JP2009009219A - Moving body information device and moving body information program - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a moving body information device and a moving body information program, preventing erroneous decision of collision between moving bodies moving on different roads, and allowing reduction of a processing load of collision decision. <P>SOLUTION: When a crossing 216 is present at a prescribed distance or below in front of a traveling direction of one's own vehicle 200 and when the own vehicle 200 passes the crossing 216, an infrastructure link ID for identifying a road 210 and first movement information of the own vehicle 200 are transmitted, and infrastructure link IDs of roads 212, 214 and second movement information are received from the other vehicles 202, 204. It is decided that the road 210 and the road 212 do not form the crossing from map data, the infrastructure link IDs of the roads 210, 212, 214, and the first movement information and the second movement information, so that the collision decision between the own vehicle 200 and the other vehicle 202 is not performed. Because the road 210 and the road 214 form the crossing 216, the collision decision between the own vehicle and the other vehicle 204 is executed. When they collide, proper avoidance processing is executed. <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

  The present invention relates to a moving body information device and a moving body information program for determining a collision between moving bodies moving on different roads.

  Conventionally, for example, it is known to transmit and receive mutual travel data including a current position by inter-vehicle communication between vehicles and determine a collision between vehicles traveling on different roads (see, for example, Patent Document 1). ).

  However, it is difficult to identify the road on which the other vehicle is traveling on the map data referred to by the own vehicle based on the current position transmitted from the other vehicle. In particular, when there are a plurality of roads near the road on which the other vehicle is traveling, it is difficult to identify the road on which the other vehicle is traveling from the current position of the other vehicle.

Therefore, in Patent Document 1, a predicted position of a vehicle after a predetermined time has been calculated based on current traveling data such as the current position, the steering angle, and the vehicle speed of the host vehicle and the other vehicle, and between the vehicles based on the calculated predicted position. Judgment of collision.
JP 2000-207691 A

  However, when judging collision between vehicles based on the predicted position calculated based on the travel data as in Patent Document 1, even if the vehicles are moving on a road that does not actually form an intersection, When the predicted positions of the vehicles approach each other, it may be determined that the vehicles collide with each other.

  The roads that are not actually forming an intersection but are close to each other are predicted to be close to a three-dimensional intersection road, a road that crosses a tunnel and a tunnel, a highway junction or interchange, etc. A road away from the road is considered.

  Thus, if it is erroneously determined that vehicles moving on a road that does not actually form an intersection collide with each other, there is a risk that an erroneous collision avoidance process is instructed to the vehicle based on the erroneous determination result. .

  In addition, since the road on which the other vehicle is traveling cannot be identified on the map data, when the other vehicle is moving on a road that does not form an intersection with the road on which the own vehicle is actually moving, Based on the travel data, predicted positions of the host vehicle and other vehicles are calculated. As a result, there is a problem that the processing load for collision determination increases.

  The present invention has been made in order to solve the above-described problem, and prevents a misjudgment of collision between moving bodies moving on different roads and reduces the processing load of collision determination and movement. The purpose is to provide a body information program.

  According to the invention described in claim 1 and in the invention described in claim 10 when the computer is functioned as each means of the mobile object information apparatus described in claim 1, within a predetermined distance ahead of the moving direction of the mobile object When there is an intersection, road identification information for identifying the road on which the moving body is moving on the map data and movement information indicating the moving state of the moving body are transmitted.

  The transmission data transmitted by the mobile unit may be directly received by another mobile unit, or may be received indirectly via a relay station or a relay point. Further, in the present invention, the moving body represents a moving body moving on a road such as an automobile, a motorcycle, a bicycle, a wheelchair, and a pedestrian.

  Here, even if an intersection exists within a predetermined distance ahead of the moving direction of the transmitting mobile body that transmits road identification information and movement information, the road on which the receiving mobile body that receives the transmission data is moving is the transmission mobile body. There may be a three-dimensional intersection near the intersection with the moving road.

  Therefore, according to the first and tenth aspects of the present invention, in order to identify the road on which the transmission mobile body is moving from other roads in the reception mobile body that receives the transmission data transmitted by the transmission mobile body. From the road identification information transmitted by the transmitting mobile body, the road on which the transmitting mobile body is moving can be accurately identified on the map data referred to by the receiving mobile body. As a result, it is possible to accurately determine whether the road on which the receiving mobile body is moving forms an intersection with the road on which the transmitting mobile body is moving.

  As a result, for example, when the road on which the receiving mobile body is moving intersects the road on which the transmitting mobile body is moving and does not form an intersection, it is erroneously determined that the receiving mobile body will collide with the transmitting mobile body. Can be prevented.

  Also, if the road on which the receiving mobile body is moving does not form an intersection with the road on which the transmitting mobile body is moving, there is no need to make a collision determination between the transmitting mobile body and the receiving mobile body. It is possible to reduce the processing load for collision determination in the receiving mobile body.

  According to the invention described in claims 2 to 9 and the invention described in claim 10 when the computer is functioned as each means of the mobile information device according to claims 2 to 9, map data and map data 1st road identification information for identifying the first road on which the first moving body is moving, first movement information indicating the moving state of the first moving body moving on the first road, and map data Second road identification information for identifying the second road on which the second moving body is moving, second movement information indicating a movement state of the second moving body on the second road, It is determined whether or not the first moving body and the second moving body collide with each other based on the determination result of whether or not there is an intersection within a predetermined distance ahead of the moving direction.

  Thus, since the road identification information for identifying which road the moving body is moving on the map data is used for the collision determination between the moving bodies, the first road and the second road on which the first moving body is moving are used. It can be accurately determined whether the second road on which the moving body is moving forms an intersection, or whether the first road and the second road do not form an intersection.

Thereby, it can prevent misjudging that the mobile bodies which are drive | working the road which does not actually form the intersection collide.
In addition, when the first road on which the first mobile body is moving and the second road on which the second mobile body is moving do not form an intersection, the first mobile body and the second mobile body Since it is not necessary to make a collision determination, the processing load for collision determination can be reduced in the first moving body.

According to a third aspect of the present invention, the apparatus further comprises a transmission means for transmitting the first road identification information and the first movement information.
Thereby, in the 1st road identification information which the 1st mobile body transmits, and the 2nd mobile body which receives the 1st movement information, the 1st road where the 1st mobile body is moving can be identified correctly on map data. . As a result, in the second mobile body that receives the first road identification information and the first movement information transmitted by the first mobile body, when the mobile bodies traveling on a road that does not actually form an intersection collide with each other. It is possible to prevent erroneous determination.

  In addition, when the first road on which the first mobile body is moving and the second road on which the second mobile body is moving do not form an intersection, the first mobile body and the second mobile body Since it is not necessary to make a collision determination, the processing load for collision determination can be reduced in the second moving body.

  According to the fourth aspect of the present invention, when the first moving body stops before reaching the intersection ahead of the moving direction, the transmitting means does not transmit the first road identification information and the first moving information, and the collision determining means Does not perform collision detection.

  When the first moving body stops before reaching the intersection in front of the moving direction, it can be determined that there is no possibility that the first moving body collides with the second moving body at the intersection. Therefore, when the first mobile body stops before reaching the intersection without passing through the intersection, the first mobile body transmits the first road identification information and the first movement information, and the first mobile body and the second movement The collision determination process with the body can be omitted.

  As in the fifth aspect of the invention, at least the position, moving direction and moving speed of the first moving body are used as the first moving information, and at least the position, moving direction and moving speed of the second moving body are used as the second moving information. Also good.

  According to the sixth aspect of the present invention, the link ID (hereinafter referred to as “road link ID”) assigned to each link constituting the road in the map data is the first road identification information and the second road identification information. .

  If the road link ID is given by the same standard in the map data referred to by the first mobile body and the second mobile body, the road on which the first mobile body and the second mobile body are moving can be identified from the road link ID. . Further, even if the road link ID standard is different in the map data referred to by the first mobile body and the second mobile body, for example, if the road link ID can be converted, the first mobile body is converted from the road link ID. The road on which the second moving body is moving can be identified.

  According to the seventh aspect of the present invention, the infrastructure link ID provided from the road equipment such as VICS (Vehicle Information and Communication System; registered trademark) installed on the first road and the second road is used as the first road identification information and The second road identification information is used.

  Since the standard of the infrastructure link ID is standardized, even if the first mobile unit and the second mobile unit refer to different map data, the first mobile unit and the second mobile unit actually move on the map data. Can be identified from the infrastructure link ID.

  Further, since the infrastructure link ID is provided from the road facility of the road on which the first mobile body and the second mobile body are actually moving, the infrastructure link ID is close to the road on which the first mobile body and the second mobile body are moving. Even when other roads exist, the roads on which the first moving body and the second moving body are moving can be accurately identified.

  According to the eighth aspect of the present invention, when the first moving body and the second moving body collide, the avoiding means for avoiding the collision between the first moving body and the second moving body is further provided. Thereby, the collision with a 1st moving body and a 2nd moving body can be avoided.

  According to the ninth aspect of the present invention, the first movement information and the second movement information include a matching rate when the positions of the first moving body and the second moving body are map-matched, and the avoiding means uses the matching rate. The avoidance process according to is executed.

  For example, it is considered that when the matching rate of map matching is high, the reliability of the position information of the moving body is high, and when the matching rate of map matching is low, the reliability of the position information of the moving body is low. Therefore, it is desirable to perform an appropriate avoidance process according to the level of the matching rate. For example, when the matching rate is high, in the case of a vehicle, a braking device such as a brake is driven to reduce the approach speed to the intersection. When the matching rate is low, a warning is given by a sound or display, and when the matching rate is low. Then, an appropriate avoidance process is performed according to the matching rate such that the collision determination is not performed.

  Based on the road identification information transmitted by the transmitting mobile unit to identify the road on which the transmitting mobile unit is moving from other roads, the road on which the transmitting mobile unit is moving is accurately displayed on the map data referenced by the receiving mobile unit. Can be identified. As a result, it is possible to accurately determine whether the road on which the receiving mobile body is moving forms an intersection with the road on which the transmitting mobile body is moving.

  As a result, for example, when the road on which the receiving mobile body is moving intersects the road on which the transmitting mobile body is moving and does not form an intersection, it is erroneously determined that the receiving mobile body will collide with the transmitting mobile body. Can be prevented.

  Also, if the road on which the receiving mobile body is moving does not form an intersection with the road on which the transmitting mobile body is moving, there is no need to make a collision determination between the transmitting mobile body and the receiving mobile body. It is possible to reduce the processing load for collision determination in the receiving mobile body.

  The functions of the plurality of means provided in the inventions according to claims 1 to 9 are realized by hardware resources whose functions are specified by the configuration itself, hardware resources whose functions are specified by a program, or a combination thereof. Is done. The functions of the plurality of means are not limited to those realized by hardware resources that are physically independent of each other.

Hereinafter, embodiments of the present invention will be described with reference to the drawings.
FIG. 1 is a block diagram showing a schematic configuration of a car navigation apparatus according to an embodiment of the present invention. A car navigation device 10 as a mobile information device mounted in the host vehicle 200 (see FIG. 2) includes a position detection unit 12, a map data storage unit 14, a memory unit 16, a display unit 18, a switch information input unit 20, The voice output unit 22, the data communication unit 24, the travel control unit 26, and the like are configured by connecting to a car navigation ECU (hereinafter simply referred to as “ECU”) 30 mainly composed of a microcomputer.

  As is well known, the position detection unit 12 includes a GPS sensor, a gyro sensor, a vehicle speed sensor, and the like used for obtaining vehicle position information based on radio waves from GPS satellites. This is the part that detects altitude with high accuracy.

  The map data storage unit 14 reads data from a map data recording medium in which various data such as map data and destination search data (destination data, so-called town page data, etc.) and synthesized voice data are recorded. Drive device for As the map data recording medium, a large-capacity recording medium such as a CD, a DVD, or an HD (hard disk) is used.

  The map data includes a road data group, a building data group, a terrain data group, and the like, and data for reproducing the map on the screen of the display unit 18, and further, a main place name and a building name are displayed as characters. It is configured to include character data.

  In map data, a road is defined as a link connecting nodes. Node data is data consisting of node IDs, which are node identification numbers, node coordinates, road link IDs of all links connected to the nodes, node characteristic information such as node types (types such as intersections and junctions). It is. The link data includes a road link ID that is a link identification number, a link length, a node ID of each node connected to the start point and the end point, a road type such as a highway, a toll road, a general road, a road shape, a road width, and a road name. , Number of lanes, link travel time, legal speed limit, road gradient, etc.

  The memory unit 16 includes an EEPROM such as a ROM, a RAM, and a flash memory. The ROM may store a program related to car navigation. A moving body information program for determining a collision between vehicles that are moving bodies is included in the car navigation program.

  The RAM functioning as a working area temporarily stores map data acquired from the map data storage unit 14, and the EEPROM stores data (such as vehicle information) that needs to be retained even when the power is turned off. ing.

  The display unit 18 is composed of, for example, a full-color liquid crystal display, and normally, a map around the current location of the vehicle is displayed on the screen at a selected scale, and the current position and traveling direction of the vehicle are shown superimposed on the display. The current location mark is selectively displayed. The display unit 18 also displays an input screen for the passenger to make various inputs such as a destination, and various messages.

  Although not shown in detail, the switch information input unit 20 includes a mechanical switch provided near the screen of the display unit 18 and a touch panel provided on the screen of the display unit 18. The input unit 20 can be used to input various commands such as setting a destination for a route guidance operation and selecting a scale of a road map displayed on the display unit 18. A remote controller having a function equivalent to that of the switch information input unit 20 may be provided as necessary.

  Based on the synthesized voice data obtained from the map data storage unit 14, the voice output unit 22 pays attention to the driver before outputting various voices such as a voice guide at the time of route guidance or a voice guide for explaining operations, or guidance. It is designed to output a single tone or the like. In addition, when it is determined that the own vehicle 200 and the other vehicles 202 and 204 collide, the audio output unit 22 may notify the collision with a sound or a warning sound.

  The data communication unit 24 has a bidirectional communication function with an external device, and is composed of, for example, a packet communication device, a mobile phone, a car phone, or the like. The data communication unit 24 performs communication between vehicles, between a vehicle and an information center, or between a vehicle and a relay point installed on a road.

  The traveling control unit 26 controls the traveling state of the own vehicle 200 according to the traveling state of the own vehicle 200. For example, the traveling control unit 26 drives a braking device such as a brake to reduce the traveling speed of the host vehicle 200.

  The ECU 30 has functions of processing units such as a map data acquisition unit 32, a map matching unit 34, a route calculation unit 36, a route guide unit 38, a drawing unit 40, a screen control management unit 42, a communication control unit 44, and a collision determination unit 46. The software configuration is realized. The moving body information program stored in the memory unit 16 or the HD includes road identification information acquisition means, movement information acquisition means, first road identification information acquisition means, and first movement information described in the claims. The ECU 30 is caused to function as acquisition means, second road identification information acquisition means, second movement information acquisition means, intersection determination means, collision determination means, transmission means, reception means, passage determination means, and avoidance means.

The map data acquisition unit 32 acquires the map data necessary for the processing operation in each processing unit from the map data storage unit 14 and provides it to each processing unit.
Based on the current position information of the vehicle detected by the position detection unit 12 and the road shape data of the map data acquired from the map data storage unit 14, the map matching unit 34 is located on which road the current position of the vehicle exists. Identify what to do. The map matching unit 34 can accurately identify on which road on the map data the own vehicle 200 exists by acquiring the infrastructure link ID as road identification information from road equipment such as VICS.

  The route calculation unit 36 selects an appropriate position from the current position calculated by the map matching unit 34 or the departure point designated by the passenger through the switch information input unit 20 to the destination designated by the passenger through the switch information input unit 20. The route is calculated (searched) in accordance with specified conditions (for example, toll road priority, general road priority, distance priority, etc.), and a known Dijkstra method is used as the method.

  The route guidance unit 38 uses the route information calculated by the route calculation unit 36 and the road shape information included in the map data acquired through the map data storage unit 14 or position information such as intersections and railroad crossings. Route guidance data necessary for guidance operations (for example, guidance for turning right and left at intersections, caution guidance to the effect that there is a crossing) by screen display of the display unit 18 and voice guidance by the voice output unit 22 is created. .

  The drawing unit 40 draws (records), in the video RAM, a road map of various scales for indicating the current position, a schematic diagram of a highway, an enlarged view near an intersection, and the like in a video RAM according to an instruction from the screen control management unit 42. Displayed on the screen of the unit 18. These maps are drawn based on the map data acquired by the map data acquisition unit 32, and main place names, building names, and the like are also displayed in characters based on the character data in the map data. Yes. At the time of route guidance, the current position and destination are displayed on the map, the route to be traveled is displayed in a different color, and various landmarks are also displayed.

  Here, in a state where the car navigation device 10 is mounted on a vehicle, vehicle information such as the total height, the vehicle weight, the vehicle width, the height including the load, the weight of the load, and the weight of the passenger is input. Thus, an initial setting operation of storing the data on the car navigation device 10 side is required. In order to perform such an initial setting operation, the screen control management unit 42 displays a vehicle information input screen on the display unit 18. The vehicle information input through this input screen is stored in the EEPROM in the memory unit 16.

  The communication control unit 44 is for performing communication control between the own vehicle 200 and other vehicles 202 and 204, the own vehicle 200 and the center, or the own vehicle 200 and road equipment such as VICS through the data communication unit 24.

  The collision determination unit 46 includes the map data, the traveling state of the host vehicle 200 and the other vehicles 202 and 204, the road link ID or the infrastructure link ID of the road on which the host vehicle 200 and the other vehicles 202 and 204 are traveling, and the like. It is determined whether the own vehicle 200 and the other vehicles 202 and 204 collide with each other from the road identification information.

  With the configuration as described above, a location function that displays the current position of the vehicle on the road map superimposed on the screen of the display unit 18 centered on the processing operation by the ECU 30, and an optimum route to the destination set by the passenger The functions of route search and route guidance for seeking and guiding are realized. Furthermore, the collision determination between the own vehicle 200 and the other vehicles 202 and 204 is realized.

(Collision judgment)
Next, collision determination between moving bodies will be described using an automobile as an example.
As shown in FIG. 2, consider a case where the own vehicle 200 travels on the road 210 and the roads 212 and 214 intersect the road 210 within a predetermined distance ahead of the traveling direction of the own vehicle 200. The road 212 has a three-dimensional intersection with the road 210, and the road 214 is connected to the road 210 to form an intersection 216.

The other vehicle 202 is traveling in a direction in which the road 212 is three-dimensionally intersecting with the road 210, and the other vehicle 204 is traveling toward the intersection 216.
The aforementioned predetermined distance from the position of the host vehicle 200 to the intersection 216 shown in FIG. 2 is a distance set from a map or the like based on the speed and acceleration of the host vehicle 200. FIG. 3 briefly explains the procedure of inter-vehicle communication between the own vehicle (vehicle A) 200 and the other vehicles (vehicles B) 202 and 204. In FIG. 3 and FIG. 4 described later, “S” represents a step.

  As illustrated in FIG. 3, the host vehicle 200 transmits current position information of the host vehicle 200 in S300. The current position information includes an infrastructure link ID provided by VICS for identifying the road 210 on which the host vehicle 200 is traveling, the position of the host vehicle 200 detected by map matching, the traveling direction of the host vehicle 200, the traveling speed, and the acceleration. , Distance to intersection 216, and the like. The position of the host vehicle 200, the traveling direction, the traveling speed, the acceleration, and the distance to the intersection 216 correspond to the first movement information described in the claims.

  In S302, the own vehicle 200 receives the current position information of the other vehicles 202 and 204 transmitted by the other vehicles 202 and 204 in S314. As the current position information, the infrastructure link ID for identifying the roads 212 and 214 on which the other vehicles 202 and 204 on which the VICS is provided, the position of the other vehicles 202 and 204 detected by map matching, the other vehicles 202 and 204 are provided. The traveling direction, traveling speed, acceleration, etc. In the case of the other vehicle 204, the distance to the intersection 216 may be transmitted as the current position information. The positions, traveling directions, traveling speeds, and accelerations of the other vehicles 202 and 204 correspond to the second movement information described in the claims.

  In S304, the own vehicle 200 includes the map data, the infrastructure link ID of the road 210 on which the own vehicle 200 is moving, the first movement information on the own vehicle 200, the road 212 on which the other vehicles 202 and 204 are moving, The collision between the host vehicle 200 and the other vehicles 202 and 204 is determined from the infrastructure link ID 214 and the second movement information of the other vehicles 202 and 204.

On the other hand, the other vehicles 202 and 204 in S310 receive the current position information transmitted by the own vehicle 200 in S300.
In S312, the other vehicles 202 and 204 are the map data, the infrastructure link ID of the road 210 on which the own vehicle 200 is moving, the first movement information on the own vehicle 200, and the road on which the other vehicles 202 and 204 are moving. The collision between the host vehicle 200 and the other vehicles 202 and 204 is determined from the infrastructure link IDs 212 and 214 and the second movement information of the other vehicles 202 and 204.

In S <b> 314, the other vehicles 202 and 204 transmit the current position information of the other vehicles 202 and 204.
Next, the collision determination will be described in detail based on the flowchart of FIG. The collision determination routine of FIG. 4 is performed at a timing at which the position of the own vehicle 200 is detected.

  In S320 in FIG. 4, the ECU 30 acquires the current position and traveling direction of the host vehicle 200 from the position detection unit 12 and the like, and determines whether an intersection exists within a predetermined distance ahead of the traveling direction of the host vehicle 200. If there is no intersection, the ECU 30 does not make a collision determination and ends this routine.

  Whether there is an intersection within a predetermined distance in front of the traveling direction of the host vehicle 200 depends on whether there is a node having a node type indicating an intersection within a predetermined distance in the traveling direction of the host vehicle 200 in the map data. judge.

  When there is an intersection within a predetermined distance ahead of the traveling direction of the host vehicle 200, in S322, the ECU 30 acquires the infrastructure link ID of the road 210 on which the host vehicle 200 is traveling from the VICS, and the current position of the host vehicle 200. In addition to the traveling direction, the first movement information including the distance to the intersection 216, the speed and acceleration of the host vehicle 200, the matching rate when the host vehicle 200 performs map matching on the current position, and the like is detected by the position detection unit 12 and the map matching unit. 34.

  In S324, the ECU 30 determines whether the vehicle 200 passes without stopping before reaching the intersection 216 from the current speed and acceleration of the own vehicle 200 and the distance to the intersection 216. When the host vehicle 200 stops before reaching the intersection 216, the ECU 30 determines that the host vehicle 200 does not collide with another vehicle and ends the routine.

  When the host vehicle 200 passes through the intersection 216, in S326, the ECU 30 determines the infrastructure link ID of the road 210, the current position of the host vehicle 200, the traveling direction, the distance to the intersection 216, the speed and acceleration of the host vehicle 200, the host vehicle. First movement information such as a matching rate when the current position map-matches the current position 200 is transmitted from the data communication unit 24 as current position information.

  Next, in S328, the ECU 30 determines the distance from the other vehicles 202 and 204 to the infrastructure link IDs of the roads 212 and 214, the current position of the other vehicles 202 and 204, the traveling direction, and the intersection 216 (in the case of the other vehicle 202, the intersection). 216), the speed and acceleration of the other vehicles 202 and 204, the second movement information including the matching rate when the other vehicles 202 and 204 map-match the current position, etc. as the current position information. 24.

  In S330, the ECU 30 determines from the map data and the infrastructure link IDs of the roads 210, 212, 214 whether the road 210 and the roads 212, 214 are actually connected to form an intersection. If there is an intersection in front of the own vehicle 200 in the traveling direction, but both the road 210 and the roads 212 and 214 do not form an intersection, it is determined that the own vehicle 200 and the other vehicles 202 and 204 do not collide, and the ECU 30 Terminates this routine.

  In FIG. 2, the road 212 on which the other vehicle 202 is traveling is three-dimensionally intersected with the road 210 on which the host vehicle 200 is traveling, but no intersection is formed. Therefore, the ECU 30 determines that the host vehicle 200 and the other vehicle 202 do not collide, and does not perform a collision determination between the host vehicle 200 and the other vehicle 202 in S332.

  In the present embodiment, the other vehicle 202 traveling on the road 212 that does not form an intersection with the road 210 is described as transmitting the infrastructure link ID and the second movement information. On the other hand, when the other vehicle 202 is equipped with a mobile device that functions in accordance with the same mobile information program as that of the host vehicle 200 and there is no intersection within a predetermined distance ahead of the traveling direction, the infrastructure link ID and the second You may perform the collision determination process which does not transmit movement information and does not implement collision determination. In this case, the own vehicle 200 receives the infrastructure link ID and the second movement information only from the other vehicle 204.

  On the other hand, the road 214 on which the other vehicle 204 is traveling forms an intersection 216 with the road 210 on which the host vehicle 200 is traveling. Therefore, in S332, the ECU 30 determines whether the own vehicle 200 and the other vehicle 204 respectively traveling on the roads 210 and 214 forming the intersection 216 enter the intersection 216 at the same time, that is, the own vehicle 200 and the other vehicle 204 are It is determined whether or not there is a possibility of collision at the intersection 216. This determination is based on the speed, acceleration, and the distance to the intersection 216, and calculates the time for the host vehicle 200 and the other vehicle 204 to enter the intersection 216 from the current position. This is done by determining whether to enter. When there is no possibility that the own vehicle 200 and the other vehicle 204 collide at the intersection 216, the ECU 30 ends this routine.

When the own vehicle 200 and the other vehicle 204 may collide at the intersection 216, the ECU 30 determines the matching rate of the own vehicle 200 and the other vehicle 204 in S334.
When the matching rate of the host vehicle 200 and the other vehicle 204 is higher than a predetermined value, the ECU 30 determines that the reliability of the collision of the host vehicle 200 and the other vehicle 204 at the intersection 216 is high, and the ECU 30 drives the travel control unit 26. Apply the brake. As a result, the traveling speed of the host vehicle 200 is reduced, and a collision with the other vehicle 204 is avoided at the intersection 216.

  When the matching rate of the own vehicle 200 or the other vehicle 204 is a predetermined value or less, it is determined that the reliability of the own vehicle 200 and the other vehicle 204 colliding at the intersection 216 is low, and the ECU 30 warns the display unit 18 of the collision. A message is displayed or a sound for warning of collision is output from the audio output unit 22, and this routine is terminated.

If the matching rate of the host vehicle 200 or the other vehicle 204 is very lower than a predetermined value, the ECU 30 may terminate this routine without performing avoidance processing such as braking or warning.
As described above, when the own vehicle 200 receives the road identification information for identifying the roads 212 and 214 on which the other vehicles 202 and 204 are traveling, the other vehicles 202 and 204 travel on the own vehicle 200. The existing roads 212 and 214 can be accurately identified on the map data.

  Accordingly, whether or not the road 210 on which the host vehicle 200 is traveling and the roads 212 and 214 on which the other vehicles 202 and 204 are traveling form an intersection within a predetermined distance ahead of the traveling direction of the host vehicle 200 is determined. Can be accurately determined.

  As a result, it is possible to prevent erroneous determination that vehicles traveling on a road that does not form an intersection such as the host vehicle 200 and the other vehicle 202 collide with each other. Further, the collision determination between the other vehicle 202 traveling on the road 212 where the own vehicle 200 is traveling and the road 212 that does not form an intersection with the own vehicle 200 is not performed, thereby reducing the processing load of the collision determination. it can.

  By the way, as an example in which roads approach each other but do not form an intersection, FIG. 2 shows a three-dimensional intersection formed by road 210 and road 212. In addition to this, for example, an expressway junction or an interchange road may approach once but may not form an intersection. Even in such a road, it is possible to prevent erroneous determination that vehicles traveling on a road that does not form an intersection collide with each other. Moreover, the processing load of collision determination can be reduced by not performing collision determination between vehicles traveling on a road that does not form an intersection.

  In the present embodiment, since the road on which the other vehicle 204 is traveling can be accurately identified from the road identification information, the time when the other vehicle 204 traveling on the road 214 enters the intersection 216 is determined as the other vehicle 204. It can be easily calculated from the distance to the intersection 216, the speed and acceleration of the other vehicle 204, and the like. This reduces the processing load for collision determination.

  On the other hand, the other vehicles 202 and 204 also accurately identify the road 210 on which the vehicle 200 is traveling on the map data by receiving road identification information identifying the road 210 on which the vehicle 200 is traveling. it can.

[Other Embodiments]
In the above-described embodiment, the configuration in which the car navigation device 10 also serves as the mobile information device has been described. On the other hand, a dedicated mobile information device that determines the collision of the mobile may be configured separately from the car navigation device.

  Moreover, in the said embodiment, the road identification information and movement information of the own vehicle 200 were transmitted, the road identification information and movement information of the other vehicles 202 and 204 were received, and the collision between vehicles was determined. On the other hand, the road identification information and movement information of the own vehicle 200 may not be transmitted, and only the road identification information and movement information of the other vehicles 202 and 204 may be received to determine a collision between the vehicles. Moreover, although the road identification information and movement information of the own vehicle 200 are transmitted, the road identification information and movement information of the other vehicles 202 and 204 are not received, and the own vehicle 200 may not make a collision determination. In this case, the other vehicles 202 and 204 perform collision determination and perform appropriate avoidance processing.

  In the above embodiment, information provided from road equipment such as VICS is used as road identification information for identifying a road. On the other hand, the road link ID may be acquired on the map data from the current position where the mobile object is map-matched based on the map data, and the acquired road link ID may be used as the road identification information. When the road link ID is used as road identification information, the road link ID needs to be set according to the same standard in the map data of different moving bodies.

  In the above embodiment, the position of the host vehicle 200 that is the first moving body, the traveling direction, the traveling speed, the acceleration, the distance to the intersection 216, and the matching rate in map matching are used as the first movement information, and the second moving body The position of a certain other vehicle 202, 204, the traveling direction, the traveling speed, the acceleration, the distance to the intersection 216 (in the case of the other vehicle 204), and the matching rate in map matching were used as the second movement information. On the other hand, in the present invention, at least the position, moving direction, and moving speed of each moving body may be adopted as the first moving information and the second moving information.

Moreover, you may use the mobile body information apparatus of this invention not only for the collision determination of vehicles but in order to implement collision determination with mobile bodies, such as a bicycle, a wheelchair, or a pedestrian, and another mobile body.
As described above, the present invention is not limited to the above-described embodiments, and can be applied to various embodiments without departing from the gist thereof.

The block diagram which shows the car navigation apparatus of this embodiment. Explanatory drawing which shows the intersection state of a road. The schematic flowchart which shows the procedure of vehicle-to-vehicle communication. The flowchart which shows collision determination.

Explanation of symbols

10: Car navigation device (mobile body information device), 30: ECU (road identification information acquisition means, movement information acquisition means, first road identification information acquisition means, first movement information acquisition means, second road identification information acquisition means, (Second movement information acquisition means, intersection determination means, collision determination means, transmission means, reception means, passage determination means, avoidance means)

Claims (10)

In the moving body information device for determining the collision between the moving bodies,
Road identification information acquisition means for acquiring road identification information for identifying the road on which the moving body is moving on the map data;
Movement information acquisition means for acquiring movement information indicating a movement state of the moving body;
Intersection determination means for determining whether an intersection exists within a predetermined distance ahead of the moving direction of the moving body based on the map data;
A transmission means for transmitting the road identification information and the movement information when the intersection exists within a predetermined distance ahead of the moving direction of the moving body;
A moving body information device comprising: In the moving body information device for determining the collision between the moving bodies,
First road identification information acquisition means for acquiring first road identification information for identifying the first road on which the first moving body is moving on the map data;
First movement information acquisition means for acquiring first movement information indicating a movement state of the first moving body;
Receiving means for receiving second road identification information for identifying a second road on which the second moving body is moving on the map data, and second movement information indicating a moving state of the second moving body;
An intersection determination means for determining whether an intersection exists within a predetermined distance ahead of the moving direction of the first moving body based on the map data;
Based on the map data, the first road identification information, the first movement information, the second road identification information, the second movement information, and the determination result of the intersection determination means, the first moving body and the second moving body. A collision determination means for determining whether or not
A moving body information device comprising:   The mobile body information device according to claim 2, further comprising transmission means for transmitting the first road identification information and the first movement information. When the intersection exists within a predetermined distance ahead of the moving direction of the first moving body, the vehicle further comprises passage determining means for determining whether the first moving body passes the intersection.
If the passage determination means determines that the first moving body stops before reaching the intersection, the transmission means does not transmit the first road identification information and the first movement information, and the collision determination means 4. The mobile body information device according to claim 3, wherein the mobile body information device is not performed.   The first movement information is at least a position, a moving direction, and a moving speed of the first moving body, and the second movement information is at least a position, a moving direction, and a moving speed of the second moving body. The mobile body information apparatus as described in any one of Claim 2 to 4.   The said 1st road identification information and the said 2nd road identification information are road link ID provided for every link which comprises a road in the said map data, The any one of Claim 2 to 5 characterized by the above-mentioned. Mobile information device.   6. The system according to claim 2, wherein the first road identification information and the second road identification information are infrastructure link IDs provided from road facilities installed on the first road and the second road. The moving body information device according to claim 1.   In the case where the collision determination unit determines that the first moving body and the second moving body collide with each other, the apparatus further includes an avoiding unit for avoiding a collision between the first moving body and the second moving body. The mobile body information device according to any one of claims 2 to 7. The first movement information and the second movement information include a matching rate when map-matching the positions of the first moving body and the second moving body,
The mobile body information device according to claim 8, wherein the avoidance unit performs an avoidance process according to the matching rate.   10. A moving body information program that causes a computer to function as each means according to claim 1.

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