JP2009037457A - Driving support system - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a driving support system for confirming easily safety when passing through an intersection. <P>SOLUTION: This driving support system acquires photographic results (images) S1-S3 of a road side camera 12 and an onboard camera 34 for photographing a road to the intersection C, prepares composite image A by combining the acquired photographic results, based on a current position and a position of the intersection C or the like, and displays the composite image A on a display part 28. The plurality of images S1-S3 photographed by the road side camera 12 and the onboard camera 34 is thereby displayed by the one composite image A, and therefore a driver easily and intuitively recognizes a road condition to the intersection, by only viewing the composite image A displayed on the display part 28. <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

  The present invention relates to a driving support system that supports driving by a driver of a vehicle.

As a driving support system, when a vehicle enters an intersection, the cameras provided on both the left and right sides in front of the vehicle are used to photograph the roads corresponding to the left and right sides of the vehicle among the roads leading to the intersection, A device that displays the photographing result on a display device is known (see, for example, Patent Document 1).
JP-A-8-293098

  However, in the invention described in Patent Document 1, since the road on the left side and the road on the right side of the intersection are displayed separately on one display screen, it is difficult to intuitively understand the positional relationship of the intersection (road). , It takes time to confirm safety.

  In view of the above points, an object of the present invention is to provide a driving support system capable of easily performing safety confirmation when passing an intersection.

  In order to achieve the above object, the invention according to claim 1 is a driving support system that supports driving by a driver of a vehicle, wherein a plurality of photographing means includes at least two of roads reaching an intersection. The road is photographed, the position identifying means identifies the position of the road photographed by the photographing means, and the composite image creating means is a plurality of images photographed by the photographing means based on the position of the road identified by the position identifying means. By combining the road images, a composite image is created, and the display means provided on the vehicle displays the composite image created by the composite image creation means.

  According to the invention described in claim 1 as described above, since the plurality of images photographed by the photographing means are displayed as one image (composite image), the driver can perform the composition displayed by the display means. By simply looking at the image, it becomes easy to intuitively understand the situation of the road leading to the intersection. Therefore, the driver can easily confirm the safety when passing the intersection only by looking at the composite image displayed by the display means.

  When there are four roads that reach the intersection, as described in claim 2, the photographing means photographs at least three roads on which no vehicle is currently traveling, and generates a composite image creating means. If a composite image is formed by connecting three images captured by the image capturing means, a composite image that can be intuitively understood by the driver can be provided.

  In the present invention, as described in claim 3, if a determination unit that determines whether or not to perform the composite image display operation by the display unit is provided in response to an operation by the user, Since it is possible to determine (select) whether or not to display the composite image according to the convenience of the user, the usability is improved.

  According to a fourth aspect of the present invention, there is provided a detecting means for detecting a moving body that moves on the road imaged by the photographing means, and the display means detects the moving body detected by the detecting means by the composite image creating means. It is characterized in that it is displayed schematically in accordance with the created composite image.

  According to this, since the moving body is schematically displayed according to the composite image, the driver can easily understand that the moving body exists on the road. Therefore, it is possible to more easily confirm safety when passing through the intersection.

In addition, the mobile body referred to in the claims includes not only a vehicle traveling on the road leading to the intersection but also a person moving on the road leading to the intersection.
In the invention according to claim 5, when at least one of the plurality of photographing means is arranged on the road, and the position specifying means and the composite image creating means are provided in the vehicle, the vehicle is provided in the vehicle, Among the plurality of photographing means, a position storage means storing position information indicating the position of the road photographed by the photographing means arranged on the road is provided, and the position specifying means is the position information stored in the position information storage means. Based on the above, the position of the road imaged by the imaging means is specified.

  According to this, since the position information of the photographing means arranged on the road is stored in advance on the vehicle side, the image photographed by the photographing means is compared with the case where this position information is acquired from the outside of the vehicle. It is possible to shorten the processing time required from the acquisition until the composite image is created.

  According to a sixth aspect of the present invention, there is provided a current position detecting means for detecting a current position of the vehicle, and an intersection for specifying a position of an intersection existing within a predetermined range with respect to the current position detected by the current position detecting means. And an identification unit, wherein a photographing result by a photographing unit that photographs a road that reaches the intersection identified by the intersection identifying unit can be acquired.

  As a result, if the current position of the vehicle is within a predetermined range, it is possible to obtain the photographing result by the photographing means. Compared to the case where the photographing result by the photographing means is obtained after the vehicle approaches the intersection, it is used. The composite image can be provided to the driver (driver) earlier.

  According to the seventh aspect of the present invention, the composite image creating means creates, as a single composite image, images of roads that reach each of the intersections when the distance between the intersections is within a predetermined distance. It is characterized by doing.

  In other words, if the distance between the intersections is a short distance, it may not be possible to create (display) a composite image until the second intersection is reached.

Embodiments of the present invention will be described below with reference to the drawings.
(First embodiment)
1. Overall Configuration of Driving Support System FIG. 1 is a block diagram showing the overall configuration of a driving support system according to a first embodiment to which the present invention is applied.

  The driving support system of this embodiment is for supporting driving by a vehicle driver, and as shown in FIG. 1, the driving support system is a roadside machine 10 installed beside a road (intersection). And the vehicle-mounted device 20 that can communicate with the roadside devices 10a to 10d.

1.1. Description of Roadside Unit 10 As shown in FIG. 1, the roadside units 10 a to 10 d include a roadside camera 12 capable of always photographing a road to an intersection and a roadside side communication unit 14 capable of wireless communication with the vehicle-mounted device 20. And a memory 16 in which identification information for identifying the roadside machine 10 is stored, and a control unit 18 that performs overall control of the roadside machine 10 as a whole.

  Here, in the present embodiment, as shown in FIG. 2, when there are four roads to the intersection C (that is, in the case of a crossroad), the four roadside devices 10a to 10d (roadside cameras 12) are located at the intersection C. It is provided on the side.

  FIG. 2 is an explanatory diagram for explaining the photographing range of the roadside camera 12 of the roadside machines 10a to 10d. FIG. 2A is an explanatory diagram illustrating the shooting range of the roadside camera 12 of the roadside device 10a, and FIG. 2B is an explanatory diagram illustrating the shooting range of the roadside camera 12 of the roadside device 10b. FIG. 2C is an explanatory diagram for explaining the photographing range of the roadside camera 12 of the roadside device 10c, and FIG. 2D is an explanatory diagram for explaining the photographing range of the roadside camera of the roadside device 10a. .

  Each of the roadside cameras 12 of the roadside machines 10a to 10d is fixed to a columnar member installed beside the intersection C. 2, the roadside camera 12 of the roadside machine 10a takes a picture of the right road R1 in FIG. 2, and the roadside camera 12 of the roadside machine 10b takes a picture of the left road R2 in FIG. The roadside camera 12 of the roadside machine 10c shoots the upper road R3 in FIG. 2, and the roadside camera 12 of the roadside machine 10d shoots the lower road R4 in FIG.

In the following description, when the roadside machines 10a to 10d are not distinguished, the roadside machines 10a to 10d are collectively referred to as “roadside machine 10”.
When the communication between the roadside communication unit 14 and the vehicle-mounted device 20 is established, the control unit 18 gives the imaging result (image) by the roadside camera 12 to the vehicle-mounted device 20 that has established communication with the roadside communication unit 14. And transmitted together with the identification information stored in the memory 16.

2.2. OBE 20
The vehicle-mounted device 20 is mounted on a vehicle and displays a current position that moves as the vehicle travels along with a road map on a display screen, or displays a route from the current position to a destination set by a vehicle occupant. It has a navigation function for guiding.

  As shown in FIG. 1, the vehicle-mounted device 20 mainly includes a position detection unit 22, a nonvolatile memory 24, a vehicle-side communication unit 26, a display unit 28, an operation unit 30, and an audio output unit. 32, the vehicle-mounted camera 34, and the control part 38 which carries out the overall control of the vehicle equipment 20 including these each part.

  The position detection unit 22 receives a radio wave transmitted from an artificial satellite for GPS (Global Positioning System) via a GPS antenna and detects a current position of the vehicle, a vehicle speed sensor, a wheel speed sensor, and the like. A distance sensor 42 that detects the travel distance of the vehicle based on the detection signal, a gyroscope 44 that detects the magnitude of the rotational motion applied to the vehicle, and a geomagnetic sensor 46 that detects the absolute direction based on geomagnetism. The control unit 38 is provided with information from the receiver 40, the sensors 42, 44, and 46 having errors of different properties from each other, and the control unit 38 complements the data detected from each other, thereby providing more accurate vehicle information. The current position can be grasped.

  Next, the memory 24 is a non-volatile storage medium in which data can be rewritten, and the memory 24 is configured by a storage medium such as a CD-ROM, a DVD, a memory card, a hard disk drive (HDD). .

  The memory 24 stores map data in which road maps are registered, intersection data indicating the positions of intersections existing on the road map, and the location of the roadside device 10 and the shooting direction of the roadside camera 12. The roadside machine data related to the roadside machine 10 such as the shooting range of the roadside camera 12 and the identification information of the roadside machine 10 is stored in association with the intersection data.

  Next, the vehicle side communication part 26 is for communicating with the roadside machine 10. The display unit 28 is for displaying various types of information, and in the present embodiment, is configured by an LCD (liquid crystal display).

  The operation unit 30 is provided for a vehicle occupant to input various commands to the in-vehicle device 20 by an external operation. The operation unit 30 is configured integrally with the display unit 28 and is set on a display screen. It is comprised from the mechanical key switch etc. which were provided around the display screen.

  The audio output unit 32 includes a D / A (digital / analog) conversion circuit, a speaker, and the like, converts the digital audio signal received from the control unit 38 into an analog signal, and outputs the audio from the speaker. Various voice guidance necessary for

The in-vehicle camera 34 is for photographing a road ahead of the vehicle, and the in-vehicle camera 34 is installed in front of the vehicle.
The control unit 38 includes a known microcomputer including a CPU, a ROM, a RAM, and the like. The control unit 38 executes each program for performing each function of the vehicle-mounted device 20 stored in the ROM or the like, and the vehicle-mounted device 20. Control each part.

  Further, the control unit 38 displays the current position of the vehicle specified by the position detection unit 22 on the display unit 28 so as to be superimposed on the map screen around the vehicle, and when the destination is set, General guidance processing is performed such as route guidance to the destination.

And especially the control part 38 performs the intersection accident prevention assistance process (refer FIG. 4 mentioned later) for assisting prevention of the accident in an intersection with respect to the driver | operator of a vehicle.
3. Characteristic operation of driving support system 3.1. Outline Description FIG. 3 is an explanatory view for explaining the characteristic operation of the driving support system. In this embodiment, as shown in FIG. 3, as shown in FIG. Shooting results (images) S1 to S3 of the in-vehicle camera 34 are acquired, and the acquired shooting results are connected based on the position of the road, the position of the intersection C, and the like to create a composite image A. Is displayed on the display unit 28.

  Here, for example, as shown in FIG. 3B, among the four roads R1 to R4 reaching the intersection C, when the vehicle 100 is traveling on the lower road R4 in FIG. 3, the photographing result S1 by the roadside camera 12 for photographing the right road R1 in FIG. 3 and the photographing result S2 by the roadside camera 12 for photographing the left road R2 in FIG. 3 are acquired from the roadside machine 10a and the roadside machine 10b. At the same time, the imaging result S3 of the in-vehicle camera 34 is acquired as an image of the upper road R3 and the intersection C in FIG.

  In the following description, in order to facilitate understanding of the invention, the case where the vehicle 100 is traveling on the lower road R4 in FIG. 3 among the four roads R1 to R4 reaching the intersection C is taken as an example. I will give you a description.

  Further, in the following description, the right road R1 in FIG. 3 (FIG. 2) is referred to as “right road R1”, and the left road R2 in FIG. 3 (FIG. 2) is referred to as “left road R2”. The upper road R3 in FIG. 3 (FIG. 2) is referred to as “front road R3”, and the lower road R4 in FIG. 3 (FIG. 2) is referred to as “road R4 on which the vehicle is traveling”. That's it.

3.2. Intersection Accident Prevention Support Process Hereinafter, the intersection accident prevention support process executed by the control unit 38 of the vehicle-mounted device 20 will be described with reference to FIG. FIG. 4 is a flowchart showing the intersection accident prevention support process executed by the control unit 38, and FIG. 5 is an explanatory diagram for explaining the synthesis process executed in the intersection accident prevention support process.

  The intersection accident prevention support process shown in FIG. 3 is a process executed when the engine of the vehicle is started. When the intersection accident prevention support process is started, first, the vehicle detected by the position detector 22 is detected. Is acquired (S110).

  When the current position of the vehicle is acquired, among the intersections existing in front of the vehicle, the roadside machines 10a to 10d that reach the nearest intersection from the current position of the vehicle, and the roadside that captures the right road R1 Identification information of the roadside machines 10a and 10b is obtained by performing communication between the roadside machine 10a having the camera 12 and the roadside machine 10b having the roadside camera 12 that captures the left road R2 and the vehicle side communication unit 26. And the imaging | photography result of the roadside camera 12 is acquired (S120).

  At this time, in S120, based on the identification information acquired from the roadside devices 10a and 10b and the roadside device data stored in the memory 24, the roadside devices 10a and 10b that have transmitted the imaging result acquired in S120 are specified. Further, the positions of the roads R1 and R2 taken by the roadside cameras of the specified roadside machines 10a and 10b are specified.

  Subsequently, the photographing result of the in-vehicle camera 34 is acquired (S130). At this time, in S130, the positions of the roads R3 and R4 and the intersection C taken by the in-vehicle camera 34 are specified based on the map data and the intersection data stored in the memory 24.

  Then, when the imaging results of the roadside camera 12 and the in-vehicle camera 34 of the roadside devices 10a and 10b are acquired, the imaging result (image) is based on the imaging results, the intersection data and the roadside device data stored in the memory 24, and the like. Are combined to create a composite image (S140).

  Here, the composition process of S140 will be described in detail. In the photographing result S1 by the roadside camera 12 of the roadside machine 10a shown in FIG. 5A, the boundary line between the right road R1 and the intersection C (FIG. 5A ), And a region on the road R1 side from the cut portion (that is, a region on the right road R1) is extracted.

  Further, in the photographing result S2 by the roadside camera 12 of the roadside machine 10b shown in FIG. 5 (b), it is cut off at the boundary line between the left road R2 and the intersection C (see the dotted line in FIG. 5 (b)). A region closer to the road R2 than the portion (that is, a region of the left road R2) is extracted.

  In addition, in the photographing result S3 by the in-vehicle camera 34 shown in FIG. 5C, the boundary line between the right road R1 and the intersection C (see the dotted line in FIG. 5C) and the left road R2 and the intersection C It is cut off at the boundary line (see the dotted line in FIG. 5C), and in the overall view, the road R3 ahead, the road R4 on which the vehicle is traveling, and the intersection C (other than the right road R1 and the left road R2) Regions are extracted.

  Then, the extracted three images (photographing results) S1 to S3 are rotated and deformed based on the intersection data, roadside machine data, etc., and these images S1 to S3 are cut out (intersection C and road R1). , R2) to create a composite image that can be confirmed at a glance by other vehicles traveling on the roads R1 to R4 and pedestrian crossers.

  Returning to the flowchart of FIG. 4, when a composite image is created in S140, this composite image is displayed on the display unit 28 (S150). Based on the detection result by the position detection unit 22, the map data, and the intersection data, the vehicle It is determined whether or not has passed the current position (S160).

  The process of S160 is repeatedly executed until it is determined that the vehicle has passed the current position, and when it is determined that the vehicle has passed the current position (S160: YES), the display of the composite image is terminated. (S170), and the process returns to S110.

4). Features of the Driving Support System According to the Present Embodiment In the present embodiment, the three images S1 to S3 photographed by the roadside camera 12 and the vehicle-mounted camera 34 are displayed as one image (synthesized image A). It becomes easy to intuitively understand the situation of the road leading to the intersection only by looking at the composite image A displayed on the display unit 28.

  Therefore, the driver can check other vehicles traveling on the roads R1 to R4 and passers of the pedestrian crossing only by looking at the composite image A displayed on the display unit 28, so safety when passing the intersection Confirmation can be performed easily.

  In the present embodiment, a composite image is created by connecting the three images S1 to S3 photographed by the roadside camera 12 and the in-vehicle camera 34, so that the driver can intuitively understand the composite image. can do.

  Further, in the present embodiment, the roadside machine such as the arrangement position of the roadside machine 10 (roadside camera 12) arranged on the road, the shooting direction of the roadside camera 12, the shooting range of the roadside camera 12, and the identification information of the roadside machine 10 etc. 10 is stored in advance in the memory 24 on the vehicle side (on-vehicle device 20), so that the roadside camera data is captured by the roadside camera 12 as compared with the case where the roadside device data is acquired from the outside of the vehicle, for example, the roadside device 10. The processing time required from the acquisition of the image to be created to the creation of the composite image can be shortened.

5). Correspondence Relationship between Invention Specific Items and Embodiment In this embodiment, the roadside camera 12 and the in-vehicle camera 34 correspond to photographing means, the processing of S120 corresponds to position specifying means, and the processing of S150 corresponds to composite image creation means. The display unit 28 corresponds to display means. The roadside machine data corresponds to position information, and the memory 24 corresponds to position storage means.

(Second Embodiment)
As shown in FIG. 6, in the present embodiment, when a moving body B such as a vehicle or a passerby is detected on the roads R <b> 1 to R <b> 4 with respect to the first embodiment, The image is displayed schematically in accordance with the composite image A. FIG. 6 is an explanatory diagram for explaining the composite image A of the present embodiment.

1. Characteristic Operation of Driving Support System FIG. 7 is a flowchart showing the intersection accident prevention support process of the present embodiment. In FIG. 7, the same processing contents as the intersection accident prevention support process (see FIG. 4) of the first embodiment are used. The same step numbers as those in FIG.

  When the intersection accident prevention support process shown in FIG. 7 is started and the processes of S110 to S140 are finished, the roads R1 to R4 and the intersection C such as vehicles or passersby are taken based on the photographing results of the roadside camera 12 and the in-vehicle camera 34. It is determined whether or not a moving object has been detected (S210).

And when it determines with the mobile body not being detected (S210: NO), the synthetic | combination image produced in S140 is displayed on the display part 28. FIG.
On the other hand, if it is determined that a moving body has been detected (S210: YES), a schematic image B corresponding to the type of moving body detected in S210 and the direction of movement of the moving body (FIG. 6). Reference) is read from the memory 24 and synthesized with the synthesized image created in S140 (S220). Note that an image in which the moving body is schematically represented has a plurality of patterns stored in the memory 24 corresponding to the type of the moving body and the direction of the movement.

Then, as shown in FIG. 6, when a composite image of the roads R1 to R4 in which the moving body is schematically represented is created (S220), the composite image A is displayed on the display unit 28.
2. Features of the driving support system according to the present embodiment In the present embodiment, since the moving body is schematically displayed in accordance with the composite image, the driver can easily understand that the moving body exists on the road. it can. Therefore, it is possible to more easily confirm safety when passing through the intersection.

  In the present embodiment, a plurality of patterns are selected according to the moving body. However, the present invention is not limited to this, and the same image (for example, for example, regardless of the type of the moving body) A rectangular parallelepiped) may be used as a moving body, and this image may be schematically displayed on the display unit 28 in accordance with the composite image.

3. Correspondence Relationship between Invention Specific Items and Embodiment In the present embodiment, the process of S210 corresponds to a detection means.
(Third embodiment)
The present embodiment is different from the first embodiment in the in-vehicle device 20 (control) for setting whether or not to display the composite image on the display unit 28 according to the operation by the user. Part 38).

  Moreover, the onboard equipment 20 (control part 38) of this embodiment performs a display of a synthesized image according to the setting content set to the initial setting process, when a vehicle arrives in front of the predetermined distance of an intersection. In the case of determining whether or not to display the composite image, a notification process of notifying the driver to that effect is performed.

1. Characteristic operation of driving support system 1.1. Initial Setting Process FIG. 8 is a flowchart showing an initial setting process executed by the control unit 38. This process is executed when an initial setting is selected by an operation by the user. When the initial setting process shown in FIG. 8 is started, it is determined whether or not the user has changed the setting by operating the operation unit 30 (S310).

  If it is determined that the setting has not been changed (S310: NO), the default data stored in advance in the memory 24 is set, and the initial setting process ends. The content of the default data of this embodiment is that when a vehicle passes an intersection of a road where the roadside machine 10 (roadside camera 12) is installed, a composite image is displayed, that is, an intersection accident prevention support process is executed. , And so on.

  On the other hand, if it is determined in S310 that the setting has been changed (S310: YES), the setting is changed so that the composite image is displayed when the content set by the user is satisfied ( S330), the initial setting process ends.

  Here, the memory 24 stores risk level information that indicates the level of risk for each road and intersection in a stepwise manner (three levels in this embodiment). In this embodiment, the setting is changed so as to determine whether or not the composite image is displayed (execution or prohibition) according to the level of the risk information, or the composite image display is prohibited from being displayed at all intersections. It can be changed or changed.

1.2. Notification Process FIG. 9 is a flowchart showing a notification process executed by the control unit 38, and this process is executed when the engine of the vehicle is started. 9 is started, first, the current position of the vehicle detected by the position detector 22 is acquired (S410).

  When the current position of the vehicle is acquired in S410, based on the map data and intersection data stored in the memory 24, the distance from the intersection closest to the vehicle to the vehicle is within a predetermined distance among the intersections ahead of the vehicle. It is determined whether or not (S420).

  If it is determined that the distance from the vehicle to the intersection is not within the predetermined distance (S420: NO), the process returns to S110, and conversely, the distance from the vehicle to the intersection is determined to be within the predetermined distance. If so (S420: YES), the setting contents set in the initial setting process are read (S430).

  In subsequent S440, display and notification of the composite image are executed (S450) or display and notification of the composite image are prohibited (S460) according to the setting contents set in the initial setting process.

In the present embodiment, the execution of the above-described intersection accident prevention support process is stopped until the vehicle passes through the target intersection, thereby prohibiting display of the composite image.
2. Features of the driving support system according to the present embodiment In the present embodiment, it is determined whether or not to display the composite image according to the operation by the user. The presence or absence of display can be determined (selected), and the usability of the driving support system is improved.

  In the present embodiment, the composite image display is prohibited by stopping the intersection accident prevention support process. However, the present invention is not limited to this, and the intersection accident prevention support process can be stopped. Instead, only the process of displaying the composite image (S150) may be stopped.

3. Correspondence Relationship between Invention Specific Items and Embodiments In this embodiment, the initial setting process and the process of S440 correspond to a determination unit.
(Fourth embodiment)
In the present embodiment, a shooting result of a road that reaches an intersection existing within a predetermined range with respect to the current position of the vehicle is acquired from the roadside camera 12, and among the acquired shooting results, the shooting result selected by the user is obtained. The information is displayed on the display unit 28.

1. Characteristic Operation of Driving Support System FIG. 10 is a flowchart showing a process executed by the control unit 38 of this embodiment, and this process is executed when the vehicle engine is started. When the process shown in FIG. 10 is started, first, the current position of the vehicle detected by the position detection unit 22 is acquired (S510).

  When the current position of the vehicle is acquired in S510, the position of an intersection existing within a predetermined range with respect to the current position is identified based on the intersection data stored in the memory 24, and the identified intersection is reached. Communication is performed between the roadside device 10 that captures a road and the vehicle-side communication unit 26 (S520). Thereby, in S520, the road imaging result by the roadside camera 12 of the roadside machine 10 is acquired.

  Note that the predetermined range in the present embodiment is a range from the closest intersection to the current position of the vehicle to a plurality of intersections. In addition, when a destination is set (when guidance processing is executed), a plurality of intersections existing on the route from the current position of the vehicle to the destination are selected from the intersection closest to the current position. This is a range up to intersections (for example, four) apart.

  Next, in S530, the presence / absence of the photographing result in the process of S520 is displayed on the road map displayed on the display unit 28 (S530). For example, for roads (intersections) for which photographing results can be obtained, a circle colored in red (not shown) is displayed at the intersection, and the circle is displayed by the user via the operation unit 30. Displayed for selection.

  Then, it is determined whether or not the circle displayed in S530 has been selected by the user (S540). If it is determined that the circle has not been selected (S540: NO), the process returns to S510.

  On the other hand, if it is determined that it has been selected (S540: YES), the imaging result of the roadside camera 12 that images the road to the selected intersection is displayed on the display unit 28, and the process returns to S510. Note that in S550, the above-described composite image is not created.

2. Features of the driving support system according to the present embodiment In the present embodiment, since the photographing result within a predetermined range from the current position of the vehicle can be seen in advance, the driver knows the situation of the road ahead. Can do.

  Further, in the present embodiment, since the imaging result within a predetermined range from the current position of the vehicle is acquired, the user (driver) is compared with the case where the imaging result of the roadside camera 12 is acquired after the vehicle approaches the intersection. ) Can be provided more quickly.

  In the present embodiment, the acquisition range of the photographing result by the roadside camera 12 of the roadside machine 10 is set based on the number of intersections, but the present invention is not limited to this, and the current position of the vehicle The acquisition range of the imaging result by the roadside camera 12 may be set based on the distance from the vehicle.

3. Correspondence Relationship between Invention Specific Items and Embodiment In this embodiment, the position detection unit 22 corresponds to the current position detection means, and the processing of S520 corresponds to the intersection specification means.

(Fifth embodiment)
Compared to the fourth embodiment, the present embodiment creates a shooting result (image) of roads that reach each of the intersections as one composite image when the distance between the intersections is within a predetermined distance. It is what you do. In addition, FIG. 11 is explanatory drawing explaining the characteristic action | operation of this embodiment.

  More specifically, in this embodiment, as shown in FIG. 11A, the distance X between the closest (first) intersection C1 and the second intersection C2 with respect to the vehicle 100 is as follows. If the distance is within the predetermined distance, the shooting result of the roadside machine 10a (roadside camera 12) shooting the right road R1 leading to the intersection C1, the shooting result of the roadside machine 10b shooting the left road R2 leading to the intersection C1, the intersection The photographing result of the roadside device 10a that photographs the right road leading to C2, the photographing result of the roadside device 10b that photographs the left road R2 leading to the intersection C2, and the photographing result of the in-vehicle camera 34 are acquired.

  Then, the obtained five photographing results are connected as described above, so that a composite image shown in FIG. 11B is created, and the created composite image is displayed on the display unit 28.

  As described above, in the present embodiment, when the distance between the intersection C1 and the intersection C2 is within the predetermined distance X, an image of the road that reaches each of the intersections C1 and C2 is created as one composite image. Before reaching the second intersection C2, it is possible to reliably create (display) a composite image.

(Sixth embodiment)
In the present embodiment, when the vehicle passes through the intersection, it is detected whether or not the driver has confirmed the safety of the road on the left side and the right side of the intersection (visual observation), and the driver has not confirmed the safety. In such a case, the fact is notified.

1. Configuration of Driving Support System FIG. 12 is an explanatory diagram illustrating the driving system of the present embodiment.
In the driving system of the present embodiment, as shown in FIG. 12, a gazing point 50 as a transmission device that periodically transmits radio waves is provided on the road. Note that the gazing point 50 of the present embodiment is embedded in the roads R1 and R2.

  The vehicle is also provided with one surveillance camera (not shown) that can detect the driver's line of sight on each of the left and right sides of the windshield. Specifically, a monitoring camera provided on the right side of the windshield detects a right gaze by the driver, and a monitoring camera provided on the left side of the windshield detects a left gaze by the driver. .

2. FIG. 13 is a flowchart showing a safety confirmation process executed by the control unit 38. In this process, the vehicle moves 5 [m] before the stop line at the intersection C to 20 [km / h]. Executed when stopped after passing at a speed within

  When the safety confirmation process shown in FIG. 13 is started, the monitoring camera is first activated (S610), and the driver's line of sight is displayed on the display unit 28 for a predetermined time (for example, 200) based on the imaging result of the monitoring camera. It is determined whether or not the vehicle has stopped for [ms]) (S620).

  When it is determined that the driver's line of sight has not stayed on the display unit 28 for a predetermined time (S620: NO), the voice output unit 32 generates a voice for prompting attention, etc. A warning operation is executed (S630), and the process returns to S620.

  On the other hand, when it is determined that the driver's line of sight has been stopped on the display unit 28 for a predetermined time (S620: YES), it is determined that the driver has confirmed the display unit 28, and the driver is on the right road R1. It is determined whether or not the user has visually observed (S640).

  More specifically, in S640, as shown in FIG. 12, based on the photographing result of the surveillance camera provided on the right side of the windshield and the radio wave received from the gazing point 50 provided on the right road R1. The angle θ formed by the straight line L1 connecting the gazing point 50 and the driver (vehicle) and the right line of sight L2 by the driver is predetermined for a predetermined time (200 [ms] in the present embodiment). It is determined whether or not the angle (15 degrees in the present embodiment) has been maintained.

  When it is determined that the angle θ formed by the straight line L1 and the line of sight L2 is maintained at a predetermined angle or more for a predetermined time, it is determined that the driver has viewed the right road R1 (S640: YES).

  And when it determines with the driver | operator having visually observed the right road R1 in S640 (S640: YES), a process will transfer to S650 and conversely if the driver has not visually observed the right road R1. If it is determined (S640: NO), the warning operation described above is executed (S630), and the process returns to S620.

In S650, it is determined whether or not the driver has visually observed the left road R2.
More specifically, similar to S640, based on the photographing result of the surveillance camera provided on the left side of the windshield and the radio wave received from the gazing point 50 provided on the road R2 on the left side, this gazing point 50 It is determined whether or not the angle formed by the straight line connecting the vehicle and the driver (vehicle) and the left line of sight by the driver has maintained a predetermined angle or more for a predetermined time. When it is determined that the angle θ formed is maintained at a predetermined angle or more for a predetermined time, it is determined that the driver has visually observed the left road R2 (S650: YES).

  And when it determines with the driver | operator having visually observed the left road R2 in S650 (S650: YES), a process will transfer to S660 and conversely if the driver has not visually observed the left road R2. If it is determined (S650: NO), the warning operation described above is executed (S630), and the process returns to S620.

In S660, the operation of the surveillance camera is stopped, and the safety confirmation process ends.
3. Features of the driving support system according to the present embodiment In the present embodiment, when the intersection passes through the intersection, it is detected whether or not the left and right roads R1 and R2 have been visually checked (safety confirmation). If not, a warning is given, so that an accident can be prevented and the safety of the vehicle can be improved.

(Other embodiments)
For example, when road sign information representing a road sign is stored in the memory 24, the road sign information stored in the memory 24 is schematically combined with a composite image (see FIG. 5D). May be displayed.

  According to this, since the road sign is schematically displayed in accordance with the composite image, the driver can easily understand the road sign installed on the road. Therefore, it is possible to more easily confirm safety when passing through the intersection.

  Further, when creating a composite image, the color scheme of each of the photographing results for composition may be changed. For example, the photographing result S1 of the roadside camera 12 for photographing the right road R1 and the photographing result S2 of the roadside camera 12 for photographing the left road R2 are different in color from the photographing result S3 of the in-vehicle camera 34.

The composite image may be displayed on the display unit 28 together with the traffic lights of the roads R1 to R4. In this case, the traffic light may be displayed schematically.
Further, in the above embodiment, it may be determined whether or not the reliability of the photographing result of the roadside camera 12 is lowered. Specifically, when the vehicle-mounted device 20 acquires the imaging result of the roadside camera 12, the contour line of the imaging result is extracted, and it is determined whether or not the extracted contour line is distorted. When it is determined that the contour line is distorted, it is determined that the reliability of the imaging result of the roadside camera 12 is deteriorated due to bad weather or the like.

In addition, the “intersection” in the claims includes not only a crossroad but also a T-shaped road, a five-way road, and the like.
In the above embodiment, a composite image is created using the photographing result of the roadside camera 12 and the photographing result of the in-vehicle camera 34. However, the present invention is not limited to this, and the in-vehicle camera 34 is not limited thereto. The composite image may be created only from the photographing result by the roadside camera 12 without using the photographing result.

  In the above embodiment, the case where there are four roads to the intersection (cross road) has been described as an example. However, the present invention is not limited to this, and three roads to the intersection (T (Joji) may be used. In this case, it is preferable that a roadside camera 12 for photographing each road among roads reaching the intersection is installed.

  In the above embodiment, the case where the vehicle 100 is traveling on the lower road R4 among the four roads R1 to R4 reaching the intersection C has been described as an example, but the present invention is limited to this. If the vehicle 100 is traveling on the right road R1 or the left road R2 among the four roads R1 to R4 leading to the intersection, the roadside camera 10 is connected to the roadside machine 10c and the roadside machine 10d. It is advisable to acquire the shooting results.

  Further, when the vehicle 100 is traveling on the upper road R1 among the four roads R1 to R4 leading to the intersection, the roadside camera 12 is switched from the roadside machine 10a and the roadside machine 10b as in the above embodiment. It is advisable to acquire the shooting results.

  In the above embodiment, four roadside machines 10 are provided on the side of the intersection C. However, the present invention is not limited to this. For example, eight roadside machines 10 are provided on the side of the intersection C. You may make it provide.

  In this case, as shown by the broken line and the alternate long and short dash line in FIG. 14, the roadside camera 12 of the roadside machine 10a and the roadside machine 10h captures the right road R1, and the roadside camera 12 of the roadside machine 10b and the roadside machine 10f is the left road. The roadside camera 12 of the roadside machine 10c and the roadside machine 10g takes a picture of the upper road R3, and the roadside camera 12 of the roadside machine 10d and the roadside machine 10e takes a picture of the lower road R4.

  Then, when the vehicle is traveling on the lower road R4, as in the above embodiment, the photographing result of the roadside camera 12 is acquired from the roadside machine 10a and the roadside machine 10b, and the vehicle travels on the upper road R3. When the vehicle is traveling, the photographing result of the roadside camera 12 is acquired from the roadside device 10f and the roadside device 10h, and when the vehicle is traveling on the left road R2, the roadside from the roadside device 10c and the roadside device 10e is obtained. When the photographing result of the camera 12 is acquired and the vehicle is traveling on the right road R4, the photographing result of the roadside camera 12 is acquired from the roadside machine 10d and the roadside machine 10g.

  That is, in this modified example, among the results of photographing by the roadside cameras 12 of the roadside devices 10a to 10h, from the side of the road across the intersection C with respect to the road on which the vehicle travels, is approximately perpendicular to the road on which the vehicle travels. The photographing result of the roadside camera 12 for photographing a simple road is acquired.

  Further, the present invention is not limited to the above-described embodiment as long as it matches the gist of the invention described in the claims.

It is a block diagram showing the whole driving support system composition of a 1st embodiment. It is explanatory drawing explaining the imaging | photography range of the roadside camera of a roadside machine. It is explanatory drawing explaining the characteristic action | operation of a driving assistance system. It is a flowchart showing the intersection accident prevention assistance process which a control part performs. It is explanatory drawing explaining the synthetic | combination process performed in an intersection accident prevention assistance process. It is explanatory drawing explaining the synthesized image of 2nd Embodiment. It is a flowchart showing the intersection accident prevention support process of the embodiment. It is a flowchart showing the initial setting process which the control part of 3rd Embodiment performs. It is a flowchart showing the alerting | reporting process which the control part of the embodiment performs. It is a flowchart showing the process which the control part of 4th Embodiment performs. It is explanatory drawing explaining the characteristic action | operation of 5th Embodiment. It is explanatory drawing explaining the driving assistance system of 6th Embodiment. It is a flowchart showing the safety confirmation process which the control part of the embodiment performs. It is explanatory drawing explaining the imaging | photography range of the roadside camera in a modification.

Explanation of symbols

DESCRIPTION OF SYMBOLS 10 ... Roadside machine, 12 ... Roadside camera, 14 ... Roadside communication part, 16 ... Memory, 18 ... Control part, 20 ... Onboard equipment, 22 ... Position detection part, 24 ... Memory, 26 ... Vehicle side communication part, 28 ... Display unit, 30 ... operation unit, 32 ... audio output unit, 34 ... in-vehicle camera, 38 ... control unit, 50 ... gazing point, 100 ... vehicle, A ... composite image, B ... moving body.

Claims (7)

A driving support system that supports driving by a vehicle driver,
A plurality of photographing means for photographing at least two of the roads leading to the intersection;
Position specifying means for specifying the position of the road imaged by the imaging means;
Based on the position of the road specified by the position specifying means, a composite image creating means for creating a composite image by stitching together images of a plurality of roads photographed by the photographing means;
A driving support system, comprising: a display unit provided on the vehicle for displaying the composite image created by the composite image creation unit. If there are four roads leading to the intersection,
The photographing means photographs at least three roads of the road where the vehicle is not currently traveling,
The driving support system according to claim 1, wherein the composite image creating unit creates a composite image obtained by joining the three images photographed by the photographing unit. 3. The driving support system according to claim 1, further comprising a determining unit that determines whether or not to perform the display operation of the composite image by the display unit in accordance with an operation by a user. . A detecting means for detecting a moving body moving on the road imaged by the imaging means;
4. The display unit according to claim 1, wherein the display unit schematically displays the moving object detected by the detection unit according to the composite image created by the composite image creation unit. 5. The driving support system according to Item 1. In the case where at least one of the plurality of photographing means is arranged on a road, and the position specifying means and the composite image creating means are provided in the vehicle,
A position storage unit that is provided in the vehicle and stores position information indicating a position of a road imaged by an imaging unit arranged on the road among the plurality of imaging units;
The position specifying means specifies the position of a road photographed by the photographing means based on the position information stored in the position information storage means. The driving support system according to item. Current position detecting means for detecting the current position of the vehicle;
An intersection specifying means for specifying the position of an intersection existing within a predetermined range with respect to the current position detected by the current position detecting means;
The driving support system according to claim 5, wherein a photographing result by a photographing unit that photographs a road to the intersection specified by the intersection specifying unit can be acquired. The composite image creating means creates an image of a road that reaches each of the intersections as one composite image when the distance between the intersections is within a predetermined distance. The driving support system according to claim 6.