JP2009070000A - Information-providing device, information-providing system and information-providing method - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an information-providing device, an information-providing system, and an information-providing method that provide information enabling the driver of a vehicle to safely stop at an intersection or making vehicle pass through the intersection. <P>SOLUTION: An information providing device 10 acquires the location of an object vehicle through its communication with the object vehicle passing through an inter-road vehicle communication spot R, and retrieves vehicle information, on the basis of the acquired location of the object vehicle, and specifies the object vehicle and one or more front vehicles traveling ahead the object vehicle from among the vehicles indicated by the vehicle information. The information providing device 10 determines whether the object vehicle and each vehicle traveling ahead are in a specific state (for example, dangerous traveling state), and provides information for supporting safety driving to the object vehicle, according to the determination result. The driver of the object vehicle is able to safely make stop at the intersection or pass through the intersection, by performing driving operation on the basis of the provided information. <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

  The present invention relates to an information providing apparatus that provides information for safely stopping or passing a vehicle at an intersection, an information providing system including the information providing apparatus, and an information providing method.

  Many techniques are applied to safe driving assistance for vehicles, such as a technique relating to stop control for decelerating and stopping a running vehicle, and a technique relating to dilemma control considering signal switching time.

  For example, in order to stop the vehicle at the stop line before the intersection, the stop line is detected based on the image obtained from the camera, the vehicle is controlled by the vehicle speed or acceleration / deceleration information, and the vehicle is stopped at the stop line. Has been disclosed (see Patent Document 1 and Patent Document 2).

Also, from the communication device installed upstream of the intersection, the signal switching timing information of the intersection and the distance to the stop line (or the stop line position information) are acquired by the in-vehicle device, and the vehicle enters the dilemma zone. A safe speed providing method for providing a limit traveling speed for escape from the dilemma zone is disclosed (see Patent Document 3).
JP 2002-190100 A JP 2006-151014 A JP 2006-139707 A

  However, in the techniques of Patent Document 1 and Patent Document 2, since the stop line cannot be detected unless the vehicle approaches the stop line, the vehicle has reached the vicinity of the stop line when the stop line can be detected. The time margin for stopping the vehicle at the stop line is not sufficient. In order to stop the vehicle at the stop line, it is necessary to decelerate at a large deceleration, and there is a safety problem when there is a following vehicle.

  Patent Document 3 discloses a method of performing travel control that avoids a dilemma area or an option area from a position sufficiently before an intersection. However, the techniques of Patent Documents 1 to 3 require that an in-vehicle device that performs a driving support process on the vehicle side be installed, and the number of vehicles in which such an in-vehicle device is mounted is not so much as a real problem. Therefore, it is the current situation that safe driving is left to the judgment of the driver, and it is becoming more important to provide accurate information for supporting safe driving for the driver.

  In addition, in order to safely pass or stop at an intersection, there is a problem with the traveling behavior of each front vehicle that travels following the front of the host vehicle as well as the host vehicle. For example, when a forward vehicle traveling further ahead of the vehicle ahead of the host vehicle steps on the brake suddenly, the vehicle ahead cannot be viewed from the host vehicle, and only the situation of the vehicle ahead is viewed. Is not enough, and the brake operation may be delayed, resulting in a dangerous situation. In particular, depending on the switching timing of the signal display, it may be impossible to safely stop or pass the intersection.

  The present invention has been made in view of such circumstances, an information providing apparatus capable of providing information for safely stopping or passing at an intersection, an information providing system including the information providing apparatus, and an information providing method The purpose is to provide.

  The information providing apparatus according to the first invention relates to signal information including a yellow signal start time and a yellow signal time of a traffic light installed at an intersection, speed information of one or a plurality of vehicles existing on a road, and a distance from the intersection. An information providing device that provides driving support information related to driving support to a target vehicle based on vehicle information including information, and one or more that travels in front of the target vehicle and the target vehicle based on the vehicle information Whether or not each of the preceding vehicles specified by the specifying means is in a specific first state determined by a stop condition for stopping before the intersection and an entry condition for entering the intersection. First determination means for determining based on the distance and speed to the intersection of the preceding vehicle and the signal information, and the target vehicle specified by the specifying means is determined by stop conditions and entry conditions. A second determination unit that determines whether or not the vehicle is in a specific second state based on a result of determination by the first determination unit, and the driving support information according to a determination result by the second determination unit. Transmission means for transmitting to the target vehicle.

  According to a second aspect of the present invention, there is provided an information providing apparatus according to the first aspect of the invention, further comprising: a stop point specifying unit that specifies a stop point of the target vehicle according to the result determined by the first determination unit, When it is determined by the first determining means that any preceding vehicle is in the first state, the target vehicle is determined by a stop condition for stopping before the intersection or stop point and an entry condition for entering the intersection. Whether or not the vehicle is in the second state is determined based on the distance and speed to the stop point of the target vehicle and the signal information, and the transmission unit is configured to determine whether the target vehicle is the second determination unit. When it determines with it being in the said 2nd state, it is comprised so that the information for accelerating / decelerating this object vehicle may be transmitted.

  In the second invention, the information providing apparatus according to the third invention exists between the preceding vehicle and the target vehicle when the first determining means determines that any preceding vehicle is in the first state. A number specifying means for specifying the number of vehicles ahead is provided, and the stop point specifying means is configured to specify a point upstream from the intersection by a distance corresponding to the number specified by the number specifying means as a stop point. It is characterized by being.

  In the information providing apparatus according to a fourth aspect of the present invention, in the first aspect, when the second determination unit determines that each preceding vehicle is not in the first state by the first determination unit, the target vehicle is in front of the intersection. It is determined whether the vehicle is in a specific state determined by the stop condition for stopping at or the entry condition for entering the intersection based on the distance and speed to the intersection of the target vehicle and the signal information. The transmitting unit is configured to transmit information for accelerating / decelerating the target vehicle when the second determining unit determines that the target vehicle is in the second state. .

  According to a fifth aspect of the present invention, in any one of the second to fourth aspects, the target vehicle is in front of the stop or the intersection every time a predetermined time elapses or the target vehicle moves a predetermined distance. Stop limit speed calculation means for calculating a stop limit speed that can be stopped, and an entry limit speed at which the target vehicle can enter the intersection by the end of the yellow signal every time the predetermined time elapses or the target vehicle moves a predetermined distance. An approach limit speed calculating means for calculating, when the second determining means determines that the target vehicle is in the second state, the speed of the target vehicle and the stop limit speed or the approach limit speed The system is configured to transmit information for controlling the acceleration / deceleration of the target vehicle based on the above.

  According to a sixth aspect of the present invention, in any one of the second to fourth aspects, the target vehicle is in front of the stop point or the intersection every time a predetermined time elapses or the target vehicle moves a predetermined distance. Stop limit speed calculation means for calculating a stop limit speed that can be stopped, and an entry limit speed at which the target vehicle can enter the intersection by the end of the yellow signal every time the predetermined time elapses or the target vehicle moves a predetermined distance. Target speed calculation means for calculating the target speed every time the predetermined time elapses or the target vehicle moves a predetermined distance based on the speed of approach limit speed calculating means and the speed of the target vehicle and the stop limit speed or the limit speed of approach. And the transmission means responds to a difference between the speed of the target vehicle and the target speed when the second determination means determines that the target vehicle is in the second state. Wherein the Te is arranged to transmit the information for controlling the deceleration of the subject vehicle.

  An information providing apparatus according to a seventh invention is the information providing apparatus according to any one of the first to sixth inventions, comprising road information acquisition means for acquiring road information including a road gradient, wherein the first determination means and the second determination means Is configured to determine whether each preceding vehicle and the target vehicle are in the first state and the second state, respectively, based on the road information acquired by the road information acquisition means. To do.

  According to an eighth aspect of the present invention, there is provided an information providing apparatus according to any one of the first to seventh aspects, further comprising position information acquisition means for acquiring position information of the target vehicle, wherein the specifying means is position information of the target vehicle. On the basis of the vehicle information, the vehicle information is searched to identify the target vehicle and one or a plurality of forward vehicles traveling in front of the target vehicle.

  An information providing system according to a ninth aspect of the present invention comprises an roadside device that detects one or more vehicles existing on a road, and an information providing device according to any one of the first to eighth aspects of the invention. And the said information provision apparatus is provided with the acquisition means which acquires the vehicle information containing the information regarding the speed information of 1 or several vehicles, and the distance with an intersection based on the detection result detected by the said roadside apparatus. Features.

  An information providing method according to a tenth aspect of the present invention relates to signal information including a yellow signal start time and a yellow signal time of a traffic light installed at an intersection, speed information of one or a plurality of vehicles existing on a road, and a distance from the intersection. An information providing method for providing driving support information related to driving support to a target vehicle based on vehicle information including information, wherein the target vehicle and one or more traveling ahead of the target vehicle based on the vehicle information Whether or not the vehicle ahead is in a specific first state determined by a stop condition for stopping the vehicle ahead of the intersection and an entry condition for entering the intersection. Whether or not the specified target vehicle is in the specific second state determined by the stop condition and the entry condition based on the determination result. Constant and, and transmits the driving support information to the target vehicle in accordance with the determination result.

  In the first invention and the tenth invention, the information providing device is configured to detect the target vehicle and the target based on vehicle information including speed information of one or more vehicles existing on the road and information on a distance from the intersection. One or a plurality of forward vehicles traveling in front of the vehicle is specified. In this case, the information regarding the distance between the vehicle and the intersection may be the distance between the vehicle and the intersection, or the position of the vehicle and the intersection. In addition, the target vehicle and the preceding vehicle are included in the one or more vehicles. Based on the distance and speed to the intersection of each identified preceding vehicle and the signal information, the information providing device is determined by a stop condition in which each preceding vehicle stops before the intersection and an entry condition for entering the intersection. It is determined whether or not the vehicle is in a first state (for example, a dangerous driving state, that is, a dangerous driving region determined by the distance and speed to the vehicle intersection).

  The dangerous driving state includes, for example, a dilemma state (dilemma region) and an optional state (option region). The dilemma state is a state in which even if the vehicle tries to stop after displaying the yellow signal, it cannot stop before the intersection and cannot enter the intersection by the end of the yellow signal, and cannot stop or enter safely. In addition, the optional state is a state where the vehicle can stop before the intersection to stop after the yellow signal is displayed, and can enter the intersection before the end of the yellow signal, and the vehicle stops or enters depending on the characteristics of the driver. It is an unstable state that is different.

  The information providing apparatus determines whether or not the target vehicle is in a specific second state (for example, a dangerous driving state) based on the determination result of each preceding vehicle. For example, when it is determined that a certain forward vehicle is in a dangerous driving state (first state) among a plurality of forward vehicles, the other vehicle following the forward vehicle is assumed to stop before the intersection. When the vehicle has also stopped, it is determined whether or not the target vehicle can stop at the end of the front vehicle in the last row. Further, when it is determined that each preceding vehicle is not in a dangerous driving state, when all the preceding vehicles pass through the intersection, it is determined whether or not the target vehicle can stop at the intersection.

  The information providing apparatus transmits driving support information related to driving support to the target vehicle according to the determination result. For example, when the information providing device stops the target vehicle behind an intersection or the preceding vehicle in the last row in order to avoid a dangerous driving state, the information providing device uses information for decelerating the target vehicle at a moderate deceleration. When the target vehicle enters the intersection (when passing through the intersection), information for accelerating the target vehicle at a moderate acceleration is transmitted. In addition, if the current speed is maintained, information for maintaining the speed is transmitted when the vehicle can pass through the intersection without entering the dangerous driving area or when the vehicle can be safely stopped at the intersection. As a result, the information providing apparatus is a case where there are a plurality of forward vehicles in which the driver of the target vehicle travels following the front as well as the own vehicle while avoiding each forward vehicle from the dangerous traveling area. However, it is possible to safely stop or pass the vehicle at the intersection by safely avoiding the dangerous driving state (dangerous driving region).

  In the second invention, the information providing device specifies the stop point of the target vehicle according to the determination result of whether or not each preceding vehicle is in the first state (dangerous driving state). The stop point of the target vehicle is, for example, that the front vehicle stops at the intersection (for example, before the stop line) when it is determined that the preceding vehicle is in a dangerous driving state. It can be a point at a predetermined inter-vehicle distance from the tail of the vehicle in front of the row. When it is determined that any preceding vehicle is in a dangerous driving state, the information providing apparatus determines that the target vehicle is, for example, a yellow signal start time based on the speed of the target vehicle, the distance to the specified stop point, and the signal information. It is determined whether or not the vehicle is in a second state (for example, a dangerous driving state) determined by the stop condition for stopping before the intersection or stop point and the entry condition for entering the intersection at the end of the yellow signal, for example. . In this case, the stop condition is a condition in which the target vehicle stops before the intersection when all the preceding vehicles pass the intersection, and before any intersection when any preceding vehicle stops at the intersection. This is a condition for stopping before a point of a predetermined inter-vehicle distance from the tail of the front vehicle in the last row among the respective front vehicles to be stopped. Note that the distance to the stop point of the target vehicle can be obtained by specifying the stop point.

  When it is determined that the target vehicle is in a dangerous driving state, the information providing apparatus transmits information for accelerating / decelerating the target vehicle to the target vehicle. As a result, the driver of the target vehicle can safely stop or pass the vehicle at the intersection while avoiding the dangerous driving state (dangerous driving region) only by controlling the driving based on the provided information.

  In the third invention, when the information providing apparatus determines that any preceding vehicle is in the first state (dangerous driving state), the information providing apparatus determines whether the vehicle is in the dangerous driving state between the preceding vehicle and the target vehicle. The number of vehicles in front of the vehicle is specified, and a point upstream from the intersection is set as a stop point by a distance corresponding to the specified number of vehicles. For example, when five forward vehicles are following the target vehicle and traveling, it is determined that the first two vehicles are not in a dangerous driving state and can pass through an intersection safely. If it is determined that the preceding vehicle is in a dangerous driving state, the third preceding vehicle is assumed to stop at the intersection. In this case, it is assumed that the subsequent fourth and fifth forward vehicles are also stopped, and three forward vehicles are stopped in front of the target vehicle. Therefore, the stop point of the target vehicle can be specified as an upstream point by a distance corresponding to the vehicle length and the inter-vehicle distance for three vehicles from the intersection (for example, stop line). Thereby, even in a state where a plurality of front vehicles are traveling in front of the target vehicle, information for securely stopping the target vehicle behind the nearest front vehicle safely without colliding with the front vehicle is obtained. Can be provided.

  In the fourth invention, when the information providing device determines that each preceding vehicle is not in the first state (dangerous driving state), the information providing device determines the target vehicle based on the speed of the target vehicle, the distance to the intersection, and the signal information. Is, for example, a second condition determined by a stop condition that stops before the intersection or stop point at the start of the yellow signal and an entry condition that enters the intersection at the end of the yellow signal (for example, a dangerous driving state). It is determined whether or not. When it is determined that the target vehicle is in a dangerous driving state, the information providing apparatus transmits information for accelerating / decelerating the target vehicle to the target vehicle. As a result, the driver of the target vehicle can safely stop or pass the vehicle at the intersection while avoiding the dangerous driving state (dangerous driving region) only by controlling the driving based on the provided information.

  In the fifth aspect of the invention, the information providing apparatus is configured to start the yellow signal, for example, every time a predetermined time (control cycle, for example, 0.05 to 1 second) elapses or every time the target vehicle moves a predetermined distance. A stop point to stop later (for example, a point at a predetermined inter-vehicle distance from the tail of the front vehicle in the last row among the forward vehicles that stop at the intersection), or a stop speed limit that can stop before the intersection, and the target vehicle is a yellow signal The approach limit speed that can enter the intersection before the end of is calculated. When the information providing apparatus determines that the target vehicle is in the second state (dangerous driving state), the information providing apparatus controls the acceleration / deceleration of the target vehicle based on the speed of the target vehicle and the calculated stop limit speed or approach limit speed. Send information to the target vehicle. For example, when the information providing apparatus determines that the target vehicle is in a dangerous driving state, when the target vehicle is stopped at a stop point or an intersection, the stop limit calculated every time a predetermined time elapses or every time a predetermined distance moves Information for deceleration control of the target vehicle is transmitted so that the current target vehicle speed approaches the target speed with the speed as the target speed. In addition, when the information providing apparatus determines that the target vehicle is in a dangerous driving state, when the target vehicle enters the intersection, the information providing device sets the target limit speed calculated every time a predetermined time elapses or every predetermined distance of movement. Information for acceleration control of the target vehicle is transmitted to the target vehicle so that the current speed of the target vehicle approaches the target speed. As a result, the driver of the target vehicle gradually controls the speed of the target vehicle to the stop limit speed or the approach limit speed every predetermined time or every predetermined distance by controlling the driving based on the provided information. Therefore, it is possible to avoid a dangerous driving state safely and reliably with gentle acceleration / deceleration without sudden deceleration or rapid acceleration.

  In the sixth aspect of the invention, the information providing apparatus is configured to start the yellow signal, for example, every time a predetermined time (control cycle, for example, 0.05 to 1 second) elapses or each time the target vehicle moves a predetermined distance. A stop point to stop later (for example, a point at a predetermined inter-vehicle distance from the tail of the front vehicle in the last row among the forward vehicles that stop at the intersection), or a stop speed limit that can stop before the intersection, and the target vehicle is a yellow signal The approach limit speed that can enter the intersection before the end of is calculated. The information providing apparatus calculates a target speed every time a predetermined time elapses or every predetermined distance of movement based on the speed of the target vehicle and the calculated stop limit speed or approach limit speed. For example, when the speed difference between the current target vehicle speed and the calculated stop limit speed or approach limit speed is large, the target speed can be a value that is changed by a value smaller than the speed difference. This reduces the speed change when accelerating / decelerating. When the information providing apparatus determines that the target vehicle is in the second state (dangerous driving state), the information providing apparatus transmits information on acceleration / deceleration of the target vehicle to the target vehicle according to a difference between the speed of the target vehicle and the target speed. Send. For example, information for acceleration / deceleration of the target vehicle can be transmitted repeatedly until there is no difference. As a result, the driver of the target vehicle gradually controls the speed of the target vehicle to the stop limit speed or the approach limit speed every predetermined time or every predetermined distance by controlling the driving based on the provided information. Therefore, it is possible to avoid a dangerous driving state safely and reliably with gentle acceleration / deceleration without sudden deceleration or rapid acceleration.

In the seventh invention, the information providing device acquires road information including a road gradient, and based on the acquired road information, the stop condition and the intersection where each forward vehicle and the target vehicle stop at the intersection or stop point. It is determined whether or not the vehicle is in a dangerous driving state (first state, second state) determined by the entering condition. For example, the information providing apparatus can use a stop condition according to the standard deceleration when determining whether each preceding vehicle and the target vehicle are in a dangerous driving state. The standard deceleration only indicates a change in the speed of the vehicle, and is irrelevant to the operation content of the braking operation or the operation timing. The standard deceleration is slowed down after a time (for example, 2 seconds or more) that is sufficiently longer than the reflection reaction (0.5 seconds) from the stop judgment point, for example, when the vehicle starts braking instead of the yellow signal. This means the deceleration seen when performing an operation. In other words, this means the deceleration seen when aiming at a stop with a sufficient margin without sudden braking. Note that the timing at which the vehicle performs the speed control at the standard deceleration is not limited to a time sufficiently longer than the reflection reaction or the time of the reflection reaction. In general, the standard deceleration is approximately 2 to 3 m / s ² on a flat dry road surface. The information providing device can reduce the standard deceleration when each forward vehicle and the target vehicle travel downhill, and can increase the standard deceleration when traveling uphill, for example, according to the acquired road information. . In addition, the standard deceleration can be changed depending on whether the road surface is dry, wet, sandy, snowy, or depending on the tire wear state. This makes it possible to determine whether or not the vehicle is in a dangerous driving state with higher accuracy.

  In the eighth invention, the information providing apparatus acquires position information of the target vehicle. The information providing apparatus searches for vehicle information based on the acquired position information of the target vehicle, specifies the target vehicle among the vehicles indicated by the vehicle information, and selects one or more vehicles existing in front of the target vehicle. Identifies the vehicle ahead. Thereby, the position (for example, distance to an intersection) and speed of an object vehicle and each front vehicle can be calculated | required.

  In the ninth invention, the information providing device acquires vehicle information including speed information of one or a plurality of vehicles and information related to a distance from the intersection based on the detection result detected by the roadside device. Thereby, the vehicle information regarding the target vehicle which exists in the required range on a road, and the 1 or several front vehicle which drive | works the front can be acquired.

  In the present invention, even when there are a plurality of forward vehicles, the vehicle driver can safely stop or pass the vehicle at an intersection while avoiding a dangerous driving state (dangerous driving region). Accurate information can be provided.

Embodiment 1
Hereinafter, the present invention will be described with reference to the drawings illustrating embodiments. FIG. 1 is a schematic diagram showing an outline of information provision using the information providing apparatus according to the present invention, and FIG. 2 is a block diagram showing a configuration of the information providing apparatus according to the present invention. As shown in FIG. 1, a stop line is provided in front of the intersection where the traffic light is installed, and the information providing apparatus 10 is installed with an appropriate distance (for example, 200 m) along the road from the stop line. It is.

  The image sensors 20,... Are installed in a predetermined range A from the stop line to a predetermined distance on the upstream side at an appropriate distance. Each image sensor 20 is composed of, for example, a video camera and can image a vehicle traveling in a predetermined imaging area A1,. Each image sensor 20 can image all the vehicles in a predetermined range A (imaging area A1,...) On the road. Each image sensor 20 is connected to the information providing apparatus 10.

  Each image sensor 20 detects the position of the vehicle by extracting the vehicle head or tail of the vehicle based on the captured image data, and detects the speed of the vehicle based on image data at different imaging times. To do. Each image sensor 20 can also detect the vehicle type and color from the characteristics of the entire vehicle. The position of the vehicle calculated by each image sensor 20 is the position of the vehicle in the traveling direction of the road (for example, the distance from the stop line of the intersection), the position of the road in the width direction (for example, the lane, the distance from the left shoulder) ) Etc. Each image sensor 20 may be a monocular camera or a stereo camera. In the case of a stereo camera, the position and speed of the vehicle can be obtained with higher accuracy than a monocular camera. Further, instead of the image sensor 20, any other vehicle sensor may be used as long as it can detect the position and speed of the vehicle.

  Each image sensor 20 provides vehicle information including the detected distance from a predetermined point such as a stop line of the vehicle, traveling lane information or distance from the road shoulder, speed, vehicle type, vehicle color, imaging time, and the like. Output to. Note that the image data captured by each image sensor 20 can be output to the information providing apparatus 10, and vehicle information can be generated based on the image data received by the information providing apparatus 10. Each image sensor 20 repeats the detection process every time a predetermined time (for example, 0.1 second, 0.5 second, 1 second, etc.) elapses.

  The information providing apparatus 10 acquires the position of the target vehicle through communication with the target vehicle passing through the communication point R between the road and vehicle, searches for vehicle information based on the acquired position of the target vehicle, and is indicated by the vehicle information. The target vehicle and one or a plurality of front vehicles traveling in front of the target vehicle are specified from among the vehicles. Thereby, the information provision apparatus 10 can obtain | require the position (for example, distance to an intersection or a stop line, etc.) and speed of an object vehicle and each front vehicle.

  The information providing apparatus 10 determines whether each preceding vehicle and the target vehicle are in a first state and a second state (for example, dangerous driving state), respectively, and supports safe driving according to the determination result. Provide information to the target vehicle. The driver of the target vehicle can perform a driving operation based on the provided information, for example, to slowly decelerate and stop the vehicle at the intersection, or to gently accelerate and pass the intersection. In addition, the distance from the intersection of the installation position of the information provision apparatus 10 is an example, Comprising: It is not limited to this.

  The information providing apparatus 10 can be realized by, for example, an optical beacon, a radio wave beacon, DSRC (Dedicated Short Range Communication), and the like, as illustrated in FIG. 2, through the control unit 11 that controls the entire information providing apparatus 10 and the image sensor 20. A vehicle information acquisition unit 12 that acquires vehicle information, a communication unit 13 that communicates with a target vehicle that passes through a communication point R, a target vehicle and a forward vehicle that search for vehicle information and identify the target vehicle and each forward vehicle The traffic light of the traffic light is determined from the identification unit 14, the target vehicle and each preceding vehicle in a dangerous driving state (dangerous driving region) to be described later, a driving state determination unit 15, a signal control device or a traffic control device (not shown). An interface unit 16 for acquiring signal information and the like, a storage unit 17 for storing predetermined information, and the like are provided.

  The vehicle information acquisition unit 12 outputs the vehicle information input from each image sensor 20 to the target vehicle / front vehicle specifying unit 14. In addition, the structure which acquires the image data obtained by imaging a vehicle from each image sensor 20, and produces | generates vehicle information in the vehicle information acquisition part 12 may be sufficient.

  The communication unit 13 has a narrow area communication function for performing road-to-vehicle communication with the target vehicle. Moreover, since the communication part 13 communicates with the object vehicle which exists in the comparatively wide range from the point upstream of an intersection (for example, about 200m from an intersection) to an intersection, UHF band or VHF is used as middle-range communication. A wireless LAN function such as a band or a communication function such as mobile communication such as a mobile phone or PHS as a wide area communication, multiplex FM broadcasting, and Internet communication can be provided.

  The communication unit 13 establishes communication with the target vehicle when the target vehicle passes the communication point R, acquires the position of the communication point R as the position information of the target vehicle, and acquires the acquired position information of the target vehicle. Store in the storage unit 17. Further, when the target vehicle transmits the speed information of the own vehicle, the communication unit 13 receives the speed information and stores it in the storage unit 17. Since there may be a plurality of target vehicles passing through the communication point R, a vehicle ID for identifying each target vehicle can be used. In this case, the information providing apparatus 10 gives each target vehicle a provisional vehicle ID that is valid for a predetermined elapsed time from the time when the target vehicle has passed the communication point R or the predetermined travel distance from the communication point R, and other target vehicles. It can be distinguished from a vehicle.

  Further, the communication unit 13 transmits information for supporting safe driving to the target vehicle when the target vehicle passes the communication point R.

  The target vehicle / front vehicle specifying unit 14 searches for vehicle information indicating vehicles existing within the predetermined range A on the road based on the position of the target vehicle, and matches or approximates (closest) the vehicle to the position of the target vehicle. Is identified as the target vehicle. Further, the target vehicle / front vehicle specifying unit 14 specifies another vehicle positioned in front of the specified target vehicle as the front vehicle. Thereby, the target vehicle / front vehicle specifying unit 14 can obtain the position (for example, the distance to the intersection or stop line) and the speed of the target vehicle and each front vehicle.

  In this case, the search range is set according to the error of the vehicle position, the error of the time difference (time shift) between the current time point (for example, the time point when the position of the target vehicle is acquired) and the vehicle detection time point indicated by the vehicle information. decide. Details will be described later.

  The interface unit 16 has a wireless or wired communication function with an external device such as a signal control device or a traffic control device. The interface unit 16 acquires signal information (for example, yellow signal start time and yellow signal time) of a traffic light installed at the intersection from an external device, and stores the acquired signal information under the control of the control unit 11. To remember.

  The storage unit 17 stores necessary information in advance. The required information includes the above-described signal information, communication point R and stop line position information (for example, absolute position, distance from the communication point R to the stop line, etc.), standard deceleration, and the like. The storage unit 17 stores information acquired from the vehicle information acquisition unit 12 and the communication unit 13.

  The traveling state determination unit 15 determines whether the target vehicle and each preceding vehicle are based on the position (eg, distance to an intersection or stop line) and speed, signal information, a predetermined standard deceleration, and the like of the target vehicle and each preceding vehicle. It is determined whether or not the vehicle is in a dangerous driving area. In addition, the traveling state determination unit 15 calculates a stop limit speed, an approach limit speed, a target speed, a stepped target speed, and the like for avoiding the target vehicle from the dangerous traveling region according to the determination result. The stop limit speed, approach limit speed, target speed, and stepped target speed will be described later. Moreover, the driving | running | working state determination part 15 determines the information transmitted to a target vehicle according to a determination result.

The standard deceleration only indicates the speed change of the target vehicle, and is irrelevant to the operation content of the braking operation or the operation timing. The standard deceleration is slowed down after a time (for example, 2 seconds or more) that is sufficiently longer than the reflection reaction (0.5 seconds) from the stop judgment point, for example, when the vehicle starts braking instead of the yellow signal. This means the deceleration seen when performing an operation. In other words, this means the deceleration seen when aiming at a stop with a sufficient margin without sudden braking. In general, the standard deceleration is approximately 2 to 3 m / s ² on a flat dry road surface.

  Next, a method for searching for vehicle information to identify the target vehicle and the preceding vehicle will be described. FIG. 3 is an explanatory diagram showing a method for identifying the target vehicle and the preceding vehicle, and FIG. 4 is an explanatory diagram showing an example of vehicle information. FIG. 3A shows the distribution (positional relationship) of vehicles at the time of detection when each image sensor 20 detects all the vehicles in the predetermined range A on the road and detects the vehicles. . FIG. 3B shows the vehicle distribution at the current time point (for example, when the position of the target vehicle is acquired). The vehicle with the pattern is the target vehicle that passes through the communication point R, and the vehicle indicated by the broken line is another vehicle that can be recognized as a surrounding vehicle (including the preceding vehicle) after specifying the target vehicle. It is a vehicle. In addition, when using mid-range communication or wide-area communication instead of narrow-area communication, a vehicle with a pattern is a target vehicle that has transmitted its position to the information providing apparatus 10.

  As shown in FIG. 4, the vehicle information represents the distribution of vehicles at the time of vehicle detection shown in FIG. That is, the vehicle information includes information such as the vehicle order for each traveling lane from the stop line at the intersection, the distance to the stop line, the speed, the traveling lane, the vehicle type, and the vehicle color. In addition, although the distance to a stop line is based on the position of a vehicle tail, it is not limited to this. Moreover, vehicle information is an example and is not limited to this.

  Assuming that the true value of the position of the target vehicle at the current time point shown in FIG. 3B (for example, when the position of the target vehicle is acquired) is X, the estimated value is Xd, and the error (maximum error) of the vehicle position is Xmax. Xd−Xmax ≦ X ≦ Xd + Xmax. Also, considering the error of the time difference, assuming that the true value of the time difference (time shift) between the vehicle detection time point and the current time point is t, the estimated time difference value is td, and the time difference error (maximum error) is tmax, td −tmax ≦ t ≦ td + tmax. Here, tmax is an error in the estimated value of the time difference (time shift). Let V be the speed of the current time of the target vehicle.

  In this case, the vehicle search range is determined by Xd−Xmax + td · V−tmax · V ≦ X0 ≦ Xd + Xmax + td · V + tmax · V. If the time difference error is so small that it can be ignored, the vehicle search range may be determined only by the position error.

  When searching the vehicle information shown in the example of FIG. 4, for example, the true value X of the target vehicle at the current time point X = 200 m, the estimated value Xd = 196, the speed V = 72 km / h = 20 m / s, Position error Xmax = 5 m. Further, assuming that the time difference true value t = 1.2 s, the estimated value td = 1 s, and the time difference error tmax = 0.3 s, the vehicle search range is 205 ≦ X0 ≦ 227. In the example of FIGS. 3 and 4, vehicles C6 and C11 are specified, and one of them is a target vehicle and the other is a surrounding vehicle.

  When the position of the target vehicle is acquired by the information providing apparatus 10, when the travel lane on which the target vehicle travels or the distance from the road shoulder can be specified, for example, in the example of FIG. When it is determined that the vehicle is traveling in the lane 1, the vehicle C11 traveling in the lane 2 is excluded, and it is understood that the vehicle C6 is the target vehicle.

  In addition, an ultrasonic sensor, an in-vehicle camera, and the like may be mounted on the target vehicle, the inter-vehicle distance from the front vehicle traveling in front of the target vehicle may be calculated, and the calculated inter-vehicle distance may be transmitted to the information providing apparatus 10. . In this case, as shown in FIG. 3 or FIG. 4, the vehicles ahead of the same lane of the vehicles C6 and C11 are the vehicles C5 and C10, respectively, and the distance between the tails (vehicle heads) of the vehicles C5 and C6. Is 20 m, and the distance between the tails of the vehicles C10 and C11 is 30 m. Therefore, the distance between the vehicles C6 and C5 is 15 m, and the distance between the vehicles C11 and C10 is 25 m. On the other hand, if the inter-vehicle distance from the preceding vehicle transmitted from the target vehicle is, for example, 20 m, the inter-vehicle distance is 15 m when the vehicle length (for example, 5 m) of the target vehicle is subtracted from this. Therefore, it can be seen that the vehicle C11 is excluded and the vehicle C6 is the target vehicle.

  The target vehicle and each preceding vehicle can be specified as described above, the distance to the stop line of the target vehicle C6 at the time of vehicle detection is 220 m, the speed is 72 km / h, and the distance to the stop line of each of the front vehicles C1 to C5 is The distances are 120 m, 135 m, 150 m, 160 m, and 200 m, and the speeds are 55 km / h, 50 km / h, 65 km / h, 65 km / h, and 60 km / h. Note that the position and speed of the vehicle are information on the past time by a time difference (time shift) from the current time even if it is a short time. For this reason, the distance to the stop line of the target vehicle and each preceding vehicle can be corrected according to the speed of each vehicle. For example, at the current time, the distance to the stop line of the target vehicle approaches the stop line by a distance (20 m) corresponding to a speed of 20 m / s × time difference (1 s), so the distance to the stop line of the target vehicle at the current time Can be corrected to 200 m (220 m-20 m). The same applies to each front vehicle. When the time difference t is small enough to be ignored, t = 0 can be set.

  FIG. 5 is an explanatory diagram showing the concept of the dangerous driving area. In the figure, the horizontal axis indicates the distance from the stop line, and the vertical axis indicates the speed of the vehicle. The dangerous driving area is an area in which the fact that the vehicle is in a dangerous driving state (within the dangerous driving area) can be expressed by the speed of the vehicle and the distance to the stop line. The dangerous driving area includes a dilemma area and an option area. In the dilemma area, even if the vehicle tries to stop after the yellow signal is displayed, it cannot stop before the stop line (intersection) and cannot enter the stop line by the end of the yellow signal and cannot stop or enter safely. is there. In addition, the option area is a state where the vehicle can stop before the stop line in order to stop after the yellow signal is displayed, and can enter the stop line before the end of the yellow signal, and whether the vehicle stops due to the characteristics of the driver. Or, it is an unstable state where the approach is different.

  In FIG. 5, it is assumed that the current position of the vehicle with reference to the stop line is X, the current speed is V, and the time until the yellow signal starts is t (0 <t <signal cycle). If the vehicle speed does not change (Vy = V), the position Xy of the vehicle at the yellow signal start time can be obtained by Expression (1). Expression (1) is a determination condition E based on the current traveling state of the vehicle.

  On the other hand, a stop condition C in which the vehicle stops safely before the stop line and waits for a signal can be obtained by Expression (2). Here, g is a standard deceleration of the vehicle, and α is a time delay until the driver steps on the brake after the yellow signal. That is, the stop condition C is a curve indicating the limit of the vehicle speed at which the vehicle can stop at the stop line and the distance to the stop line if the vehicle decelerates at the standard deceleration at the start of the yellow signal.

  The entry condition L in which the vehicle enters the stop line at the end of the yellow signal and does not meet the signal waiting can be obtained by Expression (3). Here, Ty is the yellow signal time. In other words, the entry condition L is defined as the vehicle speed and the distance to the stop line that can reach the stop line within the yellow signal time (before the red signal) when the vehicle turns yellow. It is a straight line indicating the limit.

  The dilemma region is a region that does not satisfy both of the equations (2) and (3), and the option region is a region that satisfies both of the equations (2) and (3). In the figure, the lower area of the dangerous driving area is an intersection stop area, which can be safely stopped before the stop line. In addition, the upper area of the dangerous traveling area is an intersection passing area, and is an area where the user can safely enter (pass) the stop line.

  The information providing apparatus 10 determines information to be provided to the vehicle based on the determination result determined by the traveling state determination unit 15.

  FIG. 6 is an explanatory diagram showing an example of the relationship between the preceding vehicle entering the dangerous driving area and the number of stopped vehicles, and FIG. 7 is an explanatory diagram showing an example of the dangerous driving area determination of the preceding vehicle and the target vehicle. As shown to Fig.6 (a), suppose that each front vehicle C1-C5 is drive | working ahead of the object vehicle. When it is determined whether or not each preceding vehicle enters the dangerous traveling area, the preceding vehicles C1, C2, and C3 are not in the dangerous traveling area and are in the intersection passing area where the vehicle can safely pass through the intersection. To do.

  On the other hand, it is assumed that the forward vehicle C4 enters the dangerous driving area and stops before the intersection (stop line). In this case, as shown in FIG. 6 (b), the front vehicle C4 determined to enter the dangerous traveling area and the front vehicle C5 traveling following the front vehicle C4 stop before the stop line. . Therefore, when determining whether or not the target vehicle enters the dangerous driving area, in order to stop safely before the intersection, the lengths of the front vehicles C4 and C5 for two vehicles from the stop line are stopped. It is necessary to make a determination based on whether or not the target vehicle can be stopped at the stop point Xs1 in consideration of the inter-vehicle distance.

  In FIG. 7, the horizontal axis indicates the distance from the stop line, and the vertical axis indicates the speed of the vehicle. It can be determined in the same manner as in the example of FIG. 5 whether or not the preceding vehicle is in the dangerous driving area. In FIG. 7, it is assumed that the current position of the preceding vehicle with reference to the stop line is Xp, the current speed is V, and the time until the yellow signal starts is t (0 <t <signal cycle). The position Xpy of the preceding vehicle at the yellow signal start time can be obtained in the same manner as Expression (1) if the speed of the preceding vehicle does not change (Vy = V). Expression (1) is a determination condition E based on the current traveling state of the preceding vehicle.

  On the other hand, the stop condition Cp in which the preceding vehicle stops safely before the stop line and waits for a signal is obtained in the same manner as in the equation (2). Here, g is a standard deceleration of the vehicle, and α is a time delay until the driver steps on the brake after the yellow signal. That is, the front vehicle stop condition Cp is a curve indicating the speed of the front vehicle that can stop at the stop line and the limit of the distance to the stop line if the front vehicle decelerates.

  An entry condition Lp, which is a condition in which the preceding vehicle enters the stop line at the end of the yellow signal and does not wait for the signal, is obtained in the same manner as in Expression (3). Here, Ty is the yellow signal time. The approach condition Lp of the preceding vehicle is that the speed of the preceding vehicle and the stop line that can reach the stop line within the yellow signal time (before becoming a red signal) when the preceding vehicle turns yellow while driving. It is a straight line indicating the limit of the distance. As shown in FIG. 7, the dilemma area and option area of the preceding vehicle are areas surrounded by the stop condition Cp and the entry condition Lp.

  When the preceding vehicle is in the dangerous driving area, the dangerous driving area of the target vehicle can be determined as follows. First, when a preceding vehicle stops at an intersection to avoid a dangerous driving area, the target vehicle must also stop before the intersection and behind the preceding vehicle. From the curve represented by the stop condition C of the target vehicle If it is in the lower area, the dangerous driving area can be avoided. That is, the area above the curve represented by the stop condition C of the target vehicle is a dangerous traveling area that cannot be stopped at the intersection (behind the preceding vehicle). Here, the target vehicle can be set to a stop point Xs1 (in the example of FIG. 6, the point on the upstream side by a distance corresponding to the vehicle lengths of the front vehicles C4 and C5 and the inter-vehicle distance at the time of stop with reference to the stop line. The stop condition C that stops safely before waiting for a signal and waits for a signal is obtained by equation (4). Here, g is a standard deceleration of the target vehicle, and α is a time delay until the driver steps on the brake after turning yellow. D is the distance between the stop line and the stop point Xs1. The stop condition C is a curve indicating the speed of the target vehicle that can stop at the stop line (behind the preceding vehicle) and the limit of the distance to the stop line if the target vehicle decelerates.

  The target vehicle can pass through the intersection on the premise that there is no preceding vehicle, and the entry condition of the target vehicle is the same as the entry condition Lp of the preceding vehicle. Therefore, if the target vehicle is not in the area below the straight line represented by the entry condition Lp, there is a possibility that the intersection will be crossed. Therefore, when the preceding vehicle stops at the intersection, the traveling area where there is a possibility of a collision. It is. That is, the area above the straight line represented by the entry condition Lp of the preceding vehicle is a dangerous traveling area that cannot pass through the intersection.

  From the above, the dangerous traveling area of the target vehicle is the area above the curve represented by the stop condition C of the target vehicle, and the entry condition Lp of the preceding vehicle (this is equal to the entry condition of the target vehicle). The region above the straight line represented by

  The determination as to whether or not the target vehicle is in the dangerous traveling area can be made in the same manner as in the example of FIG. It is assumed that the current position of the target vehicle with reference to the stop point Xs1 is X, the current speed is V, and the time until the yellow signal starts is t (0 <t <signal cycle). If the speed of the target vehicle does not change (Vy = V), the position Xy of the target vehicle at the yellow signal start time can be obtained by Expression (1). Expression (1) is a determination condition E based on the current traveling state of the target vehicle.

  FIG. 8 is an explanatory diagram showing another example of the relationship between the preceding vehicle entering the dangerous driving area and the number of stopped vehicles. Moreover, FIG. 9 is explanatory drawing which shows the other example of dangerous driving | running | working area | region determination of a preceding vehicle and an object vehicle. As shown in FIG. 8A, it is assumed that the respective forward vehicles C1 to C5 are traveling ahead of the target vehicle. When it is determined whether or not each forward vehicle enters the dangerous traveling area, it is assumed that the forward vehicle C1 is not in the steep traveling area and is in the intersection passing area where it can safely pass through the intersection.

  On the other hand, it is assumed that the forward vehicle C2 enters the dangerous driving area and stops before the intersection (stop line). In this case, as shown in FIG. 8 (b), the front vehicle C2 determined to enter the dangerous driving area and the front vehicles C3, C4, C5 traveling following the front vehicle C2 stop before the stop line. Will do. Therefore, when determining whether or not the target vehicle enters the dangerous driving area, in order to safely stop the vehicle before the intersection, the vehicles of the front vehicles C2, C3, C4, and C5 for four vehicles from the stop line It is necessary to make a determination based on whether or not the target vehicle can be stopped at the stop point Xs2 in consideration of the inter-vehicle distance when stopping.

  In FIG. 9, the current position of the preceding vehicle with reference to the stop line is Xp, the current speed is V, and the time until the yellow signal starts is t (0 <t <signal cycle). The position Xpy of the preceding vehicle at the yellow signal start time can be obtained in the same manner as Expression (1) if the speed of the preceding vehicle does not change (Vy = V). Expression (1) is a determination condition E based on the current traveling state of the preceding vehicle. On the other hand, the stop condition Cp in which the preceding vehicle stops safely before the stop line and waits for a signal is obtained in the same manner as the equation (2).

  An entry condition Lp, which is a condition in which the preceding vehicle enters the stop line at the end of the yellow signal and does not wait for the signal, is obtained in the same manner as in Expression (3). Here, Ty is the yellow signal time. The approach condition Lp of the preceding vehicle is that the speed of the preceding vehicle and the stop line that can reach the stop line within the yellow signal time (before becoming a red signal) when the preceding vehicle turns yellow while driving. It is a straight line indicating the limit of the distance. As shown in FIG. 9, the dilemma area and the option area of the preceding vehicle are areas surrounded by the stop condition Cp and the entry condition Lp.

  When the preceding vehicle stops at the intersection to avoid the dangerous driving area, the target vehicle needs to stop before the intersection and behind the preceding vehicle, and is below the curve represented by the stop condition C of the target vehicle. If it is in the area, it is possible to avoid the dangerous driving area. That is, the area above the curve represented by the stop condition C of the target vehicle is a dangerous traveling area that cannot be stopped at the intersection (behind the preceding vehicle). Here, the target vehicle is a stop point Xs2 (in the example of FIG. 8, a point on the upstream side by a distance corresponding to the vehicle length of the preceding vehicles C2, C3, C4, C5 and the inter-vehicle distance at the time of stop with reference to the stop line. The stop condition C that stops safely and waits for a signal is obtained by Equation (4).

  The target vehicle can pass through the intersection on the premise that there is no preceding vehicle, and the entry condition of the target vehicle is the same as the entry condition Lp of the preceding vehicle. Therefore, if the target vehicle is not in the area below the straight line represented by the entry condition Lp, there is a possibility that the intersection will be crossed. Therefore, when the preceding vehicle stops at the intersection, the traveling area where there is a possibility of a collision. It is. That is, the area above the straight line represented by the entry condition Lp of the preceding vehicle is a dangerous traveling area that cannot pass through the intersection.

  From the above, the dangerous traveling area of the target vehicle is the area above the curve represented by the stop condition C of the target vehicle, and the entry condition Lp of the preceding vehicle (this is equal to the entry condition of the target vehicle). The region above the straight line represented by Whether or not the target vehicle is in the dangerous driving area is determined until the current position of the target vehicle with reference to the stop point Xs2 is X, the current speed is V, and the yellow signal starts, as in the example of FIG. Is t (0 <t <signal cycle). If the speed of the target vehicle does not change (Vy = V), the position Xy of the target vehicle at the yellow signal start time can be obtained by Expression (1). Expression (1) is a determination condition E based on the current traveling state of the target vehicle.

  As illustrated in FIG. 6 to FIG. 9, when a plurality of front vehicles are traveling ahead of the target vehicle, the target vehicle is placed in the dangerous travel region depending on which front vehicle enters the dangerous travel region. The condition of whether or not to enter, more specifically, the stop condition is different. Therefore, by determining the stop number of the target vehicle by specifying the number of stops of the front vehicle that stops on the stop line according to which of the preceding vehicles enters the dangerous driving area, the target vehicle is determined to be in the dangerous driving area. It is possible to accurately determine whether or not to enter the vehicle, and it is possible to safely stop or pass through the intersection before the intersection.

  FIG. 10 is an explanatory diagram illustrating another example of the dangerous traveling region determination for the preceding vehicle and the target vehicle. FIG. 10 illustrates a case where each preceding vehicle is highly likely to pass through an intersection without entering the dangerous driving area, and the target vehicle may enter the dangerous driving area. That is, the current position of the preceding vehicle with reference to the stop line is Xp, the current speed is V, and the time until the yellow signal starts is t (0 <t <signal cycle). The state of the vehicle ahead (position Xpy, speed Vy) at the start time of the yellow signal is outside the dangerous traveling area (intersection passing area), and can safely enter the stop line (pass the stop line).

  On the other hand, since there is no forward vehicle that stops at the intersection, the stop position of the target vehicle is a stop line. Let X be the current position of the target vehicle with reference to the stop line, V be the current speed, and t be the time until the start of the yellow signal. As shown in FIG. 10, if the state (position Xy, speed Vy) of the target vehicle at the yellow signal start time is in the dangerous driving area, information for avoiding the dangerous driving area is provided.

  Next, speed control for avoiding the target vehicle from the dangerous traveling area will be described. Each time the information providing apparatus 10 passes a predetermined time (control cycle, for example, 0.05 to 1 second) or the target vehicle moves a predetermined distance, the information providing apparatus 10 stops the stop ( For example, out of the forward vehicles that stop at the intersection, a point at a predetermined distance from the tail of the preceding vehicle in the last row), or a stop limit speed at which the vehicle can stop before the intersection, or the target vehicle is at the intersection by the end of the yellow signal Calculate the approach limit speed that can be entered.

  When the information providing apparatus 10 determines that the target vehicle is in the dangerous driving region, the information providing apparatus 10 controls the acceleration / deceleration of the target vehicle based on the speed of the target vehicle and the calculated stop limit speed or approach limit speed to avoid the dangerous driving region. To send information to the target vehicle. For example, when the information providing apparatus 10 determines that the target vehicle is in a dangerous driving state, when the target vehicle is stopped at a stop point or an intersection, the stop calculated at every elapse of a predetermined time or every movement of a predetermined distance Information for deceleration control of the target vehicle is transmitted so that the current target vehicle speed approaches the target speed with the limit speed as the target speed.

  Further, when the information providing apparatus 10 causes the target vehicle to enter the intersection, the speed of the current target vehicle is brought close to the target speed by using the approach limit speed calculated every time a predetermined time elapses or every predetermined distance of movement as the target speed. Therefore, information for acceleration control of the target vehicle is transmitted to the target vehicle. The target speed is a speed that is reached in order to decelerate the target vehicle with a slow deceleration and avoid (escape) it from the dangerous traveling area.

  For example, the target speed Vs can be calculated as follows. When it is determined that there is a possibility that the target vehicle may enter the dangerous driving area when the preceding vehicle stops at the intersection to avoid the dangerous driving area, Xy in Expression (1) and Expression (4) A speed Vs calculated by solving V as a variable is set as a target speed. When the formula (1) is smaller than the formula (4), the target speed Vs is expressed by the formula (5), and is obtained as the speed at the point P in FIGS. In Expression (5), X is a distance based on the position at the end of stop of the preceding vehicle when the preceding vehicle stops at the intersection.

  When it is determined that there is a possibility that the target vehicle may enter the dangerous driving area in a range where the lower limit value of the expression (4) is smaller than the expression (1), the above expressions (1) and ( In 3), the lower limit value of the speed Vs calculated by solving Xy and V as variables is set as the target speed. The target speed Vs is expressed by Expression (6).

  When the difference between the target vehicle speed and the target speed Vs is large, the stepped target speed Vr has a large speed change, so that a slow deceleration cannot be performed. This is a provisional target value between the target speed Vs and is calculated each time a predetermined time (control cycle, for example, 0.05 to 1 second) elapses.

  The stepwise target speed Vr can be calculated so as to reduce the speed change during the control cycle when decelerating. For example, when the current speed V is larger than the target speed Vs, the difference is reduced by a value ΔV = (V−Vs) / n divided by n, and the target speed Vs is tracked so that the speed change becomes minute. Can be made. In this case, the stepwise target speed Vr is Vr = V−Δv = V− (V−Vs) / n. In this way, by adjusting Δv, the target vehicle can be decelerated at a gradual deceleration so as not to feel the deceleration of the subsequent vehicle. Can be prevented and safety is improved.

  Further, as a method of calculating the stepwise target speed Vr, using a predetermined threshold β (for example, β = 1 km / h), when V−Vs ≧ β, Vr = V−β and V−Vs <β In this case, Vr = Vs can be obtained.

  The driver of the target vehicle can control the operation based on the provided information, so that the speed of the target vehicle gradually approaches the stop limit speed or the approach limit speed every predetermined time or every predetermined distance of movement. It is possible to safely and reliably avoid dangerous driving conditions with gentle acceleration / deceleration without sudden deceleration or rapid acceleration.

  In the above-described example, it is possible to determine the dangerous traveling region by determining the standard deceleration g based on road information including the road gradient. For example, when the road gradient is 0, the equation (2) is used. When the road gradient is considered, the equation (7) and the equation (9) are substituted for the equation (2), or the equation (4) is substituted. Equation (8) and Equation (9) may be used. Here, g is a standard deceleration, h is a gradient coefficient that is a unique constant for each vehicle type, and γ is a gradient (unit is degrees, climb is positive).

  As a result, for example, when the target vehicle travels on a downhill, the deceleration control amount is increased by the amount of force applied on the downward slope so that the standard deceleration does not decrease (h · tan | γ |, γ <0) When traveling on an uphill, the deceleration control amount is decreased (−h · tan | γ |, γ <0) by the amount of force applied on the ascending slope so that the standard deceleration does not become too large. Thereby, the stop or approach of the vehicle can be controlled with higher accuracy.

  The information providing apparatus 10 provides information for decelerating the target vehicle and stopping it at the stop point in order to avoid the target vehicle from the dangerous traveling area. For example, when the vehicle ahead stops at the stop line, “Because xx vehicles stop at the intersection, please drive at a reduced speed.” “There is a possibility that the vehicle ahead will suddenly stop at a red light. Because there is, it is dangerous if you do not drive at a speed of about xx km / h ”,“ There is a possibility that the xx vehicles ahead will stop suddenly with a red light, so it is dangerous if you do not drive at about xx km / h ” There is a possibility that the xx vehicles ahead will stop at a red light, so please reduce the speed. "

  Also, when the vehicle ahead passes through the intersection, “Reduce the speed because it turns red”, “If you do not drive at a reduced speed, you may be bumped at the intersection”, “Run at a reduced speed Otherwise, you may collide at the intersection ”,“ If you do not drive at a speed of about xxkm / h, you may be bumped at the intersection ”,“ If you do not drive at about xxkm / h, you will be bumped at the intersection Information may be provided.

  Further, the information providing apparatus 10 provides information for accelerating the target vehicle and passing the intersection so as to avoid the target vehicle from the dangerous traveling area. For example, “Because it becomes a red light, please pass the intersection quickly”, “If you do not drive at a slightly higher speed, you may collide at the intersection”, “If you do not drive at a slightly higher speed, you can collide at the intersection "If you do not drive at a speed of about xxkm / h, there is a possibility of a rear-end collision at the intersection", "If you do not drive at about xxkm / h, you may have a rear-end collision at the intersection" Information can be provided.

  In addition, when the target vehicle is not in the dangerous traveling area, the information providing apparatus 10 provides information indicating, for example, “If the current speed is maintained, the intersection can be safely passed”. If there is no possibility of entering the dangerous driving area, no information need be provided. Further, when the state quantity (speed, position) of the target vehicle at the start of the yellow signal is close to the dangerous driving area (close to the stop condition C and the entry condition L), for example, “speed for safely passing the intersection” It is also possible to provide information such as “Please drive without lowering”.

  For example, if the target vehicle is in the dilemma area, the speed of the target vehicle is higher than the stop limit speed (speed on stop condition C). If the speed is close to the condition L), information for acceleration can be provided, and if the speed is closer to the stop limit speed than the approach limit speed, information for deceleration can be provided. In place of the stop limit speed and the approach limit speed, the intersection of the straight line parallel to the vertical axis from the point representing the state quantity (speed Vy, position Xy) of the target vehicle and the entry condition L, and the vertical axis from the above point Acceleration or deceleration may be determined by the distance between each of the intersections of the parallel straight line and the stop condition C and the point.

  Note that the determination of whether to stop the target vehicle at the intersection or pass through the intersection is not limited to the above example. For example, when the target vehicle is expected to enter the dilemma area, the speed difference between the speed of the target vehicle and the entry limit speed is 1/2 of the speed difference between the speed of the target vehicle and the stop limit speed. Or, when the speed is less than 1/3, the vehicle is allowed to pass through the intersection, and when the approach limit speed is equal to or higher than a predetermined speed upper limit value, the target vehicle is stopped at the intersection. The speed difference between the target vehicle speed and the stop limit speed is a predetermined value ( 10 km / h etc.) or less) at the intersection.

  When the speed of the vehicle (the target vehicle or the preceding vehicle) is within a predetermined range, the information providing apparatus 10 can determine whether or not the vehicle is in a dangerous traveling area and can provide information according to the determination result. For example, it is considered that a vehicle traveling at a relatively low speed (for example, 20 km / h) can safely stop at an intersection and is less likely to enter a dangerous traveling area. Is unnecessary. In addition, since a vehicle traveling at a relatively high speed (for example, 100 km / h) is considered to be an emergency vehicle or a runaway vehicle, it is not necessary to provide information based on the determination result of the dangerous driving state. It is. Therefore, when the vehicle speed is within a predetermined range, the dangerous driving state is determined and information is provided. Alternatively, when the regulation speed is exceeded, acceleration control may not be instructed, and only deceleration control may be instructed. As a result, it is possible to reduce the processing load by excluding vehicles that do not need to be determined as dangerous driving areas. In addition, the above-mentioned range is an example, Comprising: It is not limited to this.

  When the information providing apparatus 10 determines whether the vehicle (the target vehicle or the preceding vehicle) is in a dangerous driving area, depending on the switching timing of the traffic signal installed at the intersection, it can be safely stopped at the intersection or the intersection can be safely There are times when it is clear that you can pass through. For example, if the time until the start of the yellow signal is relatively short, the vehicle switches to the yellow signal when it reaches a point sufficiently upstream of the stop line, so it can be safely crossed without entering the dangerous driving area. It is possible to stop. Also, if the time until the start of the yellow signal is relatively long, it will still be green when the vehicle passes the stop line, so it can safely pass through the intersection without entering the dangerous driving area. Is possible. Therefore, the information providing apparatus 10 can determine whether or not the vehicle is in a dangerous driving area when the time until the yellow signal start time is within a predetermined range.

  The speed of the intersection of the straight line represented by the entry condition L and the curve represented by the stop condition C is V0. For example, if standard deceleration g = 3 m / s, brake time delay α = 0.5 s, Ty = 3 s, V0 = 54 km / h. Further, when the vehicle speed is low, there is a high possibility that the vehicle can be safely stopped at the intersection, and when the vehicle speed is high, there is a high possibility that the vehicle can safely pass through the intersection. Therefore, the speed range of the vehicle is set to V1 or more and V2 or less. For example, the speed V1 is 18 km / h, and the speed V2 is 108 km / h.

  If the speed of the vehicle is relatively low and less than V0, whether the vehicle is in the option area is a problem. Further, when the vehicle speed is relatively high and greater than V0, it is a problem whether the vehicle is in a dilemma region.

  In this case, a vehicle having a vehicle speed of V1 or more becomes an intersection passing region in a time zone (time t until the start of the yellow signal) that satisfies the conditions of Expressions (10) and (11).

  On the other hand, a vehicle whose vehicle speed is V2 or less becomes an intersection stop region in a time zone (time t until the start of a yellow signal) that satisfies the conditions of Expressions (12) and (13).

  In the above equations, V1 = 18 km / h (5 m / s), V2 = 108 km / h (30 m / s), α = 0.5 s, g = 3 m / s are substituted, and the vehicle current position X = 200 m Then, the time t satisfying the expressions (10) to (13) is t> 59 s and t <17 s. That is, it is only necessary to determine the dangerous driving area of the vehicle and provide information based on the determination result only when the time t until the start of the yellow signal is in a time zone of 17 ≦ t ≦ 59. Further, for example, if the current position X of the vehicle is 300 m, it is only necessary to determine the dangerous driving area of the vehicle and provide information based on the determination result only in the time zone of 10 ≦ t ≦ 39. Therefore, if the signal period is 2 minutes and the green light time is slightly less than half, if the red light is present at the time of determination of the dangerous driving area, no information is provided. As a result, vehicles that do not require information provision can be excluded, and the processing load can be reduced.

  Moreover, the range of time t until the yellow signal start time for providing information can be set according to the current position of the vehicle (distance from the vehicle to the intersection). As described above, when the distance between the vehicle and the intersection is relatively short, the range of time t is set small, and when the distance between the vehicle and the intersection is relatively long, the range of time t is set large. Thereby, according to the distance to the intersection of vehicles, an object vehicle can be restricted and processing load can be reduced further. In the above-described example, the avoidance of the dangerous traveling area based on the yellow start time is shown. However, for example, the yellow signal time Ty is intentionally reduced for the purpose of giving a margin without passing by the yellow signal. The stop line is made to pass with a green signal with the time just before the yellow signal time of the yellow signal start time as a reference, or the equations (1) to (4) are corrected to widen the dangerous driving area, etc. Various formulas, constants, and the like may be added or changed without departing from the concept of the present application.

  11 and 12 are flowcharts showing a processing procedure of the information providing apparatus 10. The information providing apparatus 10 (hereinafter referred to as the apparatus 10) acquires vehicle information (S11), determines whether or not there is communication with the target vehicle (S12), and if there is no communication (NO in S12), the process of step S11 The vehicle information is repeatedly acquired and waits until there is communication with the target vehicle.

  When there is communication with the target vehicle (YES in S12), the device 10 acquires the position of the target vehicle (S13) and acquires signal information (S14). In this case, the position of the target vehicle can be the position of the communication point R.

  The device 10 searches for vehicle information based on the acquired position of the target vehicle, and identifies the target vehicle and one or more forward vehicles existing ahead of the target vehicle from the vehicles indicated by the vehicle information (S15). ). Thereby, the apparatus 10 can grasp | ascertain the position (distance to a stop line) and speed which are the amount of states of a target vehicle and each front vehicle which drive ahead of the target vehicle. The device 10 calculates the dangerous traveling area of each preceding vehicle determined by the entry condition L and the stopping condition C (S16), and whether any preceding vehicle enters the dangerous traveling area based on the determination condition E. It is determined whether or not (S17).

  When any of the preceding vehicles enters the dangerous driving area (YES in S17), the device 10 determines that the preceding vehicle that enters the dangerous driving area stops before the stop line, and stops before the stop line. Is identified (S18). The device 10 specifies a stop point of the target vehicle according to the number of front vehicles that stop before the stop line (S19), and calculates a dangerous travel area of the target vehicle (S20).

  The device 10 determines whether or not the target vehicle enters the dangerous driving area (S21). When the target vehicle enters the dangerous driving area (YES in S21), the state quantity (position of the target vehicle at the start of the yellow signal) And speed), stop condition C, approach condition L, etc., it is determined whether to stop the target vehicle at the intersection or pass through the intersection (S22).

  The device 10 determines information to be provided to the target vehicle (S23), and transmits the determined information to the target vehicle (S24). In this case, information corresponding to stopping at the intersection or passing through the intersection is determined and transmitted. When the target vehicle does not enter the dangerous driving area (NO in S21), the apparatus 10 performs the process of step S23. In this case, for example, information indicating that the vehicle travels while maintaining the speed of the target vehicle is provided.

  The apparatus 10 determines whether or not there is an instruction to end the process (S25). If there is no instruction (NO in S25), the process from step S11 is continued, and if there is an instruction (YES in S25), the process ends. .

  On the other hand, if any of the preceding vehicles does not enter the dangerous traveling area, that is, if any preceding vehicle does not enter the dangerous traveling area (NO in S17), the device 10 causes all the preceding vehicles to enter the intersection passing area. It is determined whether or not there is (S26). If all the preceding vehicles are in the intersection passing area (YES in S26), apparatus 10 performs the process of step S20. In this case, the stop point of the target vehicle is the stop line position.

  If all the preceding vehicles are not in the intersection passing area, that is, if all the preceding vehicles are in the intersection stopping area (NO in S26), the apparatus 10 performs the process of step S23. In this case, the information to be provided is, for example, “You can stop at the intersection if you follow the preceding vehicle”, “Please follow the preceding vehicle and stop at the intersection”, and the like.

Embodiment 2
In the first embodiment, when the target vehicle passes through a predetermined passing point, it is determined whether or not the target vehicle and each preceding vehicle enter the dangerous driving area, and driving assistance is provided according to the determination result. The information was transmitted to the target vehicle. That is, the driver of the target vehicle is provided with information when passing through a predetermined passing point. The method of providing information is not limited to this, and the information can be repeatedly provided when the target vehicle travels toward the intersection.

  FIG. 13 is a schematic diagram showing an outline of information provision according to the second embodiment. In the second embodiment, the information providing apparatus 10 can communicate with vehicles in a predetermined range A (imaging area A1,...) On the road using a mid-range communication function or a wide-area communication function instead of the narrow-area communication function. It has a communication area M. A positioning device such as a navigation system and a GPS receiver is mounted on the target vehicle in advance, and the position of the host vehicle is measured every moment, and the positioning result is repeatedly transmitted to the information providing device 10. The transmission timing for repeated transmission may be changed according to the distance between the target vehicle and the intersection, the speed of the target vehicle, and the like. In this case, it is possible to determine whether or not the target vehicle and the preceding vehicle are in the dangerous traveling area even immediately before or after the start of the yellow signal. Further, in order to identify a large number of target vehicles, the use of the vehicle ID assigned to each target vehicle is the same as in the first embodiment.

  Based on the position information repeatedly transmitted from the target vehicle, the information providing device 10 determines the dangerous traveling area each time, calculates the target speed or the stepwise target speed, and based on the determination result and the calculation result Information to be determined can be repeatedly transmitted to the target vehicle.

  Alternatively, the position information is transmitted from the target vehicle only once to the information providing apparatus 10, and the information providing apparatus 10 determines the dangerous driving area, calculates the target speed or the stepped target speed based on the received position information. It is also possible to repeatedly perform the measurement at predetermined time intervals and repeatedly transmit the result to the target vehicle. In this case, the transmission from the target vehicle to the information providing apparatus 10 is performed only once, and thereafter, only the transmission from the information providing apparatus 10 to the target vehicle is repeated, so that the communication amount can be reduced as a whole.

  In this case, the speed of the host vehicle can be transmitted from the target vehicle to the information providing apparatus 10. As a result, the target vehicle can be identified more accurately.

  14 and 15 are flowcharts showing a processing procedure of the information providing apparatus 10 according to the second embodiment. The apparatus 10 acquires vehicle information (S31), determines the presence / absence of communication with the target vehicle (S32), and if there is no communication (NO in S32), continues the processing from step S31 and repeatedly acquires vehicle information. And waits until there is communication with the target vehicle.

  When there is communication with the target vehicle (YES in S32), the apparatus 10 acquires the position of the target vehicle (S33) and acquires signal information (S34). In this case, the target vehicle travels while measuring the position of the host vehicle, and transmits the position determined at any time to the information providing apparatus 10. Note that the target vehicle can also transmit the speed of the host vehicle.

  The device 10 searches for vehicle information based on the acquired position of the target vehicle, and identifies the target vehicle and one or more forward vehicles existing ahead of the target vehicle from the vehicles indicated by the vehicle information (S35). ). Thereby, the apparatus 10 can grasp | ascertain the position (distance to a stop line) and speed which are the amount of states of a target vehicle and each front vehicle which drive ahead of the target vehicle. The device 10 calculates the dangerous traveling area of each preceding vehicle determined by the entry condition L and the stopping condition C (S36), and whether any of the preceding vehicles enters the dangerous traveling area based on the determination condition E. It is determined whether or not (S37).

  When any of the preceding vehicles enters the dangerous traveling area (YES in S37), the device 10 determines that the preceding vehicle entering the dangerous traveling area has stopped before the stop line and stops before the stop line. Is determined (S38). The device 10 specifies a stop point of the target vehicle according to the number of front vehicles that stop before the stop line (S39), and calculates a dangerous travel area of the target vehicle (S40).

  The device 10 determines whether or not the target vehicle enters the dangerous driving area (S41). When the target vehicle enters the dangerous driving area (YES in S41), whether or not the current time is before the start of the yellow signal. Is determined (S42). When the current time is before the start of the yellow signal (YES in S42), the device 10 refers to the state quantity (position and speed) of the target vehicle at the start of the yellow signal, the stop condition C, the entry condition L, etc. Whether to stop the target vehicle at the intersection or pass through the intersection is determined (S43).

  The device 10 determines information to be provided to the target vehicle (S44), and transmits the determined information to the target vehicle (S45). In this case, information corresponding to stopping at the intersection or passing through the intersection is determined and transmitted. When the target vehicle does not enter the dangerous travel area (NO in S41), the apparatus 10 performs the process of step S44. In this case, for example, information indicating that the vehicle travels while maintaining the speed of the target vehicle is provided.

  If the current time is not before the start of the yellow signal (NO in S42), the device 10 transmits warning information to the vehicle (S47), and performs the process of step S46 described later. When the target vehicle is in the dangerous driving area after the start of the yellow signal, it is considered difficult to slow down and stop at the intersection, or to slowly accelerate and pass through the intersection. Therefore, in such a case, warning information is provided to surely notify the driver that the danger is imminent. Thus, even when the target vehicle cannot be avoided from the dangerous driving state before the intersection or enters the dangerous driving state, information for avoiding the dangerous driving state can be provided.

  The apparatus 10 determines whether or not there is an instruction to end the process (S46). If there is no instruction (NO in S46), the apparatus 10 continues the process after step S31. When the predetermined time (for example, 0.05 to 1 second) elapses from the target vehicle, the information providing apparatus 10 determines whether the target vehicle and each preceding vehicle are in the dangerous driving area by transmitting the position of the own vehicle. If the target vehicle is in the dangerous driving area, information for avoiding from the dangerous driving area can be repeatedly transmitted to the target vehicle, compared to the case of the first embodiment, The possibility of avoiding the dangerous driving area can be increased, and safer driving can be supported.

  If there is an instruction to end the process (YES in S46), the process ends. On the other hand, if any preceding vehicle does not enter the dangerous driving area, that is, if any preceding vehicle does not enter the dangerous driving area (NO in S37), the device 10 causes all the preceding vehicles to enter the intersection passing area. It is determined whether or not there is (S48). If all the preceding vehicles are in the intersection passage area (YES in S48), apparatus 10 performs the process of step S40. In this case, the stop point of the target vehicle is the stop line position.

  If all the preceding vehicles are not in the intersection passing area, that is, if all the preceding vehicles are in the intersection stopping area (NO in S48), the device 10 performs the process of step S44. In this case, the information to be provided is, as in the first embodiment, “you can stop at the intersection if you follow the preceding vehicle”, “follow the preceding vehicle and stop at the intersection”, and the like.

  As described above, in the present invention, even when there are a plurality of forward vehicles, the vehicle driver can safely avoid a dangerous driving state (dangerous driving region) at an intersection. Accurate information for stopping or passing the vehicle can be provided.

  In the above-described embodiment, the stop condition C and the entry condition L are used in order to avoid the dangerous driving area. However, the present invention is not limited to this, so that the dangerous driving area can be avoided with a margin. It is also possible to preliminarily set the dangerous traveling area. For example, the yellow signal time Ty can be intentionally reduced. Further, the dangerous traveling region can be set wider by apparently changing the yellow signal start time or the yellow signal end time. Also, instead of using the upper limit speed or the lower limit speed itself, which is the target speed for avoiding the dangerous traveling area, a numerical value calculated by multiplying the upper limit speed or the lower limit speed by a predetermined constant, for example, based on these. Can also be used. Further, in the above dangerous driving area, a target speed range may be determined in advance, for example, 20 km / h or more and 100 km / h or less. Further, the dangerous driving area may be only the dilemma area or only the option area.

  In the above-described embodiment, information provision can take various forms. For example, the configuration may be such that digital data corresponding to voice is transmitted as it is from the information providing device to the target vehicle, and the content of the information to be provided is based on the interface specifications set in advance with the target vehicle. Corresponding numbers and symbols may be transmitted. In addition, as a result of determining whether or not the vehicle is in a dangerous driving area, providing information indicating which area (dilemma area, option area, intersection passing area, intersection stopping area, etc.), intersection passing and intersection stopping It is also possible to provide a difference between the target speed and the target speed. Further, the target vehicle can provide the provided information to the driver as it is, or can automatically control the vehicle based on the provided information.

  In the above-described example, the vehicle information is acquired from the image sensor 20 or the like. However, the present invention is not limited to this, and each vehicle traveling on the road receives information such as the position and speed of the own vehicle in a predetermined manner. In the case where a function of transmitting to the information providing apparatus at time intervals is provided, it can be received directly from each vehicle. In this case, the information providing apparatus 10 regards each vehicle existing within a predetermined range upstream from the intersection (for example, a range from the stop line to the upstream 200 m) as the target vehicle, and travels in front of the target vehicle. It is possible to determine the above-mentioned dangerous traveling region by using another vehicle as a front vehicle and transmit information for driving support to each target vehicle. In this case, each piece of information transmitted to each target vehicle must be determined to have consistency. For example, when stopping at an intersection, the information to be transmitted to each target vehicle can be provided with a deceleration or a target speed so that the vehicles do not suddenly approach each other according to the position and speed of each target vehicle. .

  In the above-described embodiment, the vehicle-mounted device mounted on the vehicle may be a portable device such as a simple navigation or a mobile phone.

  The disclosed embodiments are to be considered in all respects as illustrative and not restrictive. The scope of the present invention is defined by the terms of the claims, rather than the description above, and is intended to include any modifications within the scope and meaning equivalent to the terms of the claims.

It is a schematic diagram which shows the outline | summary of the information provision using the information provision apparatus which concerns on this invention. It is a block diagram which shows the structure of the information provision apparatus which concerns on this invention. It is explanatory drawing which shows the identification method of a target vehicle and a front vehicle. It is explanatory drawing which shows an example of vehicle information. It is explanatory drawing which shows the concept of a dangerous driving | running | working area | region. It is explanatory drawing which shows an example of the relationship between the front vehicle which enters into a dangerous driving | running | working area | region, and the number of stops. It is explanatory drawing which shows an example of dangerous driving | running | working area | region determination of a preceding vehicle and a target vehicle. It is explanatory drawing which shows the other example of the relationship between the front vehicle which enters into a dangerous driving | running | working area | region, and the number of stops. It is explanatory drawing which shows the other example of dangerous driving | running | working area | region determination of a preceding vehicle and an object vehicle. It is explanatory drawing which shows the other example of dangerous driving | running | working area | region determination of a preceding vehicle and an object vehicle. It is a flowchart which shows the process sequence of an information provision apparatus. It is a flowchart which shows the process sequence of an information provision apparatus. 6 is a schematic diagram showing an outline of information provision according to Embodiment 2. FIG. 10 is a flowchart illustrating a processing procedure of the information providing apparatus according to the second embodiment. 10 is a flowchart illustrating a processing procedure of the information providing apparatus according to the second embodiment.

Explanation of symbols

DESCRIPTION OF SYMBOLS 10 Information provision apparatus 11 Control part 12 Vehicle information acquisition part 13 Communication part 14 Target vehicle and front vehicle specific part 15 Traveling state determination part 16 Interface part 17 Storage part 20 Image sensor

Claims (10)

Based on signal information including yellow signal start time and yellow signal time of traffic lights installed at intersections, vehicle information including speed information of one or more vehicles existing on the road and information on distance to intersections, An information providing device that provides driving support information related to driving support to a target vehicle,
Based on the vehicle information, specifying means for specifying the target vehicle and one or more forward vehicles traveling in front of the target vehicle;
The distance to the intersection of the preceding vehicle and whether or not each preceding vehicle identified by the identifying means is in a specific first state determined by a stop condition for stopping before the intersection and an entry condition for entering the intersection, First determination means for determining based on the speed and the signal information;
Second determination means for determining whether or not the target vehicle specified by the specification means is in a specific second state determined by a stop condition and an entry condition, based on a result determined by the first determination means;
An information providing apparatus comprising: a transmission unit configured to transmit the driving support information to the target vehicle according to a determination result by the second determination unit. A stop point specifying means for specifying a stop point of the target vehicle according to the result determined by the first determining means,
The second determination means includes
When it is determined by the first determination means that any one of the vehicles ahead is in the first state, the target vehicle is determined by a stop condition for stopping before the intersection or stop point and an entry condition for entering the intersection. Whether to be in the second state is determined based on the distance and speed to the stop point of the target vehicle and the signal information,
The transmission means includes
2. The apparatus according to claim 1, wherein when the second determination unit determines that the target vehicle is in the second state, information for accelerating / decelerating the target vehicle is transmitted. Information providing device. When it is determined by the first determination means that any one of the preceding vehicles is in the first state, the vehicle includes a number specifying means for specifying the number of forward vehicles existing between the preceding vehicle and the target vehicle,
The stop point specifying means is
The information providing apparatus according to claim 2, wherein a point upstream from the intersection by a distance corresponding to the number specified by the number specifying means is specified as a stop point. The second determination means includes
If the first determination means determines that each preceding vehicle is not in the first state, is the target vehicle in a specific state determined by a stop condition for stopping before the intersection and an entry condition for entering the intersection? Is determined based on the distance and speed to the intersection of the target vehicle and the signal information,
The transmission means includes
2. The apparatus according to claim 1, wherein when the second determination unit determines that the target vehicle is in the second state, information for accelerating / decelerating the target vehicle is transmitted. Information providing device. A stop limit speed calculating means for calculating a stop limit speed at which the target vehicle can stop before the stop point or the intersection every time a predetermined time elapses or the target vehicle moves a predetermined distance;
An approach limit speed calculating means for calculating an approach limit speed at which the target vehicle can enter the intersection before the end of the yellow signal every time the predetermined time elapses or the target vehicle moves a predetermined distance;
The transmission means includes
When the second determination means determines that the target vehicle is in the second state, information for controlling the acceleration / deceleration of the target vehicle based on the speed of the target vehicle and the stop limit speed or the approach limit speed 5. The information providing apparatus according to claim 2, wherein the information providing apparatus is configured to transmit the information. A stop limit speed calculating means for calculating a stop limit speed at which the target vehicle can stop before the stop point or the intersection every time a predetermined time elapses or the target vehicle moves a predetermined distance;
An approach limit speed calculating means for calculating an approach limit speed at which the target vehicle can enter the intersection by the end of the yellow signal each time the predetermined time elapses or the target vehicle moves a predetermined distance;
A target speed calculating means for calculating a target speed every time the predetermined time elapses or the target vehicle moves a predetermined distance based on the speed of the target vehicle and the stop limit speed or the approach limit speed; and
The transmission means includes
When the second determination means determines that the target vehicle is in the second state, information for controlling the acceleration / deceleration of the target vehicle is transmitted according to the difference between the speed of the target vehicle and the target speed. The information providing apparatus according to any one of claims 2 to 4, wherein the information providing apparatus is configured as described above. Road information acquisition means for acquiring road information including road gradient,
The first determination means and the second determination means are:
The vehicle is configured to determine whether each forward vehicle and the target vehicle are in the first state and the second state, respectively, based on road information acquired by the road information acquisition unit. The information providing apparatus according to any one of claims 1 to 6. A location information acquisition means for acquiring location information of the target vehicle;
The specifying means is:
The vehicle information is searched based on position information of the target vehicle, and the target vehicle and one or a plurality of forward vehicles traveling in front of the target vehicle are specified. The information providing apparatus according to any one of claims 1 to 7. An information providing system comprising: a roadside device that detects one or a plurality of vehicles existing on a road; and the information providing device according to any one of claims 1 to 8.
The information providing apparatus includes:
An information providing system comprising: an acquisition unit configured to acquire vehicle information including speed information of one or a plurality of vehicles and information related to a distance from an intersection based on a detection result detected by the roadside device. Based on signal information including yellow signal start time and yellow signal time of traffic lights installed at intersections, vehicle information including speed information of one or more vehicles existing on the road and information on distance to intersections, An information providing method for providing driving support information related to driving support to a target vehicle,
Based on the vehicle information, identify the target vehicle and one or more forward vehicles traveling in front of the target vehicle,
Whether or not each identified forward vehicle is in a specific first state determined by a stop condition for stopping before the intersection and an entry condition for entering the intersection, the distance and speed to the intersection of the preceding vehicle and the signal Judgment based on information,
Based on the determination result, it is determined whether or not the specified target vehicle is in a specific second state determined by the stop condition and the entry condition,
An information providing method comprising transmitting the driving support information to the target vehicle according to a determination result.

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