JP2009020661A - Information provision decision device and in-vehicle device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To solve the problem that since pieces of same warning information are provided many times for a traveling object which has been already seen by the diver of a vehicle or any danger recognized by the driver at the time of traffic jam in the conventional information provision decision device, such the information causes the increase of the burden of a driver on the contrary as a result. <P>SOLUTION: This information provision decision device is provided with: an information output decision means for generating attention drawing information about a first traveling object group by adding warning information classifications and warning information levels or the like to the warning information on the basis of the behavior information of the first traveling object group entering an intersection and traffic light information of the intersection and distribution control information for specifying timing and time information, and for deciding whether to transmit the attention drawing information about the first traveling object group to a second traveling object group entering the intersection; and an information output means for outputting warning to the communication means having a communication area covering at least a portion of the neighborhood of the intersection and communicating with the second traveling object group entering the communication area according to the decision result of the information output decision means. <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

  The present invention relates to an information provision determination apparatus and an in-vehicle apparatus that promptly and accurately implement information provision to a vehicle for the purpose of preventing a collision accident that occurs at an intersection.

  At intersections, collisions or contact accidents have occurred due to failure to grasp the oncoming straight vehicle due to the shape of the road or the shadow of the oncoming vehicle, or the speed of the oncoming vehicle is faster than the speed determined by the driver. . To solve such problems, predict the collision between a right turn vehicle and an oncoming vehicle, and if there is a high possibility that a collision will occur, provide information to the driver, issue a warning at the right turn zone, and force the right turn vehicle There has been an information provision determination device that prevents an accident by stopping it automatically (for example, see Patent Document 1).

JP 2001-126199 A (page 3-6, FIG. 1)

  In a conventional information provision determination device, a mobile object that has a risk of collision is predicted from the relative position between the mobile objects and the state of the mobile object, and warning information about the mobile object is provided. However, with such conventional technology, for example, the same warning information is repeatedly provided for a moving object in which the driver of the vehicle is already visible, such as when there is a traffic jam, and a danger recognized by the driver. On the contrary, it was a factor that increased the burden on the driver.

  The present invention has been made to solve such a problem, and an object thereof is to provide an information provision determination device or an in-vehicle device that provides warning information necessary for a moving body without excessively providing the warning information.

  The information provision determination device according to the present invention is based on behavior information of a first moving body that enters an intersection from a first direction, intersection information and signal information of the intersection, time information, and distribution control information. Information output determination means for determining and generating timing and alert information to be delivered to the second mobile body entering the intersection from the second direction opposite to the direction, and alert information to the second mobile body based on the timing And an information output means for outputting.

  Moreover, the information provision determination device according to the present invention is based on behavior information of the first moving body that enters the intersection from the first direction, intersection information and signal information of the intersection, time information, and distribution control information. Information output determination means for determining and generating timing and alert information to be delivered to the second mobile body entering the intersection before the first mobile body from the first direction, and the second mobile body based on the timing An information output means for outputting the alert information is provided.

  Furthermore, the vehicle-mounted device according to the present invention is a warning information distributed at a timing based on behavior information of a moving body entering an intersection, intersection information and signal information of the intersection, time information, and distribution control information. It receives distribution and reproduces alert information.

  The information provision determination device according to the present invention is based on behavior information of a first moving body that enters an intersection from a first direction, intersection information and signal information of the intersection, time information, and distribution control information. Information output determination means for determining and generating timing and alert information to be delivered to the second mobile body entering the intersection from the second direction opposite to the direction, and alert information to the second mobile body based on the timing Since the information output means for outputting is provided, it is possible to provide warning information necessary for the moving body.

  Moreover, the information provision determination device according to the present invention is based on behavior information of the first moving body that enters the intersection from the first direction, intersection information and signal information of the intersection, time information, and distribution control information. Information output determination means for determining and generating timing and alert information to be delivered to the second mobile body entering the intersection before the first mobile body from the first direction, and the second mobile body based on the timing Since the information output means for outputting the alert information is provided, the warning information necessary for the moving body can be provided.

  Furthermore, the vehicle-mounted device according to the present invention is a warning information distributed at a timing based on behavior information of a moving body entering an intersection, intersection information and signal information of the intersection, time information, and distribution control information. Receiving the message and playing the alert information, you can receive the necessary warning information.

Embodiment 1 FIG.
FIG. 1 is a diagram schematically showing a configuration of an electronic intersection system according to Embodiment 1 of the present invention. 1 shows a system for providing information to a right turn vehicle (a vehicle that is in the middle of a right turn or waiting for a right turn) at an intersection. In the drawings, the same reference numerals denote the same or corresponding parts, and this is common throughout the entire specification. Further, the description of the constituent elements appearing in the whole specification is merely an example and is not limited to these descriptions.

  The information provision determination device 1 is a mobile behavior detection device including a DSRC (Dedicated Short Range Communication) roadside device (narrow band wireless communication means) 2a, an optical beacon roadside device 3a, signal control devices 4a and 4b, and a camera. (Right turn vehicle detection device) 5a and the center 10 are connected.

  The DSRC roadside device 2a performs dedicated narrow-area wireless communication with an in-vehicle device installed in a vehicle entering the DSRC communication area 2a-1 in a range that covers at least a part of the intersection 7, and any data Is wirelessly transmitted to the right turn vehicle (second moving body) 9a in the DSRC communication area 2a-1.

  The optical beacon roadside device 3a is grounded vertically above the lane that enters the intersection 7 along the second direction 6b, and the light in the range of 3 to 5 m forward and backward along the lane with reference to the directly below the grounded roadside device. Far-infrared light communication is performed with an in-vehicle device that is grounded to a vehicle entering the beacon communication area 3a-1. Further, the optical beacon roadside device 3a encodes arbitrary data into a predetermined format, and enters the intersection 7 along the second direction 6b in the communication area 3a-1 to the vehicle (second moving body) 9a. Wireless transmission.

  The traffic signal control devices 4a and 4b control the display of signals and notify the information providing determination device 1 of the displayed signal information such as blue, red, yellow or right / left turn arrows.

The moving body behavior detection device 5a detects a vehicle (first moving body) 9b that enters the intersection 7 along the first direction 6a. Specifically, the behavior (vehicle type, speed, distance from the stop line of the intersection) of a plurality of vehicles existing in the moving body behavior detection area 5a-1 at a distance of about several tens of meters to several hundreds of meters is acquired. The result is notified to the information provision determination device 1.
The center 10 has intersection information at the intersection, warning information, distribution control information that defines the timing for distributing the warning information, and the like, and inputs these information to the information provision determination device 1.

  In the following, the vicinity of the intersection refers to FIG. 1 as a whole, the range from the center of the intersection to a radius of about 200 m that does not reach the adjacent intersection, and the inside of the intersection is the range from the stop line of the lane entering the intersection to the inside And “outside the intersection” means a range between the vicinity of the intersection and the inside of the intersection.

  FIG. 2 is a block diagram showing the configuration of the electronic intersection system according to Embodiment 1 of the present invention.

  The information provision determination apparatus 1 includes an information input / output unit 101, a moving body behavior information acquisition unit 102, a signal information input unit 103, a time information acquisition unit 104, an information storage unit 105, an information output determination unit 106, An intersection information input unit 107 and a distribution control information input unit 108 are provided.

  In addition, the moving body behavior information acquisition part 100 which acquires the behavior information of a 1st moving body by the moving body behavior information acquisition part 102, the optical beacon roadside apparatus 3a, and the moving body behavior detection apparatus 5a comprises. The signal information input unit 103 and the traffic signal control devices 4a and 4b constitute a signal information acquisition unit 200 that acquires signal information of intersections. Further, the information storage unit 105, the intersection information input unit 107, the distribution control information input unit 108, and the center 10 have intersection control information at the intersection, warning information, and distribution control information that defines the timing for distributing the warning information. The information holding means 300 is configured.

  It is assumed that the optical beacon roadside device 3a periodically wirelessly transmits the lane information requested from the information input / output unit 101 and the identification information of the optical beacon roadside device. The lane information and the identification information of the optical beacon roadside device may be stored in the information storage unit 105 in advance. In the present embodiment, the lane information is stored in the optical beacon roadside device 3a, and the identification information of the optical beacon roadside device is stored in the information storage unit 105 in advance.

  Moreover, the mobile body behavior information acquisition unit 102 receives vehicle (first mobile body group) behavior information (for example, a vehicle identification number, a vehicle type, and the like) existing in the mobile body behavior detection area 5a-1 from the mobile body behavior detection device 5a. (Speed, position) is periodically acquired, and the type of the apparatus that acquired the behavior information and the acquired time are associated with each other as shown in Table 1 and stored in the information storage unit 105, for example. In the first embodiment, the moving body behavior detection device 5a can detect the behavior of a plurality of moving bodies in one detection process, and vehicle identification numbers for identifying each detected moving body are used. It is assumed that the moving object detection device 5a generates the moving object detection device 5a. When the moving body behavior detection device 5a does not generate a vehicle identification number, the moving body behavior information acquisition unit 102 generates a vehicle identification number and the behavior information acquired from the moving body behavior detection device 5a is as shown in Table 1. The information may be stored in the information storage unit 105.

  In the behavior information in the first embodiment, the position is represented by the distance from the first stop line in the traveling direction of the first moving body group entering the intersection. If the way of representing the position of the moving body behavior detecting device 5a is different from the way of representing the above, the position information (latitude, longitude, etc.) of the moving body acquired by the moving body behavior information acquiring unit 102 from the moving body behavior detecting device 5a. ) Is converted into a distance from the first stop line in the traveling direction of the first moving body group entering the intersection, and the behavior information acquired from the moving body behavior detecting device 5a is linked as shown in Table 1 to accumulate information. The information may be stored in the unit 105.

  Regarding the acquisition of the behavior information of the first mobile body group, the behavior information is not acquired by the mobile body behavior information acquisition unit 102, but the behavior information is detected by the mobile body behavior detection device 5a, and the detected behavior information is transferred to the mobile body. It outputs to the behavior information acquisition part 102, and the mobile body behavior information acquisition part 102 may memorize | store the behavior information input from the mobile body behavior detection apparatus 5a in the information storage part 105. FIG.

The signal information input unit 103 receives the signal information notified from the signal control devices 4 a and 4 b and stores it in the information storage unit 105.
The time information acquisition unit 104 acquires time information and stores it in the information storage unit 105. In FIG. 2, the time information acquisition unit 104 is provided in the information provision determination device 1, but it may be input from the outside.
The intersection information input unit 107 inputs the intersection information (intersection position, regulation speed) held by the center 10 and stores it in the information storage unit 105.

The distribution control information input unit 108 includes distribution control information held by the center 10 (a moving body behavior detecting device that detects a moving body group, traffic for a moving body group that is a target for which the moving body behavior detecting device detects a behavior). A signal control device, a traffic signal control device for a moving object group that provides warning information, timing for providing warning information, information type and information level of warning information, reproduction conditions, etc.) are input and stored in the information storage unit 105.
Note that these intersection information and distribution control information may be stored in the information storage unit 105 in advance. In the present embodiment, warning information is stored in advance in the information storage unit 105.

  Tables 2 and 3 show configuration examples of intersection information in the present embodiment. In Tables 2 and 3, the intersection information is the type of device (optical beacon roadside device, signal control device, etc.) installed near the intersection, its installation position, the road direction and lane of the intersection targeted by the device. And the center position of the intersection, the regulation speed of the intersection, and the inter-vehicle distance determined to be a traffic jam.

  Tables 4 and 5 show configuration examples of the information distribution control information in the present embodiment. The information distribution control information includes a distribution information setting list shown in Table 4 and an information provision timing shown in Table 5. The distribution information setting list includes a mobile body behavior detection device 5a that is a device that acquires the behavior of a mobile body group (first mobile body group) that is a target of warning information, and a mobile body group that provides warning information (second mobile body). A traffic signal control device 4a for the group), a traffic signal control device 4b for the first mobile body group whose behavior is to be detected by the mobile body behavior detection device 5a, and alert information. The alert information includes information classification, content of warning information to be provided, information type of warning information, information level, and reproduction conditions. When the warning information is displayed as an image or text, it may be further notified by voice.

The information providing timing is such that the rearmost moving body of the first moving object group in the first moving object group that is the target of the warning information reaches the stop line at the intersection in the traveling direction of the first moving body group. The maximum required time T ₀ MAX for the mobile object group to be provided to reach the intersection, and the intersection that is considered to be sufficient time for each mobile object of the first mobile group to pass through the intersection from the stop line After the red signal transition, which is a delivery time for continuously passing the warning information being provided to the second moving body group at the time when the signal control device 4b for the first moving body group makes a transition to red when the required travel time T2 Information provision duration time T1.

  The information level of the warning information is indicated by a coded bit string (0x01: low, 0x02: medium, 0x04: high, etc.) or a text (high, medium, low, etc.) indicating the information level for each bit. ). In this Embodiment 1, it shall represent with an integer (0, 1, 2, 3, 4 ...), and shall represent an information level with the magnitude of a value.

  The information output determination unit 106 gives the second mobile unit which warning about the first mobile unit (general information in Table 5, service stop information, service area information, counterpoint, etc.) based on each information stored in the information storage unit 105. It is determined whether or not to transmit vehicle caution information 1 and oncoming vehicle caution information 2) (described later).

  The information input / output unit 101 outputs warning information to be transmitted to the right turn vehicle 9a to the DSRC roadside apparatus 2a according to the determination result in the information output determination unit 106.

  As the information input / output unit 101, for example, a mobile communication terminal disclosed in JP-A-2005-318522 may be applied. Thereby, the information provision determination apparatus 1 can communicate with the in-vehicle apparatus capable of DSRC road-to-vehicle communication. The information input / output unit 101 is expressed as input / output. However, the information input / output unit 101 is meaningful in outputting information and can be called an information output unit.

  FIG. 3 is a block diagram showing the configuration of the in-vehicle apparatus according to Embodiment 1 of the present invention. In the figure, an in-vehicle device 9 includes an information providing unit 901 for a driver, an information providing unit 902 for a DSRC roadside device 2a, other in-vehicle devices 909 such as a car navigation system and an optical beacon in-vehicle device, a vehicle sensor 907, or a vehicle control. In-vehicle information input means 903 for inputting in-vehicle information (behavior information of the second moving body 9a) such as the position and speed of the vehicle from the apparatus 908, in-vehicle apparatus management means 904 for managing the in-vehicle apparatus 9, and in-vehicle apparatus management means 904 Vehicle information storage means 905 for storing information inputted from the above and alert information distributed from the DSRC roadside apparatus 2a via the DSRC communication means 906, and DSRC communication means 906 for performing DSRC communication with the DSRC roadside apparatus 2a. Have.

  The information providing unit 901 includes an audio reproducing unit 901a for reproducing audio, an image reproducing unit 901b for reproducing an image, and a text reproducing unit 901c for reproducing text.

  The in-vehicle device 9 can reproduce warning information such as oncoming vehicle warning information expressed by voice, image, text, etc. distributed from the DSRC roadside device 2a using the reproducing means 901a, 901b, 901c. .

  The in-vehicle device 9 accumulates vehicle information including vehicle type information (identifier (ID)) in the in-vehicle information storage unit 905 and obtains it from other in-vehicle devices 909, the vehicle sensor 907, or the vehicle control device 908. The vehicle information such as the position, speed, direction, turn signal status, etc. of the vehicle to be recorded is always stored via the in-vehicle information input means 903 and the in-vehicle apparatus management means 904. Also, vehicle information and vehicle information stored in the in-vehicle information storage means 905 can be provided as uplink information to the DSRC roadside apparatus 2a using the information providing means 902 to the DSRC roadside apparatus and the DSRC communication means 906. And

  FIG. 4 is an operation sequence diagram showing the operation of the information provision determination apparatus 1 according to the first embodiment of the present invention, and shows the operation in the information input / output determination means 106.

  First, when the information provision determination device 1 is activated, the center 10 receives the intersection information (Tables 2 and 3) and the information distribution control information (Tables 4 and 5), respectively, at the intersection information input unit of the information provision determination device 1. 107 and the distribution control information input unit 108, and the intersection information input unit 107 and the distribution control information input unit 108 store the input information in the information storage unit 105.

  Moreover, in this Embodiment 1, the mobile body behavior detection process of the mobile body behavior detection apparatus 5a is performed periodically, and information of a plurality of mobile bodies (hereinafter, mobile body behavior information (V0 to V0) is detected by one detection process. Vn)) is notified to this system.

  Also, the traffic signal control devices 4a and 4b do not distinguish the change contents for each traffic signal when the signal information (blue, yellow, red, etc.) in the intersection changes (when any one of the traffic lights in the intersection changes) And the signal information after the change is notified to the system.

  The information output determination means 106 of the information provision determination device 1 operates when an input from the mobile body behavior detection device 5a or the traffic signal control devices 4a and 4b is detected, or when a certain time has elapsed, and information provision determination Depending on the content of information input to the device 1, one of “oncoming vehicle warning information 1”, “oncoming vehicle warning information 2”, “service area information”, “service stop information”, and “general information” It is assumed that alert information is generated, and output from the DSRC roadside device 2a is started or stopped using the information input / output means 101. In addition, the information output determination unit 106 continuously performs the output that has been started (transmission of alert information) at a constant period until the output is stopped. The output trigger is assumed to be performed at a constant cycle. The trigger for this output may be when the input from the moving body behavior detection device 5a or the traffic signal control devices 4a and 4b is detected.

The parameters used in the first embodiment are shown below.
T0: Threshold time for reaching the intersection Tmax2: Maximum value for the time when the two-wheeled vehicle reaches the intersection Tmax4: Maximum value for the time when the four-wheeled vehicle reaches the intersection T1: Output extension time when the signal red change is detected T2: Intersection transit time PT1: Provision management timer PT2 for "Oncoming vehicle warning information 1": Provision management timer PTM for "Oncoming vehicle warning information 2": Output extension management timer PTM

In this parameter T0, T1, and T2, the maximum arrival time T ₀ MAX, the intersection required time T2 of the information providing target mobile group of information distribution control information stored in advance in the information storage unit 105, the red signal It is assumed that the information provision continuation time T1 after the transition is substituted when the information provision determination device 1 is activated. From Table 5, To = t0, T1 = t1, and T2 = t2.
The information provision determination device 1 uses the information output determination unit 106 to perform the following processing according to the input content of the signal information from the traffic signal control device 4a.

When signal information indicating blue from the traffic signal control device 4a is input to the information provision determination device 1, for each of the latest mobile body behavior information (V0 to Vn) input from the mobile body behavior detection device 5a, Calculate the arrival time T [i] = L [i] / V [i] (L [i]: distance from the intersection, V [i]: speed) at the intersection of the two-wheeled vehicle and the four-wheeled vehicle, The maximum values Tmax2 (two wheels) and Tmax4 (four wheels) of T [i] that satisfy To or less are acquired.
At this time, when the service stop information is output, the output of the information is stopped.

When Tmax2 exists, the provision management timer PT2 is generated, and after Tmax2 + T2 is set in PT2, PT2 is started and output of “oncoming vehicle caution information 2” is started. If Tmax2 does not exist and Tmax4 exists, the provision management timer PT1 is generated, Tmax4 + T2 is set in PT1, PT1 is activated, and output of “opposite vehicle caution information 1” is started.
When both Tmax2 and Tmax4 do not exist, output of “service area information” is started.

When signal information indicating red is input to the information provision determination device 1 from the traffic signal control device 4a, PT1 is displayed when the caution information being output is "oncoming vehicle caution information 1", and "oncoming vehicle caution information 2". If it is, PT2 is stopped, an output extension management timer PTM is generated, set to T1, and started. When the PTM times out, output of the information being output ("oncoming vehicle warning information 1" or "oncoming vehicle warning information 2") is stopped, and then output of "service stop information" is started.
If “service area information” is being output, output of the information is stopped and output of “service stop information” is started.

  When moving body behavior information is input from the moving body behavior detection device 5a to the information provision determination device 1, information is output when blue or yellow signal information is input from the traffic signal control device 4a to the information determination device 1. The provision determination apparatus 1 performs the following processing using the information output determination unit 106. Estimated arrival time T [i] = L [i] / V [i] at the intersection of the two-wheeled vehicle and the four-wheeled vehicle for each of the moving body behavior information (V0 to Vn) input from the sensor. Calculate and obtain maximum values Tmax2 and Tmax4 that satisfy To or below, respectively.

When Tmax2 exists, any one of the following processes (1) to (3) is performed according to the attention information being output.
(1) When “opposite vehicle caution information 1” is being output, the provision management timer PT1 is stopped, and after the output of “opposite vehicle caution information 1” is stopped, a provision management timer PT2 is generated and set to PT2 = Tmax2 + T2. And start outputting “opposite vehicle caution information 2”.
(2) When “service area information” is being output The output of “service area information” is stopped, the provision management timer PT2 is generated, and PT2 is set to Tmax2 + T2 and started. At this time, output of “opposite vehicle caution information 2” is started.
(3) When “Oncoming vehicle warning information 2” is being output When Tmax2 + T2 is longer than the remaining time of PT2, PT2 is set to Tmax2 + T2 and restarted.

  When PT2 activated above times out, the output of “opposite vehicle warning information 2” is stopped and distribution of “service area information” is started. In addition, when the traffic signal control device 4a can display the signal of the right turn dedicated arrow, the blue of the right turn dedicated arrow may be treated as “red”.

If Tmax2 does not exist and T4max exists, one of the following processes (1) to (2) is performed according to the attention information being output.
(1) When “service area information” is being output, output of “service area information” is stopped, PT1 is generated, PT1 is set to Tmax4 + T2, and started, and output of “opposite vehicle caution information 1” is started. To do.
(2) When “oncoming vehicle caution information 1” is being output If Tmax4 + T2 is longer than the remaining time of PT1, the timer time of PT1 is set to Tmax4 + T2 and restarted.
When PT1 activated or restarted as described above has timed out, output of “opposite vehicle warning information 1” is stopped and output of “service area information” is started.

  When the moving body behavior information and the signal information are not input to the information provision determination device 1 from the mobile body behavior detection device 5a or the traffic signal control device 4a for Tx time, the information provision determination device 1 uses the information output determination unit 106. The output of the alert information provided so far is stopped, and the output of “general information” is started. Note that the information provision determination apparatus 1 may notify the center 10 of the occurrence of a failure when starting to output “general information”.

  As described above, the information provision determination apparatus according to Embodiment 1 of the present invention detects the presence or absence of the first moving body group that arrives at the intersection within a certain time, and the detected first moving body group A second moving body that estimates a passage completion time for completing the passage through the intersection, and is a moving body group that enters the intersection from the facing direction of the first moving body group during the estimated passage completion time, and whose traveling direction signal is blue. For the group, the information type indicating the content of the warning information (warning information to the right turn vehicle) and the information level and the warning information indicating the content of the warning information (opposing four-wheel or two-wheeled vehicle) are reproduced in the warning information. It generates and provides warning information with additional playback conditions (traveling direction, driving lane, etc.) and alerts the right turn vehicle belonging to the second mobile group only during the time when there is a risk of collision when turning right So you can safely turn right You can be aware of the timing of the right-turning vehicle.

  In addition, the information provision determination device according to the present invention belongs to the second moving body group when the presence of the first moving body group is not detected, or when it is estimated that the detected first moving body group has passed the intersection. When the signal for the right turn vehicle is red, the warning information that is being provided to the in-vehicle device can be deleted by generating and transmitting the alert information that does not include the warning information.

  Further, the information provision determination device according to the present invention includes the presence / absence of a two-wheeled vehicle in the first moving body group, the signal state to the right turn car in the second moving body group, a traffic signal control device, a moving body behavior detecting device, and the like. Depending on the state of the device connected to the information provision determination device, the alert information added with different information levels is generated and transmitted, thereby approaching the right turn vehicle in the second moving body group. It is possible to notify the state of the providing side such as the type of the oncoming vehicle has changed, the information on the oncoming vehicle is not being provided, and the information providing system is not operating normally.

  Further, the in-vehicle device according to the present invention includes, in the warning information, an information type indicating the content of the warning information (warning information to the right turn vehicle), an information level indicating the content of the warning information (opposing four wheels or opposing two-wheeled vehicle), and Receiving alert information with playback conditions (traveling azimuth, driving lane, etc.) to play back warning information, and the mobile unit where this in-vehicle device is installed is waiting for a right turn or turning right from the information type and playback conditions In some cases, the warning information included in the alert information can be reproduced when the reproduction conditions match.

  Moreover, when reproducing the alert information that does not include the warning information, the in-vehicle device according to the present invention can stop the reproduction of the alert information that is being reproduced and provide the driver with a timing without the alert information.

  Accordingly, the second mobile unit that faces the first direction based on the behavior information of the first moving body that enters the intersection from the first direction, the intersection information and signal information of the intersection, the time information, and the distribution control information. Information output determining means for determining and generating timing and alert information to be delivered to the second mobile body entering the intersection from the direction, and information output means for outputting alert information to the second mobile body based on the timing Since it is provided, it is possible to provide warning information (attention information) necessary for the moving body.

Embodiment 2. FIG.
FIG. 5 is a diagram schematically showing a configuration of an electronic intersection system according to Embodiment 2 of the present invention. 1 shows a system for providing information to a left turn vehicle (a vehicle that is in the middle of a left turn or scheduled to turn left) at an intersection.

  The information provision determination device 1 includes a DSRC roadside device (narrow band wireless communication means) 2a, an optical beacon roadside device 3a, signal control devices 4a and 4b, a moving body behavior detection device (camera etc.) 5a, a center 10 Connected.

  The DSRC roadside device 2a performs dedicated narrow-area wireless communication with an in-vehicle device installed in a vehicle entering the DSRC communication area 2a-1 in a range that covers at least a part of the intersection 7, and any data Is wirelessly transmitted to the right turn vehicle 9a in the communication area 2a-1.

  The optical beacon roadside device 3a is grounded vertically above the lane that enters the intersection 7 along the second direction 6b, and the light in the range of 3 to 5 m forward and backward along the lane with reference to the directly below the grounded roadside device. Far-infrared light communication is performed with an in-vehicle device that is grounded to a vehicle entering the beacon communication area 3a-1, and arbitrary data is encoded in a predetermined format, and the second communication area 3a-1 is transmitted in the second area. Radio transmission is performed to the vehicle 9c (second moving body) entering the intersection 7 along the direction 6b.

  The traffic signal control devices 4a and 4b control the display of signals and notify the information providing determination device 1 of the displayed signal information such as blue, red, yellow or right / left turn arrows.

  The moving body behavior detection device 5a detects the vehicle 9d (first moving body) that enters the intersection 7 along the first direction 6a. Specifically, the behavior (vehicle type, speed, distance from the stop line of the intersection) of a plurality of vehicles existing in the moving body behavior detection area 5a-1 at a distance of about several tens of meters to several hundreds of meters is acquired. The result is notified to the information provision determination device 1.

  The center 10 has intersection information at the intersection, warning information, distribution control information that defines the timing for distributing the warning information, and the like, and inputs these information to the information provision determination device 1.

  In the following, the vicinity of the intersection indicates the whole of FIG. 5, the range from the center of the intersection to the radius of about 200 m that does not reach the adjacent intersection, and the inside of the intersection is the range from the stop line of the lane entering the intersection to the inside And “outside the intersection” means a range between the vicinity of the intersection and the inside of the intersection.

  In the second embodiment, as in the first embodiment, intersection information is information distribution control information stored in the information storage unit 105 of the information provision determination device 1. Tables 6 and 7 show information distribution control information (distribution information setting list and information provision timing) in the second embodiment. The intersection in the second embodiment is the same as the intersection in the first embodiment, and the contents of the intersection information are the same as those in the first embodiment. Note that the intersection of the second embodiment may be an intersection different from that of the first embodiment. Further, the contents of the intersection information are uniquely determined for each intersection.

  FIG. 6 is an operation sequence diagram showing the operation of the information provision determination apparatus 1 according to the first embodiment of the present invention, and shows the operation in the information input / output determination means 106.

  First, when the information provision determination device 1 is activated, the center 10 receives the intersection information (Tables 2 and 3) and the information distribution control information (Tables 6 and 7), respectively, at the intersection information input unit of the information provision determination device 1. 107 and the distribution control information input unit 108, and the intersection information input unit 107 and the distribution control information input unit 108 store the input information in the information storage unit 105.

  Moreover, in this Embodiment 2, the mobile body behavior detection process of the mobile body behavior detection apparatus 5a is performed periodically, and information of a plurality of mobile bodies (hereinafter, mobile body behavior information (V0 to V0) is detected by one detection process. Vn)) is notified to this system.

  Also, the traffic signal control devices 4a and 4b do not distinguish the change contents for each traffic signal when the signal information (blue, yellow, red, etc.) in the intersection changes (when any one of the traffic lights in the intersection changes) And the signal information after the change is notified to the system.

  The information output determination means 106 of the information provision determination device 1 in the second embodiment detects the input from the moving body behavior detection device 5a or the traffic signal control devices 4a and 4b, or when a certain time has elapsed. Depending on the content of the information that operates and is input to the information provision determination device 1, a reminder of "Left turn caution information", "Service area information", "Service stop information", or "General information" It is assumed that information is generated and output from the DSRC roadside apparatus 2a is started or stopped using the information input / output means 101. Moreover, the information output determination means 106 shall perform the started output (transmission of alert information) continuously until the output of the said output is stopped. As an output continuation method, an opportunity to output the same alert information at a fixed period may be provided and repeated. The trigger for this output may be when the input from the moving body behavior detection device 5a or the traffic signal control devices 4a and 4b is detected.

The parameters used in the second embodiment are shown below.
To: Threshold time for reaching the intersection Tmax2: Maximum time for the two-wheeled vehicle to reach the intersection T1: Output extension time when detecting a signal red change T2: Intersection passing time PT: “Left turn caution information Provision management timer PTM: output extension management timer PTM

In this parameter T0, T1, and T2, the maximum arrival time T ₀ MAX, the intersection required time T2 of the information providing target mobile group of information distribution control information stored in advance in the information storage unit 105, the red signal It is assumed that the information provision continuation time T1 after the transition is substituted when the information provision determination device 1 is activated. From Table 7, To = t0 ′, T1 = t1 ′, and T2 = t2 ′.
The information provision determination device 1 uses the information output determination unit 106 to perform the following processing according to the input content of the signal information from the traffic signal control device 4a.

  When signal information indicating blue from the traffic signal control device 4a is input to the information provision determination device 1, for each of the latest mobile body behavior information (V0 to Vn) input from the mobile body behavior detection device 5a, Calculate the arrival time T [i] = L [i] / V [i] (L [i]: distance from the intersection, V [i]: speed) at the intersection of the two-wheeled vehicle and the four-wheeled vehicle, The maximum values Tmax2 (two wheels) and Tmax4 (four wheels) of T [i] that satisfy To or below are acquired.

  When it is detected that the signal display of the traffic signal control device 4a changes to blue (the left turn dedicated arrow includes blue), each of the latest mobile body behavior information (V0 to Vn) input from the mobile body behavior detection device 5a On the other hand, the predicted arrival time T [i] = L [i] / V [i] at the intersection of the two-wheeled vehicle is calculated, and the maximum value Tmax2 of T [i] that satisfies To <T [i] is obtained. To do. At this time, if “service stop information” is being output, the output of the information is stopped.

When Tmax2 exists, PT is generated, Tmax2 + T2 is set and activated in PT, and output of “left-folding caution information” is started.
When Tmax2 does not exist, output of “service area information” is started.
The left turn dedicated arrow signal is handled in the same way as the green signal.

  When signal information indicating red is input from the traffic signal control device 4a to the information provision determination device 1, if "left turn caution information" is being output, PT is stopped and an output extension management timer PTM is generated. , After setting to T1, start. When the PTM times out, the output of the information being output ("left turn caution information") is stopped, and then the output of "service stop information" is started.

  If “service area information” is being output, output of the information is stopped, and then output of “service stop information” is started.

  When moving body behavior information is input from the moving body behavior detection device 5a to the information provision determination device 1, information is output when blue or yellow signal information is input from the traffic signal control device 4a to the information determination device 1. The provision determination apparatus 1 performs the following processing using the information output determination unit 106.

A predicted arrival time T [i] = L [i] / V [i] at the intersection of the two-wheeled vehicle is calculated for each of the moving body behavior information (V0 to Vn) input from the sensor, and To The maximum value Tmax2 of T [i] that satisfies <T [i] is acquired. When Tmax2 exists, any one of the following processes (1) to (2) is performed according to the attention information being output.
(1) When “Service Area Information” is being Outputted Output of “Service Area Information” is stopped, PT is generated, and Tmax2 + T2 is set and started in PT. At this time, the output of “left turn winding attention information” is started.
(2) When “Left turn winding attention information” is being output When Tmax2 + T2 is longer than the remaining time of PT, PT is set to Tmax2 + T2 and restarted.

  When the PT activated above times out, the output of the “left turn winding attention information” is stopped and the distribution of “service area information” is started.

  When Tmax2 does not exist, output of “service area information” is started.

  When the moving body behavior information and the signal information are not input to the information provision determination device 1 from the mobile body behavior detection device 5a or the traffic signal control device 4a for Tx time, the information provision determination device 1 uses the information output determination unit 106. The output of the alert information provided so far is stopped, and the output of “general information” is started. Note that the information provision determination apparatus 1 may notify the center 10 of the occurrence of a failure when starting to output “general information”.

  As described above, the information provision determination apparatus according to the second embodiment of the present invention detects the presence or absence of the first moving body group that arrives at the intersection within a certain time, and the detected first moving body group A second moving body that estimates a passage completion time for completing the passage through the intersection, and is a moving body group that enters the intersection from the same direction as the first moving body group and the traveling direction signal is blue during the estimated passage completion time. Reproduction conditions for reproducing the information type indicating the content of the warning information (warning information to the left turn vehicle), the information level indicating the content of the warning information (presence of two adjacent wheels), and the warning information for the group It generates and provides warning information with added (traveling direction, driving lane, etc.) and alerts the left turn vehicle belonging to the second moving body group only during the time when there is a risk of collision when turning left. Possibility to turn left into Thailand You can be aware of the ring to the left vehicle.

  Therefore, from the first moving body from the first direction based on the behavior information of the first moving body entering the intersection from the first direction, the intersection information and signal information of the intersection, the time information, and the distribution control information Information output determination means for determining and generating timing and alert information to be delivered to the second mobile body that first enters the intersection, and information output means for outputting the alert information to the second mobile body based on the timing; Since it is equipped with, warning information (attention information) required for a moving body can be provided.

Embodiment 3 FIG.
In the first embodiment and the second embodiment, alert information related to signals may be provided from the information distribution control information shown in Tables 8 and 9. In the present embodiment, it is assumed that the provision limit time Ta of signal change attention information is stored in advance in the information storage unit 105 of the information provision determination device 1. Note that the provision limit time Ta of the signal change attention information may be provided from the center 10 to the information provision determination device.

  FIG. 7 is an operation sequence diagram showing the operation of the information provision determination apparatus 1 according to the third embodiment of the present invention. The operation in the information input / output determination means 106 is shown.

  The information output determination unit 106 of the information provision determination device 1 according to the third embodiment operates when the input from the traffic signal control devices 4a and 4b is detected or when a certain time has elapsed, and the information provision determination device 1 Depending on the contents of the input information, any one of “service stop information”, “service area information”, “service stop information”, and “general information” is generated and information input / output means 101 is It is assumed that the output is started from the DSRC roadside apparatus 2a or the output is stopped. In addition, the information output determination unit 106 continuously performs the output that has been started (transmission of alert information) at a constant period until the output is stopped. The output trigger is assumed to be performed at a constant cycle. The trigger for this output may be when the input from the moving body behavior detection device 5a or the traffic signal control devices 4a and 4b is detected.

The parameters used in the third embodiment are shown below.
PT: “Signal change attention information” provision management timer Ta: “Signal change attention information” provision time Tb: “Signal attention information” provision time This parameter Ta is stored in the information storage unit 105 in advance. It is assumed that the provision limit time Ta of the signal change attention information of the information distribution control information is substituted when the information provision determination device 1 is activated. (From Table 9, Ta = ta.)

The information provision determination device 1 uses the information output determination unit 106 to perform the following processing according to the input content of the signal information from the traffic signal control device 4a.
(1) When it is detected that the signal has changed to a red signal When “service stop information” is output, output of the information is stopped, and a provision management timer PT of “signal change attention information” is generated, Set and start Ta. At this time, output of “signal change caution information” is started.
When the PT activated above times out, the output of “signal change notice information” is stopped and the output of “signal change information” is started.
(2) When the change to the green signal is detected, the output of the alert information being output is stopped and the output of “service stop information” is started.

  As described above, the information provision determination apparatus according to the third embodiment of the present invention detects that the signal has changed to red, and at the intersection from the azimuth indicated by the signal in red for a certain period of time from when the signal has changed to red. Reproduction conditions for reproducing the information type indicating the content of the warning information (signal information), the information level indicating the content of the warning information (note the change in the signal), and the warning information for the moving body group entering After generating and providing alert information with added (traveling direction, driving lane, etc.), a new information type indicating the content of the warning information (signal information) and the content of the warning information (note the signal) ) To generate and provide alert information with the information level and warning conditions to reproduce warning information (traveling direction, driving lane, etc.), so that it is distinguished from the event that the signal is red and immediately after the signal changes Alert Since the, it is possible to recognize the state change of the signal to the vehicle.

Embodiment 4 FIG.
FIG. 8 is a block diagram showing the configuration of the information provision determination apparatus according to the fourth embodiment. FIG. 9 is a block diagram showing a configuration of the in-vehicle device according to the fourth embodiment. In the first, second, and third embodiments, as shown in FIGS. 8 and 9, the information output determination unit 106 of the information provision determination device 1 may be mounted on the in-vehicle device 9 as the information provision determination unit 910. In the present embodiment, in addition to the moving body behavior information and signal information stored in the information storage unit 105, the provided service type and the like are provided to the in-vehicle device 9 via the DSRC roadside device 2a. The warning information stored in the information storage unit 105 is stored in the in-vehicle information storage unit 905 of the in-vehicle device 9. The distribution control device information may be provided to the in-vehicle device 9 via the DSRC roadside device 2a or may be set in advance in the in-vehicle information storage unit 905.

  An operation example according to the fourth embodiment will be described. In the information provision determination device 1, when information is input to the information storage unit or when a certain time has elapsed, the vehicle behavior information, the signal information, and the provided service type are transmitted to the in-vehicle device 9 via the DSRC roadside device 2a. To provide. In the in-vehicle device 9, in addition to the received mobile body behavior information, signal information, and provided service type, the information provision determination unit 910 uses the distribution control information, time information, and in-vehicle information stored in the in-vehicle information storage unit 905. It is determined whether information should be provided, and information is provided to the driver by the information providing means 901 to the driver.

As described above in the first to fourth embodiments, the vehicle enters the intersection based on the behavior information of the first moving body group that enters the intersection and the intersection information, signal information, time information, and distribution control information of the intersection. Information output determination means for determining whether or not to provide information to the second moving body group, determining timing for distribution and warning information to be provided, and generating alert information from the timing and warning information for distribution, and information An information output unit that has a communication area that covers a part near the intersection based on the determination result of the determination unit, and that outputs alert information in the communication unit that communicates with the second moving body group that enters the communication area. I have.
Furthermore, the information output determination means adds warning information type and warning information level, warning information update information, playback condition, and playback condition update information as warning information generated from the timing of delivery and warning information. ing.

In addition, the information providing means generates a plurality of different alert information based on the behavior information of the moving body group, the intersection information, the signal information, the time information, and the distribution control information, and within the same area under the reproduction condition to be added. Provide information for multiple mobiles.
Furthermore, in the information output determination means, when the behavior information of the first moving body group entering the intersection is acquired, the distribution control information is based on the information providing limit time of the second moving body group within the information providing limit time. A certain moving body group in the first moving body group that can reach the stop line of the intersection is estimated as the target moving body group of the provision information, and when the target moving body group passes the intersection, the information provision is stopped.

In addition, the information output determination means determines the operating state of the connection device group such as a mobile body behavior detection device that acquires mobile body behavior information, a signal control device that acquires signal information, an optical beacon roadside device, and a DSRC roadside device. The warning information level is determined based on the determination result.
Further, the information output determination means determines whether to provide information to the second moving body group entering the intersection based on the behavior information of the moving body and the intersection information, signal information, and time information of the intersection, and erases the provided information. When it is determined, erase information is provided.
Further, the in-vehicle device includes a communication unit that communicates with the roadside device, a warning information type and a warning information level that are added to the alert information received by the communication unit, update information of the warning information, reproduction conditions, and update information of the reproduction conditions. On-vehicle information output determining means for determining whether or not reproduction is necessary, and information providing means for reproducing warning information based on the determination result of the information output determining means.

  Therefore, receiving the alert information distributed at the timing based on the behavior information of the mobile body entering the intersection, the intersection information and signal information of the intersection, the time information, and the distribution control information, the alert information is received. Since it reproduces, the in-vehicle device can receive provision of necessary warning information (attention information).

  In addition, the first moving object is intended for a moving object that is estimated to be able to reach the intersection before the second moving object passes through the intersection. Information).

Furthermore, since the alerting information includes the playback conditions and the update information of the playback conditions, it is possible to appropriately provide warning information (warning information) necessary for the mobile object.
In addition, since a plurality of alert information is provided, appropriate alert information can be selected.
Further, when the information output determination means determines that the provided information is to be deleted, the information output means outputs the deletion information of the alert information, so that inappropriate alert information is not continuously provided to the driver. .

It is a figure which shows typically the structure of the electronic intersection system by Embodiment 1. FIG. 1 is a block diagram showing a configuration of an electronic intersection system according to Embodiment 1. FIG. 1 is a block diagram illustrating a configuration of an in-vehicle device according to Embodiment 1. FIG. FIG. 6 is a sequence diagram illustrating an operation of the information provision determination apparatus according to the first embodiment. It is a block diagram which shows the structure of the vehicle-mounted apparatus by Embodiment 2. FIG. FIG. 10 is a sequence diagram illustrating an operation of the information provision determination apparatus according to the second embodiment. FIG. 10 is a sequence diagram illustrating an operation of the information provision determination apparatus according to the second embodiment. 6 is a block diagram showing a configuration of an information provision determination apparatus according to Embodiment 4. FIG. FIG. 6 is a block diagram showing a configuration of an in-vehicle device according to a fourth embodiment.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Information provision determination apparatus, 2a DSRC roadside apparatus, 2a-1 communication area, 3a Optical beacon roadside apparatus, 3a-1 communication area, 4a, 4b Signal control apparatus, 5a Moving body behavior detection apparatus (right turn vehicle detection apparatus), 5a -1 Right turn vehicle detection area, 6a 1st direction, 6b 2nd direction, 7 intersection, 8a, 8b pedestrian crossing, 9 in-vehicle device, 9a, 9c, 9e second moving body, 9b, 9d first moving body, DESCRIPTION OF SYMBOLS 10 Center, 100 Mobile body behavior information acquisition means, 101 Information input / output means, 102 Mobile body behavior information acquisition part, 103 Signal information input part, 104 Time information acquisition means, 105 Information storage part, 106 Information output determination means, 107 Intersection Information input unit 108 Distribution control information input unit 200 Signal information acquisition unit 300 Information holding unit 901 Information provider to driver 901a Audio reproduction means, 901b Image reproduction means, 901c Text reproduction means, 902 Information provision means to the DSRC roadside device, 903 Car information input means, 904 Car equipment management means, 905 Car information storage means, 906 DSRC communication means, 907 vehicle sensor, 908 vehicle control device, 909 other vehicle-mounted device, 910 vehicle-mounted information output determination means.

Claims (8)

Based on the behavior information of the first moving body that enters the intersection from the first direction, the intersection information and signal information of the intersection, the time information, and the distribution control information, the second facing the first direction Information output determination means for determining and generating timing and alert information to be delivered to the second mobile body entering the intersection from the direction;
An information provision determination apparatus comprising: information output means for outputting the alert information to the second moving body based on the timing. The first moving body from the first direction based on behavior information of the first moving body entering the intersection from the first direction, intersection information and signal information of the intersection, time information, and distribution control information Information output determination means for determining and generating timing and alert information to be delivered to the second mobile body entering the intersection earlier,
An information provision determination apparatus comprising: information output means for outputting the alert information to the second moving body based on the timing. 3. The information provision determination according to claim 1, wherein the first moving object is a moving object estimated to be able to reach the intersection before the second moving object passes the intersection. apparatus. The information provision determination device according to any one of claims 1 to 3, wherein the alert information includes a reproduction condition and update information of the reproduction condition. The information provision determination apparatus according to claim 4, wherein a plurality of pieces of alert information are provided. The information according to any one of claims 1 to 5, wherein when the information output determination means determines that the provided information is to be deleted, the information output means outputs deletion information of the alert information. Offer judgment device. The information provision determination device according to claim 1, wherein the moving body is a group of vehicles. Receiving the alert information distributed at the timing based on the behavior information of the mobile body entering the intersection, the intersection information and signal information of the intersection, the time information, and the distribution control information;
A vehicle-mounted device that reproduces the alert information.

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