JP2009048458A - Driving support device and driving support system - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a driving support device and a driving support system for achieving the optimal driving support by improving accuracy of estimating an arrival time that a vehicle reaches an intersection. <P>SOLUTION: This driving support device is provided with a vehicle speed input part 20 for acquiring the vehicle speed of a vehicle; a distance information input part 18 for acquiring distance information to an intersection; an intention information input part 11 for acquiring traveling direction information about whether or not the vehicle turns right or left at the intersection; a predicted arrival time calculation part 15 for calculating an estimated arrival time t that a vehicle 50 reaches the intersection based on the traveling direction after the vehicle enters the intersection to be determined based on a vehicle speed v<SB>0</SB>, distance S and traveling direction information; and a support determination part 16 for achieving driving support based on the estimated arrival time t. Then, it is possible to calculate the estimated arrival time t in consideration that the speed may be changed until the vehicle 50 reaches the intersection. Thus, it is possible to improve the accuracy of estimating the predicted arrival time t, and to achieve the optimal driving support. <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

  The present invention relates to a driving support device and a driving support system.

Conventionally, as a driving support device, a driving support device that performs driving support using signal information such as a signal cycle of a traffic light is known (see, for example, Patent Document 1). This device calculates the time to reach the intersection from the current vehicle speed, and determines the intersection traffic method based on the arrival time and the signal cycle.
JP 2002-373396 A

  However, in the conventional apparatus, when the driver changes the speed before reaching the intersection, the arrival time does not become an accurate value, and thus there is a possibility that appropriate driving assistance cannot be performed.

  Accordingly, the present invention has been made to solve such a technical problem, and is a driving support device and a driving support system that can improve the prediction accuracy of the predicted arrival time to reach the intersection and can perform optimal driving support. The purpose is to provide.

  That is, the driving support device according to the present invention is a vehicle speed acquisition unit that acquires the vehicle speed of the vehicle, a distance information acquisition unit that acquires distance information from the vehicle to the intersection, and whether or not to make a right or left turn at the intersection Travel direction information acquisition means for acquiring direction information, arrival time calculation means for calculating the predicted arrival time for the vehicle to reach the intersection, and driving support means for providing driving support based on the predicted arrival time. The arrival time calculating means calculates the predicted arrival time based on the traveling direction after the intersection approach determined based on the traveling direction information, the vehicle speed and the distance information. Is done.

  The driving assistance device according to the present invention acquires traveling direction information about whether to turn left or right, and calculates a predicted arrival time for the vehicle to reach the intersection based on the traveling direction information, the vehicle speed, and the distance information. As a result, the predicted arrival time can be calculated in consideration of the case where the speed until the vehicle reaches the intersection can be calculated, so that the prediction accuracy of the predicted arrival time can be improved and optimal driving assistance can be performed. it can.

  Here, the driving support device includes an intersection angle acquisition unit that acquires an intersection angle of the intersection determined by the traveling direction, and the arrival time calculation unit is configured such that the vehicle is based on the intersection angle of the intersection. An approach vehicle speed that is a vehicle speed when entering the vehicle is predicted, and a deceleration to be performed until the vehicle reaches the intersection is predicted based on a speed difference between the vehicle speed and the predicted approach vehicle speed and the distance information. It is preferable to calculate the predicted arrival time based on the deceleration.

  By comprising in this way, the intersection approach speed of a vehicle can be estimated based on the intersection angle determined by the advancing direction in an intersection. For this reason, the intersection approach speed can be accurately predicted. Further, based on the relationship between the difference between the current vehicle speed and the approach speed and the distance from the current position to the intersection, a deceleration that is a deceleration amount per unit time can be predicted. For this reason, the prediction accuracy of deceleration can be improved. Furthermore, by calculating the predicted arrival time using the predicted deceleration, the prediction accuracy of the predicted arrival time can be improved. Thereby, optimal driving assistance can be performed.

  The arrival time calculating means preferably predicts the approaching vehicle speed using a map indicating the approaching vehicle speed with respect to the intersection angle of the intersection. By comprising in this way, prediction calculation load can be reduced.

  In addition, it is preferable that the vehicle further includes an approach vehicle speed learning unit that inputs the approach vehicle speed with respect to the intersection angle after the intersection and learns the approach vehicle speed with respect to the intersection angle of the intersection shown in the map.

  By comprising in this way, the relationship between the intersection angle of an intersection and approach vehicle speed can be learned using a driver | operator's usage tendency. Thereby, since the prediction precision of approach vehicle speed can be improved, the prediction precision of prediction arrival time can be improved further.

  And a deceleration learning means for learning the deceleration with respect to the speed difference and the distance information based on the driving characteristics of the driver, wherein the arrival time calculating means is obtained by the deceleration learning means. It is preferable to predict the deceleration based on the speed difference and the deceleration with respect to the distance information.

  By comprising in this way, the deceleration with respect to a speed difference and distance information can be learned. For this reason, the deceleration from the current point to the intersection approach can be predicted using the driver's usage tendency. Therefore, the prediction accuracy of the predicted arrival time can be further improved.

  Further, the information processing device further comprises signal information acquisition means for acquiring signal information of traffic lights existing at the intersection, and the driving support means performs driving support at the time of entering the intersection based on the predicted arrival time and the signal information. Is preferred.

  By comprising in this way, the display state of the traffic signal when a vehicle arrives at an intersection can be known correctly. Thereby, when a vehicle approachs an intersection, the driving assistance according to the display state of a traffic light can be performed.

  The driving support system of the present invention includes a driving support device mounted on a vehicle and a communication device that communicates with the driving support device. The driving support system performs driving support, and the communication device includes the vehicle. A transmission means for transmitting the distance information from the vehicle to the intersection and the signal information of the traffic lights present at the intersection to the driving support device, the driving support device acquiring a vehicle speed of the vehicle, and the communication device Distance information acquiring means for acquiring the distance information from, traveling direction information acquiring means for acquiring traveling direction information as to whether to turn left or right at the intersection, and progress after entering the intersection based on the traveling direction information From the communication device, an intersection angle acquisition unit that acquires an intersection angle of the intersection determined by a direction, an arrival time calculation unit that calculates an estimated arrival time to reach the intersection, and Signal information acquisition means for acquiring signal information, and driving support means for performing driving support at the time of entering the intersection based on the predicted arrival time and the signal information, the arrival time calculation means, An approach vehicle speed, which is a vehicle speed when the vehicle enters the intersection, is predicted based on an intersection angle of the intersection, and the vehicle is based on the difference between the vehicle speed and the predicted approach vehicle speed, and the distance information. Predicts the deceleration to be performed until the vehicle reaches the intersection, and calculates the predicted arrival time based on the deceleration.

  The driving support system according to the present invention acquires traveling direction information about whether to turn right or left, predicts the traveling direction at the intersection based on the traveling direction information, and determines the approach speed from the intersection angle determined by the traveling direction at the intersection. Predict, calculate the difference between the predicted approach speed and the current speed, predict the deceleration based on the relationship between the calculated speed difference and the distance information to the intersection, and calculate the predicted arrival time based on the predicted deceleration The driving support is performed based on the calculated predicted arrival time and the signal information. As a result, the predicted arrival time can be calculated in consideration of changes in the speed until the vehicle reaches the intersection, so that the prediction accuracy of the predicted arrival time is improved and optimal driving support is provided. Can do.

  ADVANTAGE OF THE INVENTION According to this invention, the optimal driving assistance can be performed by improving the prediction accuracy of the predicted arrival time to reach the intersection.

  Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings. In the description of the drawings, the same elements are denoted by the same reference numerals, and redundant description is omitted.

  FIG. 1 is a configuration diagram of a driving support device according to an embodiment of the present invention, FIG. 2 is a schematic diagram of a driving support system using the driving support device of FIG. 1, and FIG. 5 is a map showing the dependence of the vehicle speed on an intersection angle. FIG. 6 is a table showing the deceleration tendency. The driving assistance apparatus 1 according to the present embodiment is suitably used for driving assistance that warns or alerts a driver when passing through an intersection, for example. In addition, the driving support system 4 according to the present embodiment is configured to include the driving support device 1 and is suitably used for driving support that warns or alerts the driver when passing through an intersection, for example. .

  As shown in FIG. 1, the driving support system 4 includes a driving support device 1 and a roadside communication device 3. The driving support device 1 has a function of supporting driving of the vehicle, and is mounted on, for example, the vehicle 50 in FIG. The driving support device 1 has a function of communicating with the roadside communication device 3. The roadside communication device 3 provides information obtained through the network to the driving support device 1. Examples of the information to be provided include road shape information, distance information to an intersection, and signal information including a signal cycle of a traffic light. The roadside communication device 3 is disposed, for example, on a road, a roadside, or around the roadside, and communicates with the vehicle 50 when the vehicle 50 passes around the roadside communication device 3. For example, an optical beacon is used as the roadside communication device 3.

  The driving support apparatus 1 includes a road traffic information input unit (distance information acquisition unit, signal information acquisition unit) 18, a vehicle speed input unit (vehicle speed acquisition unit) 20, a predicted arrival time calculation unit (arrival time calculation unit) 15, and a support determination unit. (Driving support means) 16 is provided.

  The road traffic information input unit 18 has a function of inputting information from the roadside communication device 3. In addition, it has a function of recording the input information in the memory 21. The memory 21 is composed of, for example, a RAM (Random Access Memory). The memory 21 can be referred to from all the processing units of the driving support device 1.

  The vehicle speed input unit 20 has a function of inputting a vehicle speed, and is connected to, for example, a vehicle speed sensor 26. The vehicle speed sensor 26 is a sensor that detects the vehicle speed. For example, the vehicle speed sensor 26 detects the rotation of the wheel by detecting a change in magnetic flux due to the rotation of the wheel, and detects the vehicle speed using the wheel speed pulse. The output destination of the vehicle speed output by the vehicle speed input unit 20 will be described later.

  The predicted arrival time calculation unit 15 has a function of calculating the arrival time to the target point. For example, when the target point is an intersection where the road 70 and the road 71 in FIG. 2 intersect, the predicted arrival time t to reach the intersection is calculated based on the information about the vehicle speed and the distance information to the intersection. In addition, it has a function of outputting the calculated predicted arrival time t to the support determination unit 16. Note that an input source of information used by the predicted arrival time calculation unit 15 to calculate the predicted arrival time t will be described later.

  The support determination unit 16 determines whether or not to provide driving support information based on the predicted arrival time t input from the predicted arrival time calculation unit 15 and the signal cycle of the traffic light input from the memory 21. For example, as shown in FIG. 2, when the lighting of the traffic light 60 after the elapse of the predicted arrival time t is red, it is necessary to stop when the vehicle 50 enters the intersection. Is output to the output unit 17. On the other hand, when the lighting of the traffic light 60 after the predicted arrival time t has elapsed blue, particularly driving assistance information for alerting is not output.

  The output unit 17 connected to the support determination unit 16 has a function of providing the driver with driving support information obtained from the support determination unit 16. As the output unit 17, for example, a display or a speaker is used.

  The driving support device 1 configured as described above calculates the predicted arrival time to the intersection based on the vehicle speed, the distance to the intersection, and the signal information, and performs driving support based on the calculated predicted arrival time. Can do.

  Here, the driving support device 1 of the present embodiment includes an intention information input unit (traveling direction information acquisition unit) 11, an intersection angle determination unit (intersection angle acquisition unit) 12, an approach vehicle speed prediction processing unit 13, and a deceleration prediction processing unit. 14, an approaching vehicle speed map (map) 22, a deceleration tendency DB 23, and a learning processing unit (entrance vehicle speed learning means, deceleration learning means) 19 are provided.

  The intention information input unit 11 has a function of acquiring traveling direction information indicating a driver's intention to turn left or right at an intersection. The intention information input unit 11 is connected to the navigation device 24 and the direction indicator 25, for example, and inputs the traveling direction information from the route information held by the navigation device 24 and the use state of the direction indicator 25. The navigation device 24 is a driving support device that provides position information to the driver, and for example, a GPS receiver is used. GPS (Global Positioning System) is a measurement system using a satellite, and is suitably used for grasping the current position of the host vehicle. The route information held by the navigation device 24 is route information set by the driver, for example, information including information automatically determined when the driver sets the destination. The direction indicator 25 is a device for indicating the direction to the surroundings when turning left or right or changing the course. The intention information input unit 11 outputs the traveling direction information to the intersection angle determination unit 12.

  The intersection angle determination unit 12 has a function of inputting traveling direction information from the intention information input unit 11, inputting road information from the memory 21, and determining an intersection angle of an intersection scheduled to enter based on the traveling direction information and the road information. have. For example, in FIG. 2, when the vehicle 50 enters an intersection where the road 70 and the road 71 intersect, if the driver intends to turn left from the input traveling direction information, The angle (crossing angle) θ with the road 71 extending in the direction is determined. Further, the intersection angle determination unit 12 has a function of outputting the determined intersection angle to the approaching vehicle speed prediction processing unit 13.

  The approaching vehicle speed prediction processing unit 13 has a function of predicting the speed when the vehicle enters the intersection. The approach vehicle speed prediction processing unit 13 predicts the approach speed when the vehicle enters the intersection using the intersection angle θ and the approach vehicle speed map 22. Here, the approaching vehicle speed map 22 is a map showing the approaching vehicle speed depending on the intersection angle, for example, as shown in FIG. The approach vehicle speed prediction processing unit 13 has a function of outputting the predicted approach speed to the deceleration prediction processing unit 14.

  The deceleration prediction processing unit 14 has a function of predicting deceleration until the intersection is reached. The deceleration prediction processing unit 14 inputs the approaching vehicle speed from the approaching vehicle speed prediction processing unit 13, inputs the current vehicle speed from the vehicle speed input unit 20, and calculates the difference between the approaching vehicle speed and the current vehicle speed. Further, the deceleration prediction processing unit 14 predicts deceleration using the calculated vehicle speed difference, the distance to the intersection input from the memory 21, and the deceleration table input from the deceleration tendency DB 23. Here, the deceleration table is a table indicating the deceleration with respect to the speed difference and the distance to the intersection as shown in FIG. 6, for example. If the distance information to the intersection input from the memory 21 changes due to traveling, the distance information to the intersection is calculated using the vehicle speed and the time elapsed since the data reception. Further, the deceleration prediction processing unit 14 has a function of outputting the predicted deceleration to the predicted arrival time calculation unit 15. The predicted arrival time calculation unit 15 calculates the predicted arrival time t using the input deceleration, current speed, and distance to the intersection.

  The learning processing unit 19 has a function of learning and updating the approaching vehicle speed map 22 and the deceleration tendency DB 23 based on the driving characteristics of the driver.

  Next, operation | movement of the driving assistance device which concerns on this embodiment is demonstrated using FIG. FIG. 3 is a flowchart showing the operation of the driving support apparatus according to the present embodiment, and FIG. 4 is a flowchart showing a learning process which is a part of the operation of FIG. The control process of FIG. 3 is started when the vehicle 50 passes in front of the roadside communication device 3, for example, as shown in FIG.

  The driving support device 1 starts from the information input process (S10). The process of S10 is executed by the road traffic information input unit 18 and is a process for inputting information. The road traffic information input unit 18 inputs the road shape and distance information from the roadside communication device 3 to the intersection and the signal cycle information of the signal 60 at the intersection, and records them in the memory 21. When the process of S10 is completed, the process proceeds to an intention information input process and a traveling direction determination process (S12).

  The process of S12 is a process executed by the intention information input unit 11 and the intersection angle determination unit 12 to input the traveling direction information and determine the traveling direction at the intersection. The intention information input unit 11 inputs route information given in advance by the driver or information indicated by the direction indicator from the navigation device 24 or the direction indicator 25 as travel direction information. And the intersection angle determination part 12 determines the advancing direction in the intersection which approachs from the input advancing direction information. When the process of S12 ends, the process proceeds to the intersection angle determination process (S14).

  The process of S14 is a process executed by the intersection angle determination unit 12 to determine the intersection angle of the intersection. The intersection angle determination unit 12 determines the intersection angle based on the road shape of the intersection obtained by the process of S10 and the traveling direction at the intersection obtained by the process of S12. For example, as indicated by 50A in FIG. 2, an intention to make a left turn is input from the traveling direction information before the vehicle enters the intersection, and the intersection angle θ at the intersection is calculated using the road information. At the intersection of the road 70 and the road 71 in FIG. 2, θ = 90 ° when turning left and θ = 270 ° when turning right. When the processing of S14 ends, the process proceeds to the approaching vehicle speed prediction processing unit (S16).

The step S16 is performed by entering the vehicle speed prediction processing unit 13, a process of predicting the entry speed v _S to the intersection. The approaching vehicle speed prediction processing unit 13 predicts the approaching vehicle speed v _S to the intersection with reference to the intersection angle θ obtained in the process of S14 and the approaching vehicle speed map 22 shown in FIG. Hereinafter, the approach vehicle speed map will be described with reference to FIG. FIG. 5 is a map showing the dependence of the approaching vehicle speed v _{S on} the intersection angle, where the horizontal axis represents the intersection angle θ of the intersection and the vertical axis represents the approach vehicle speed v _S. The black points are data points indicating the results of actual driving by the driver in the past, and the curve indicated by L approximates that point. For this approximation, for example, the least square method is used. When the intersection angle θ is determined, the approach speed v _S to the intersection is derived by using the approximate curve L. Thus, in the process of S16, the approaching vehicle speed prediction processing unit 13 refers to the approaching vehicle speed map 22, and determines the approaching vehicle speed v _S corresponding to the intersection angle θ obtained in S14. When the process of S16 ends, the process proceeds to a vehicle speed input process (S18).

Processing of S18, is performed by the vehicle speed input unit 20, a process of inputting the vehicle speed v _0. The vehicle speed input unit 20 inputs the current vehicle speed v ₀ from the vehicle speed sensor 26. When the process of S18 ends, the process proceeds to a deceleration prediction process (S20).

The process of S20 is a process that is executed by the deceleration prediction processing unit 14 and predicts the deceleration to the intersection. The deceleration prediction processing unit 14 calculates a speed difference v ₀ −v _S between the vehicle speed v ₀ input in the process of S 18 and the approach vehicle speed v _S predicted in the process of _S 16. In addition, when the predetermined time has elapsed after the execution of the process of S10, the deceleration prediction processing unit 14 determines from the distance to the intersection obtained in the process of S10 until the process of S20 is executed. The distance excluding the distance traveled is calculated. The deceleration prediction processing unit 14 predicts deceleration using the deceleration information DB 23 based on the distance information input in S10 or the calculated distance information (remaining distance S) and the speed difference v ₀ -v _S. Hereinafter, the deceleration table input from the deceleration tendency DB 23 will be described with reference to FIG. FIG. 6 is a table showing the dependence of deceleration on the vehicle speed difference v ₀ -v _S and the remaining distance S. The row of the table shows the vehicle speed difference v ₀ -v _S , and the column shows the remaining distance S to the intersection. The deceleration tendency DB 23 stores and averages the results of actual driving by the driver in the past. By using this table, the deceleration can be predicted from the predetermined vehicle speed difference v ₀ -v _S and the predetermined remaining distance S. For example, when the remaining distance S to the intersection is 100 m and the speed difference v ₀ −v _S is 30 km / s, the deceleration is 2.0 m / s ² (the acceleration a is −2. 0 m / s ² ). Thus, in the process of S20, the deceleration prediction processing unit 14 refers to the deceleration table, and determines the deceleration corresponding to the vehicle speed difference v ₀ −v _S and the remaining distance S. When the process of S20 ends, the process proceeds to a predicted arrival time calculation process (S22).

The process of S22 is a process that is executed in the predicted arrival time calculation process 15 and calculates the arrival time t to reach the intersection. Arrival time t, and time t _a during dropping the vehicle speed to a speed v _S is decelerated, by summing the time t _b traveling at a speed v _S, is calculated. First, the predicted arrival time calculation process 15 uses the approach vehicle speed v _S predicted in the process of S16, the current vehicle speed v ₀ obtained in the process of S18, and the acceleration a obtained from the deceleration predicted in the process of S20, calculates the distance S _a while dropping the speed to a speed v _S is decelerated by solving equation 1 to calculate the the equation 2 time t _a.

v _S ² −v ₀ ² = 2a · S _a (1)

_{S a = v 0 · t a} + (1/2) · a · t a 2 ... (2)

By solving the above equation for t _a, and calculates the time t _a. Next, the predicted arrival time calculation process 15 uses the entry speed v _S, remaining distance S was calculated in the processing of S20, and the distance S _a calculated in the processing of S22 that predicted by the processing of S16, the solution to Equation 3 Then, the distance S _b traveling at the speed v _S is calculated, and the time t _b is calculated from Equation 4.

S _b = S−S _a (3)

S _b = v _S · t _b (4)

The time t _b is calculated by solving the above equation for t _b . Thus, it is possible to calculate the arrival time t by summing the time t _a and time t _b. When the process of S22 ends, the process proceeds to a driving support determination process (S24).

  The process of S24 is a process executed by the support determination unit 16 to determine whether or not driving support is necessary. The assistance determination unit 16 determines whether or not driving assistance is necessary using the signal cycle of the traffic light 60 obtained by the process of S10 and the predicted arrival time t obtained by the process of S22. If the signal cycle after the predicted arrival time t is red, the support determination unit 16 determines that driving support is necessary and proceeds to support execution processing (S26).

  The process of S26 is executed by the support determination unit 16 and the output unit 17, and is a process of providing driving support information to the driver. For example, it warns that the approaching intersection is a red light. When the process of S26 ends, the process proceeds to a learning process (S28).

  The processing of S28 is executed by the learning processing unit 19 and learns the contents of the approaching vehicle speed map 22 and the deceleration tendency DB 23. The process of S28 is divided into the processes from S30 to S36 shown in FIG. 4, and starts from the vehicle speed input process (S30).

  The process of S30 in FIG. 4 is a process of inputting the vehicle speed when entering the intersection. The learning processing unit 19 inputs the vehicle speed acquired by the vehicle speed sensor 26 via the vehicle speed input unit 20. When the process of S30 ends, the process proceeds to an approach vehicle speed learning process (S32).

  The process of S32 is a process of updating the approach vehicle speed map 22 based on the actual approach vehicle speed obtained by the process of S30 and the crossing angle obtained by the process of S14. For example, as shown in FIG. 5, the actual approach vehicle speed with respect to the intersection angle is recorded in the approach vehicle speed map 22. The point indicated by the white point P1 in FIG. 5 is the recorded approaching vehicle speed. After recording this point, the approximate curve L is calculated again. Thus, the approach vehicle speed map 22 is updated by learning using the actual traveling result. When the process of S32 is completed, the process proceeds to a deceleration input process (S34).

  The process of S34 is a process for calculating the deceleration until the intersection is entered. The actual deceleration is calculated using the vehicle speed input in the process of S18, the vehicle speed obtained in the process of S30, and the actual time of reaching the intersection. When the process of S34 ends, the process proceeds to a deceleration tendency learning process (S36).

The process of S36 is a process of updating the deceleration tendency DB 23 based on the actual deceleration and the remaining distance S obtained by the process of S34. For example, in FIG. 6, when the remaining distance S to the intersection is 100 m and the speed difference is 30 km / s, the deceleration is 2.0 m / s ^2. Then, average again including the data acquired this time. Thus, the deceleration tendency DB 23 is updated by learning using the actual traveling result. When the process of S36 ends, the control process of FIG. 4 ends.

  On the other hand, in the process of S22, when the signal cycle after the predicted arrival time t is blue, it is determined that driving support is unnecessary, and the process proceeds to a learning process (S28).

  Thus, the control process of FIG. 4 ends. Thus, driving assistance at an intersection can be accurately performed by predicting the arrival time to the intersection in consideration of the traveling direction information.

Next, the effect of the driving assistance apparatus and driving assistance system which concern on this embodiment is demonstrated in detail using FIG. Here, for easy understanding of the explanation, it is determined that the driver has already decided to use the route information of the navigation device 23 to make a left turn (50B) at the intersection where the road 70 and the road 71 intersect. To do. Further, the vehicle 50 has already input the distance to the intersection, the current vehicle speed, the road information of the intersection, the distance information to the intersection, and the signal information of the traffic light 60 from the roadside communication device 3 and the vehicle speed sensor 26. Specifically, the remaining distance S to the intersection is 60 m, the vehicle speed v ₀ is 60 km / h (16.7 m / s), and as a signal cycle of the traffic light 60, the red signal continues for 10 seconds and the green signal continues for 30 seconds. Suppose that there are 4 seconds left until the current time changes to a green light.

Under such conditions, the predicted arrival time t to the intersection is calculated. First, for comparison, without considering the case where the driver decelerates, it calculates the predicted arrival time t ₁ when the vehicle at a constant speed is assumed to enter the intersection. Since the vehicle speed v ₀ is 16.7 m / s and the remaining distance S is 60 m, the predicted arrival time t ₁ is 3.6 seconds. That is, since a red signal is predicted at the intersection, the driving support device performs driving support for urging to stop. However, since the driver actually intends to turn, the speed is reduced before entering the intersection, and the intersection is reached later than the calculated arrival time. In such a case, it can be said that the support timing is not appropriate.

In contrast, by using the driving support device 1 according to the present embodiment, it calculates the predicted arrival time t _2. First, as shown in 50B of FIG. 2, the driver is planning to turn left at the intersection where the road 70 and the road 71 intersect, so the intersection angle θ at this time is 90 °. Referring to the approaching vehicle speed map 22 in FIG. 5, when the crossing angle θ is 90 °, it can be predicted that the approaching vehicle speed v _S is 30 km / h. Since the current vehicle speed v ₀ is 60 km / h, the speed difference is 30 km / h.

Further, since the remaining distance S to the intersection is 60 m and the speed difference is 30 km / h, referring to the table of FIG. 6, the deceleration is 2.0 m / s ² (that is, the acceleration a is −2.0 m). / S ² ). These values by substituting the equation 1-4, the time t _a is 4.2 seconds, it is possible to time t _b is calculated as 0.9 seconds. Thus, the predicted arrival time _{t 2} is 5.1 seconds. That is, since it is predicted that the intersection is a green light, the warning that the intersection is red is not performed. In this way, by inputting the traveling direction information and reflecting it in the prediction data, it is possible to avoid giving a warning that the signal is a red signal even though it is originally a green signal.

As described above, according to the driving support device 1 according to the present embodiment, the traveling direction information about whether to turn right or left is acquired, and the vehicle 20 is set at the intersection based on the traveling direction information, the vehicle speed v _0, and the distance information S. The predicted arrival time t to be reached can be calculated. As a result, the predicted arrival time t can be calculated in consideration of the case where the speed until the vehicle 50 reaches the intersection can be changed, so that the prediction accuracy of the predicted arrival time t is improved and optimal driving support is provided. It can be carried out.

Further, according to the driving support device 1 according to the present embodiment, it is possible to predict the intersection approach speed v _S of the vehicle 50 based on θ intersection angle determined by the traveling direction at the intersection. Further, based on the relationship between the difference between the current vehicle speed v ₀ and the approach speed v _S and the distance S from the current position to the intersection, a deceleration that is a deceleration amount per unit time can be predicted. Furthermore, by calculating the predicted arrival time t using the predicted deceleration, the prediction accuracy of the predicted arrival time t can be improved. Thereby, optimal driving assistance can be performed.

Further, according to the driving support device 1 according to the present embodiment, it is possible to reduce the prediction calculation load by predicting the entry speed v _S using the approach speed map 22 showing the entry speed v _S for crossing angle θ .

Further, according to the driving support device 1 according to the present embodiment, after passing the intersection, the approach vehicle speed v _S with respect to the intersection angle θ is input, and the approach vehicle speed v _S with respect to the intersection angle θ of the intersection shown in the approach vehicle speed map 22 is learned. By doing so, it is possible to learn the relationship between the intersection angle θ of the intersection and the approaching vehicle speed v _S using the driver's usage tendency. Accordingly, it is possible to improve the prediction accuracy of the approach speed v _S, it is possible to further improve the prediction accuracy of the predicted arrival time t.

Further, according to the driving support device 1 according to the present embodiment, based on driving characteristics of the driver learns the deceleration for the speed difference v ₀ -v _S and distance information S, based on the deceleration trend DB23 learned Thus, by predicting the deceleration, the deceleration from the current point to the intersection approach can be accurately predicted. Thereby, the prediction accuracy of the predicted arrival time t can be further improved.

  Furthermore, according to the driving support apparatus 1 according to the present embodiment, the road traffic information input unit 18 is provided to input signal information, thereby accurately knowing the display state of the traffic light 60 when the vehicle 50 reaches the intersection. be able to. Thereby, when the vehicle 50 enters the intersection, it is possible to perform driving support in accordance with the display state of the traffic light 60.

Moreover, according to the driving support system 4 according to the present embodiment, the traveling direction information about whether to turn right or left is acquired, and the intersection angle determined by the traveling direction at the intersection and the traveling direction at the intersection from the traveling direction information. The approach speed v _S is predicted from θ, the difference between the predicted approach speed v _S and the current speed v ₀ is calculated, and the deceleration is predicted based on the relationship between the calculated speed difference and the distance information S to the intersection. The predicted arrival time t is calculated based on the predicted deceleration, and driving assistance is performed based on the calculated predicted arrival time t and signal information. As a result, it is possible to calculate the predicted arrival time t in consideration of the case where the speed until the vehicle 50 reaches the intersection can be calculated, so that the prediction accuracy of the predicted arrival time t is improved and optimum driving support is achieved. It can be performed.

  In addition, embodiment mentioned above shows an example of the driving assistance apparatus and driving assistance system which concern on this invention. The driving support device and the driving support system according to the present invention are not limited to the driving support device and the driving support system according to these embodiments, and the embodiments according to the embodiments without departing from the gist described in each claim. The driving support device and the driving support system may be modified or applied to others.

  For example, in the embodiment, the example in which the vehicle speed of the vehicle 50 is acquired by the vehicle speed sensor 26 has been described. However, the roadside communication device 3 may acquire the vehicle speed of the vehicle 50 using a speed gun or the like.

  In the embodiment, the example in which driving support is performed using a display or a speaker has been described. However, the driving support content may be that which moves a brake actuator or the like.

It is a lineblock diagram of a driving support device and a driving support system concerning this embodiment. It is a schematic diagram of a driving support device and a driving support system concerning this embodiment. It is a flowchart which shows operation | movement of the driving assistance apparatus of FIG. It is a flowchart which shows operation | movement of the driving assistance apparatus of FIG. It is an approach vehicle speed map depending on the intersection angle. It is a table which shows a deceleration tendency.

Explanation of symbols

  DESCRIPTION OF SYMBOLS 1 ... Driving assistance device, 3 ... Roadside communication apparatus, 4 ... Driving assistance system, 11 ... Intention information input part (traveling direction information acquisition means), 12 ... Crossing angle determination part (crossing angle acquisition means), 15 ... Predicted arrival time Calculation unit (predicted arrival time calculation unit), 16 ... support determination unit (driving support unit), 18 ... road traffic information input unit (distance information acquisition unit, signal information acquisition unit), 19 ... learning processing unit (entrance vehicle speed learning unit) , Deceleration learning means), 20 ... vehicle speed input section (vehicle speed acquisition means), 22 ... approach vehicle speed map (map).

Claims (7)

Vehicle speed acquisition means for acquiring the vehicle speed of the vehicle;
Distance information acquisition means for acquiring distance information from the vehicle to the intersection;
Travel direction information acquisition means for acquiring travel direction information about whether to turn left or right at the intersection;
Arrival time calculating means for calculating a predicted arrival time for the vehicle to reach the intersection;
Driving support means for performing driving support based on the predicted arrival time;
With
The arrival time calculating means calculates the predicted arrival time based on the traveling direction after entering the intersection determined based on the traveling direction information, the vehicle speed and the distance information;
A driving assistance device characterized by the above. An intersection angle obtaining means for obtaining an intersection angle of the intersection determined by the traveling direction;
The arrival time calculating means predicts an approaching vehicle speed that is a vehicle speed when the vehicle enters the intersection based on an intersection angle of the intersection, the speed difference between the vehicle speed and the predicted approaching vehicle speed, and the distance information Predicting a deceleration to be performed before the vehicle reaches the intersection, and calculating the predicted arrival time based on the deceleration,
The driving support apparatus according to claim 1, wherein: The arrival time calculating means predicts the approaching vehicle speed using a map indicating the approaching vehicle speed with respect to an intersection angle of the intersection;
The driving support device according to claim 2, wherein:   The said vehicle speed learning means which inputs the said approach vehicle speed with respect to the said intersection angle after the said intersection crossing, and learns the said approach vehicle speed with respect to the intersection angle of the said intersection shown on the said map is provided. Driving assistance device. Based on the driving characteristics of the driver, comprising a deceleration learning means for learning the deceleration with respect to the speed difference and the distance information,
The arrival time calculating means predicts the deceleration based on the speed difference obtained by the deceleration learning means and the deceleration with respect to the distance information;
The driving support device according to claim 1, wherein: Comprising signal information acquisition means for acquiring signal information of traffic lights present at the intersection;
The driving support means performs driving support at the time of entering the intersection based on the predicted arrival time and the signal information.
The driving support device according to any one of claims 1 to 5, wherein A driving support system that includes a driving support device mounted on a vehicle and a communication device that communicates with the driving support device, and performs driving support,
The communication device includes transmission means for transmitting distance information from the vehicle to an intersection and signal information of a traffic signal existing at the intersection to a driving support device,
The driving support device acquires vehicle speed acquisition means for acquiring a vehicle speed of the vehicle, distance information acquisition means for acquiring the distance information from the communication device, and traveling direction information about whether or not to turn left and right at the intersection. Traveling direction information acquisition means, intersection angle acquisition means for acquiring the intersection angle of the intersection determined by the traveling direction after entering the intersection based on the traveling direction information, and predicted arrival time for reaching the intersection Arrival time calculation means, signal information acquisition means for acquiring the signal information from the communication device, and driving support means for performing driving support at the time of entering the intersection based on the predicted arrival time and the signal information, The arrival time calculating means predicts an approach vehicle speed that is a vehicle speed when the vehicle enters the intersection based on an intersection angle of the intersection, and predicts the vehicle speed And the difference between the serial approach speed, based on said distance information, the vehicle predicts deceleration performed until reaching the intersection, to calculate the predicted arrival time on the basis of the deceleration,
A driving assistance system characterized by

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