brake operation that is normally used is d (for example, 2.5 m / sec ² ). In this case, the travel distance L _stp until the vehicle 30 stops can be obtained from the following equation (3).

L _stp = V ² / 2d (3)

Therefore, the estimated stop position of the vehicle 30 is a position that is the travel distance L _stp from the vehicle position indicated by the vehicle position information with respect to the travel direction of the vehicle.

  In the next step 216, it is determined whether or not the vehicle deceleration is difficult to predict. If the determination is affirmative, the process proceeds to step 220. If the determination is negative, the process proceeds to step 222.

  Here, for example, at a railroad crossing or an intersection, all passing vehicles decelerate or temporarily stop, so the driver of the following vehicle can easily predict the deceleration of the preceding vehicle. However, for example, in the case of a store provided on the side of the road, some of the vehicles traveling on the road enter the store, and in the case of traffic regulation, the location of traffic regulation due to a vehicle accident, etc. Cannot be predicted. For this reason, for example, when the preceding vehicle enters a store or when traffic is restricted, the driver of the following vehicle may not be able to predict the deceleration of the preceding vehicle and may collide with the preceding vehicle.

  Therefore, the deceleration state determination unit 56 according to the present embodiment stores in advance a determination table for determining whether the vehicle deceleration is difficult to predict.

  FIG. 12 shows an example of the data structure of the determination table according to the present embodiment.

  The determination table stores conditions that allow the vehicle to enter a store located beside the road, conditions that make it difficult to predict vehicle deceleration due to traffic restrictions, and conditions that allow the vehicle to make a U-turn. . Note that a portion indicated by “−” in the determination table indicates that the condition is not to be determined.

  For example, if the road is a single lane on each of the upper and lower sides and there is no median on the road, the vehicle will be on the right or left side of the road with respect to the direction of travel of the vehicle. Can enter the store. Also, if the road is a single track and has a median, the vehicle is on the left side of the road in Japan, so if the store is on the left side of the road with respect to the direction of travel of the vehicle, the vehicle It is possible to enter. Furthermore, when the road is a plurality of lanes (two or more lanes) and the lane position of the host vehicle is the lane on the shoulder side, if the store is on the left side of the road with respect to the traveling direction of the vehicle, Can enter.

  As described above, when the vehicle can enter a store provided on the side of the road, it is difficult to predict deceleration of the vehicle.

  Also, if the road has multiple lanes, the lane position of the host vehicle is the most central lane, and there is no median, a U-turn is possible regardless of whether there is a store on the right side of the road. It is difficult to predict deceleration.

  Furthermore, traffic regulations make it difficult to predict vehicle deceleration regardless of the number of lanes or the lane position of the host vehicle.

  In this step 216, map information and traffic information are read from the information storage unit 62, and based on the number of lanes, the lane position, and the position of the median strip indicated by the road condition information input from the road condition detection unit 54, the above step 214 is performed. It is determined whether or not a road condition within a predetermined distance (for example, ± 5 m) from the estimated stop position in step 1 satisfies any of the conditions in the determination table. If any of the conditions is satisfied, vehicle deceleration is predicted. While it is determined that the situation is difficult to proceed, the process proceeds to step 220. On the other hand, when none of the conditions are satisfied, it is determined that the vehicle is likely to be decelerated, and the process proceeds to step 222.

  In step 220, “1” is stored in the highlight lighting flag KF.

  On the other hand, in step 222, “0” is stored in the highlight lighting flag KF.

  In the next step 224, it is determined whether or not “1” is stored in the highlight lighting flag KF. If the determination is affirmative, the process proceeds to step 226. If the determination is negative, the process proceeds to step 232. To do.

  In step 226, it is determined whether or not the vehicle position indicated by the vehicle position information is a position other than the predetermined distance from the stop position estimated in step 214. If the determination is affirmative, step 226 is performed. On the other hand, if the determination is negative, the process proceeds to step 230.

  In step 228, a lighting instruction signal for instructing the lighting of the brake lamp 26 to be output to the lighting control unit 20 is output, and then the process proceeds to step 202.

  On the other hand, in step 230, “0” is stored in the emphasis lighting flag KF, and in the next step 232, a lighting instruction signal for instructing the lighting of the brake lamp 26 to the lighting control unit 20 is output, and then in step 202. Migrate to

  Thus, for example, as shown in FIG. 11 (A), when a brake operation is performed to make the vehicle enter a store along the road, or as shown in FIG. When a brake operation is performed to decelerate or temporarily stop, the brake lamp 26 is highlighted.

  On the other hand, for example, as shown in FIG. 11C, when a brake operation is performed to stop the vehicle at an intersection, the brake lamp 26 is normally lit.

  FIG. 13 shows an example of the position where the driver has operated the vehicle and the lighting state of the brake lamp 26.

  As described above, according to the present embodiment, when a braking operation is performed on the vehicle, it is determined whether or not the vehicle deceleration behavior is difficult to predict, and the vehicle deceleration behavior is difficult to predict. When it is determined that the rear-end collision is notified to the following vehicle, a rear-end collision accident can be prevented.

  In each of the above-described embodiments, the case where the brake vehicle 26 is turned on to notify the following vehicle has been described. However, the present invention is not limited to this. For example, the notification may be performed by performing inter-vehicle communication with a succeeding vehicle by wireless or the like.

  In the first and second embodiments, the case where the brake lamp 26 is automatically turned on regardless of whether or not the brake operation is performed when the vehicle is included in the dilemma zone has been described. However, the present invention is not limited thereto. Is not to be done. For example, the brake lamp 26 may be blinked.

  In addition, the configuration (see FIGS. 1, 7, and 9) of the vehicle accident prevention apparatus 10 described in the above embodiments is merely an example, and can be appropriately changed without departing from the gist of the present invention. Needless to say.

  Further, the brake lamp lighting control process (see FIGS. 2 and 8) described in the first and second embodiments and the deceleration state determination process (see FIG. 10) described in the third embodiment. This flow is also an example, and it is needless to say that the flow can be appropriately changed without departing from the gist of the present invention.

  Furthermore, it goes without saying that the data structure of the determination table (see FIG. 12) described in the third embodiment is also an example, and can be changed as appropriate without departing from the gist of the present invention.

It is a block diagram which shows the function structure of the vehicle accident prevention apparatus 10 which concerns on 1st Embodiment. It is a flowchart which shows the flow of the brake lamp lighting control process which concerns on 1st Embodiment. The distance from the intersection is the range in which the vehicle can stop at the stop line (range A), the range in which the vehicle cannot enter the intersection by the end of the yellow light of the traffic light, and cannot be stopped at the stop line ( It is the schematic diagram divided into the range (range C) which can approach into an intersection by the end of the range B), the yellow lighting state of a traffic light, and the range (range D) in an intersection. It is a graph which shows the dilemma zone according to traveling speed. When the traffic light according to the first embodiment is in a yellow lighting state, the vehicle position in the dilemma zone and the lighting of the signal when the vehicle passes through the intersection without performing the brake operation. The figure which shows a state, the operation state of a brake, and the lighting state of a brake lamp. When the traffic light according to the first embodiment is in a yellow lighting state, the vehicle position in the dilemma zone when the vehicle stops by performing a brake operation, the lighting state of the signal, The figure which shows the operation state and the lighting state of a brake lamp. It is a block diagram which shows the function structure of the vehicle accident prevention apparatus 10 which concerns on 2nd Embodiment. It is a flowchart which shows the flow of the brake lamp lighting control process which concerns on 2nd Embodiment. It is a block diagram which shows the function structure of the vehicle accident prevention apparatus 10 which concerns on 3rd Embodiment. It is a flowchart which shows the flow of the deceleration condition determination process which concerns on 3rd Embodiment. (A) is a figure which shows the presumed stop position at the time of performing brake operation in order to make a vehicle approach a store along a road, and the lighting state of a brake lamp, (B) performs brake operation by traffic regulation. It is a figure which shows the estimated stop position at the time of a case, and the lighting state of a brake lamp, (C) shows the estimated stop position when a brake operation is performed in order to stop at an intersection and the lighting state of a brake lamp FIG. It is a schematic diagram which shows an example of the data structure of the determination table in 3rd Embodiment. It is a figure which shows the stop position estimated when the brake operation which concerns on 3rd Embodiment is performed, and the lighting state of a brake lamp.

Explanation of symbols

10 Vehicle Accident Prevention Device 12 Speed Detection Unit (Speed Detection Means)
14 Traffic light lighting state detection part (lighting state detection means)
16 intersection distance detection unit (distance detection means),
18 Dilemma zone determination unit (derivation means, notification means)
22 Camera (imaging means)
28 Subsequent vehicle distance detector (subsequent vehicle distance detector)
54 Road condition detection unit (road condition detection means)
56 Deceleration state determination unit (determination means, estimation means, notification means)
60 Vehicle position information detection unit (position detection means)
62 Information storage unit (storage means)
64 VICS information receiver (acquisition means)

Claims (11)

Speed detecting means for detecting the traveling speed of the vehicle;
A lighting state detection means for detecting a lighting state of the traffic signal at an intersection provided with a traffic signal, through which the vehicle passes next;
When it is detected by the lighting state detection means that the traffic light has been switched to the yellow lighting state, the vehicle finishes the yellow lighting state of the traffic light based on the traveling speed detected by the speed detection means. Deriving means for deriving a range of distance from the intersection that cannot enter the intersection before and cannot stop before the intersection when a predetermined amount of braking operation is performed;
Distance detecting means for detecting a distance from the intersection of the vehicle;
Informing means for informing the subsequent vehicle to prevent a rear-end collision when the distance detected by the distance detecting means is included in the range derived by the deriving means;
A vehicle accident prevention device comprising: The vehicle accident prevention apparatus according to claim 1, wherein the notification unit performs the notification by turning on a brake lamp of the vehicle regardless of whether or not a brake operation is performed. It further comprises imaging means for imaging the front of the vehicle in the traveling direction,
The vehicle accident prevention device according to claim 1, wherein the lighting state detection unit detects a lighting state of the traffic light based on an image captured by the imaging unit. The vehicle further comprises a subsequent vehicle distance detecting means for detecting a distance between the vehicle and the subsequent vehicle,
The informing means is configured to determine whether the succeeding vehicle is within the range based on a distance from the intersection detected by the distance detecting means and a distance between the vehicle and the succeeding vehicle detected by the succeeding vehicle distance detecting means. The vehicle accident prevention apparatus according to any one of claims 1 to 3, wherein it is determined whether or not the vehicle is included in the vehicle and the notification is performed when the following vehicle is out of the range. Speed detecting means for detecting the traveling speed of the vehicle;
Position detecting means for detecting the position of the vehicle;
Brake operation detecting means for detecting presence or absence of brake operation of the vehicle;
Determining means for determining whether or not the vehicle deceleration action is difficult to predict when the braking operation of the vehicle is detected by the braking operation detecting means;
Informing means for informing the subsequent vehicle to prevent a rear-end collision when it is determined by the determining means that the vehicle deceleration action is difficult to predict.
A vehicle accident prevention device comprising: A storage means provided on the side of the road and storing position information indicating a predetermined landmark position at which a braking operation is performed on the vehicle to decelerate or temporarily stop the vehicle when the vehicle enters;
When a brake operation of the vehicle is detected by the brake operation detection means, the travel speed is determined from the position based on the vehicle position detected by the position detection means and the travel speed detected by the speed detection means. An estimation means for estimating a stop position when a predetermined amount of braking operation is performed on the vehicle traveling on the vehicle,
The determination means has a situation in which the deceleration action of the vehicle is difficult to predict when the stop position estimated by the estimation means is within a predetermined distance from the landmark position indicated by the position information stored in the storage means. The vehicle accident prevention device according to claim 5, wherein the vehicle accident prevention device is determined to be. Road condition detecting means for detecting the number of lanes on the road on which the vehicle is traveling and the lane position on which the vehicle is traveling;
The determination means determines whether or not the vehicle can enter the landmark based on the number of lanes and the lane position detected by the road condition detection means. The vehicle accident prevention apparatus according to claim 6, wherein it is determined that the situation is difficult to predict. The road condition detecting means further detects a position of a median strip of a road on which the vehicle is traveling;
The determination means determines whether the vehicle can make a U-turn at the stop position estimated by the estimation means based on the number of lanes, the lane position, and the position of the median strip detected by the road condition detection means. The vehicle accident prevention device according to claim 7, wherein when the vehicle is capable of making a U-turn, it is determined that the deceleration behavior of the vehicle is difficult to predict. It further comprises an acquisition means for acquiring traffic regulation information indicating a traffic regulation point on the road,
The determination unit determines that the deceleration behavior of the vehicle is difficult to predict when the stop position estimated by the estimation unit is a traffic regulation point indicated by traffic regulation information. 9. The vehicle accident prevention apparatus according to any one of items 8. The vehicle accident prevention apparatus according to any one of claims 6 to 9, wherein the landmark is a store provided beside a road. The notification means turns on the brake lamp of the vehicle so that the visibility is higher when the deceleration behavior of the vehicle is difficult to predict than when the deceleration behavior of the vehicle is easy to predict. The vehicle accident prevention device according to any one of claims 5 to 10, wherein the notification is performed by the operation.

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