JP2009087146A - Device for preventing minor collision - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To enable more suitable warning to be conducted to a vehicle or to a pedestrian on a non-priority road, when there exists a danger of the vehicle on the priority road have minor collision with the vehicle or the pedestrian, on the non-priority road at a level-crossing intersection. <P>SOLUTION: The device is equipped with an object-detecting part 33 for sequentially detecting, prior to the priority vehicle entering the intersection of the level crossing from the priority road, the existence an object that is about to enter the intersection from the non-priority road; a position relation calculating part 34 for calculating the position relation between the object and the priority vehicle; when the object is detected; a minor collision danger determining part 35 for determining the danger for the minor collision of its object with the priority vehicle, based on the calculated position relation information, and a warning part 37 for the warning based on the danger determined. <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

  The present invention relates to a non-priority road side passing vehicle or passer-by when there is a risk that the priority vehicle on the priority road side and the passing vehicle or passer-by on the non-priority road side come into contact at a plane intersection. The present invention relates to a contact accident prevention device that issues a warning from the priority vehicle side.

  Conventionally, contact accidents frequently occur at intersections of plane intersections without traffic lights. The roads that intersect at the above-mentioned intersections are classified as priority roads and non-priority roads according to stop signs, road widths, and other road traffic laws, but the intersection of priority roads and non-priority roads is ignored. At present, a contact accident occurs due to a vehicle entering the vehicle. That is, when a vehicle to be prioritized (priority vehicle) enters the intersection, a contact accident occurs when a vehicle on the non-priority road side that should not obstruct the passage of the priority vehicle enters the intersection. .

Therefore, a technique for preventing a contact accident between vehicles at the above-described intersection has been proposed. For example, Patent Document 1 discloses a system for preventing a contact accident between vehicles at an intersection using communication between a communication processing device installed on a road side and an in-vehicle device (between road and vehicle). Specifically, in the system of Patent Document 1, the first communication processing device detects that a vehicle (non-priority vehicle) trying to enter an intersection from a non-priority road temporarily stops at a stop position immediately before the intersection, The second communication processing device detects that the priority vehicle is approaching the priority road. Then, the driver of the priority vehicle is notified via the in-vehicle device of each vehicle that there is a non-priority vehicle that is temporarily stopped, and the driver of the non-priority vehicle is notified that the priority vehicle is approaching. To prevent contact accidents. Also, if the non-priority vehicle is not equipped with an in-vehicle device, a contact accident is prevented by notifying the driver of the non-priority vehicle to the driver of the non-priority vehicle via an electric bulletin board installed outside the vehicle. To do.
JP 2006-11607 A

  However, in the system of Patent Document 1, when the non-priority vehicle is a vehicle that does not have an in-vehicle device that can use information from the communication processing device, the non-priority vehicle is installed outside the vehicle with respect to the non-priority vehicle. The priority vehicle can be notified only on the electronic bulletin board. In the electric bulletin board disclosed in Patent Document 1, since the driver who is driving the non-priority vehicle cannot intuitively recognize from which direction the priority vehicle has entered the intersection, the operation to avoid the contact accident is delayed. There is a possibility that. Therefore, the system of Patent Document 1 has a problem that it is not possible to give an appropriate warning to a non-priority vehicle.

  The present invention has been made in view of the above-described conventional problems, and its purpose is that there is a risk that a vehicle on the priority road side and a vehicle or a passerby on the non-priority road side come into contact at the intersection of the plane intersection. In some cases, it is an object of the present invention to provide a contact accident prevention device that makes it possible to give a more appropriate warning to a vehicle or a passerby on the non-priority road side.

  The contact accident prevention apparatus according to claim 1 is a contact accident prevention apparatus provided in a vehicle in order to solve the above-described problem, and the non-priority road before the vehicle enters the intersection of a plane intersection from the priority road side. When the object is detected by the object detection means that sequentially detects the presence or absence of an object that is at least one of a vehicle and a passerby who is about to enter the intersection from the side, and the object detection means detects the object In addition, based on the positional relationship information calculated by the positional relationship calculating means and the positional relationship calculating means for calculating the positional relationship between the target object and the vehicle, the risk of contact between the target object and the vehicle is determined. It is characterized by comprising contact risk determining means for determining and warning means for giving a warning based on the risk determined by the contact risk determining means.

  According to this, before the vehicle on the priority road side (hereinafter referred to as the priority vehicle) enters the intersection at the plane intersection from the priority road side, the vehicle and passers-by who are entering the intersection from the non-priority road side When there is an object that is at least one of the above, the object is sequentially detected, and the risk of contact between the object and the priority vehicle is determined based on the positional relationship between the object and the priority vehicle. Therefore, the warning can be given when there is a risk that the priority vehicle and the object on the non-priority road side contact at the intersection. Since this warning is performed by warning means provided in the priority vehicle, the direction in which the priority vehicle is present can be easily recognized by the object. Therefore, it is possible to give a more appropriate warning to a vehicle or a passerby on the non-priority road side.

  The contact accident prevention apparatus according to claim 2 is characterized in that the warning means further performs the warning toward the object based on the positional relationship calculated by the positional relationship calculation means.

  According to this, since the priority vehicle side warns the target object based on the information on the risk of contact between the target object and the priority vehicle and the positional relationship between the target object and the priority vehicle, When there is a risk of contact between the object and the priority vehicle, a warning can be given in a direction in accordance with the position of the object.

  In the contact accident prevention apparatus according to claim 3, the positional relationship calculating means further calculates a positional relationship of the object with respect to the intersection, and the contact risk determining means is the positional relationship calculating means. Based on the calculated information on the positional relationship of the object with respect to the intersection, the risk is determined to be higher as the object is at a position deeper into the intersection. The warning is strengthened as the risk is judged to be high.

  Thereby, in addition to the information on the positional relationship between the target object (at least one of the vehicle and the passerby on the non-priority road side) and the priority vehicle, based on the information on the positional relationship of the target object with respect to the intersection, The risk of contact between the object and the priority vehicle can be determined. In a situation where both the priority vehicle and the object are about to enter the intersection, the risk of contact between the priority vehicle and the object is higher the closer the object is to the intersection. Therefore, according to the third aspect, the higher the risk of contact between the priority vehicle and the object, the stronger the warning can be given to the object from the priority vehicle side. Therefore, it is possible to perform an effective warning according to the high risk of contact between the priority vehicle and the object.

  Further, in the contact accident prevention apparatus according to claim 4, the object detection means is installed on the road side of the non-priority road, detects the object, and calculates the position of the object. The presence / absence of the object is detected by obtaining information on the detection result from a device, and the positional relationship calculation means obtains information on the calculation result from the non-priority road side communication processing device. Thus, the positional relationship between the object and the vehicle is calculated.

  According to this, the non-priority road side communication processing device on the road side of the non-priority road performs the detection of the object and the calculation of the position of the object, and the detection result and the calculation result are the object detection means and the positional relationship calculation means. The presence / absence of the object and the positional relationship between the object and the priority vehicle can be calculated. Therefore, even when it is difficult to detect and calculate the presence and position of an object on the non-priority road side from the priority vehicle, such as when entering an intersection with poor visibility, there is a risk of contact between the object and the priority vehicle. It becomes possible to issue a warning by judging the sex.

  Further, in the contact accident prevention apparatus according to claim 5, the warning means includes a light source and a projection unit that receives light from the light source, generates a projection image from the incident light, and projects the projected image forward of the vehicle. And the warning is performed by generating a predetermined projection image by the projection unit.

  Furthermore, the contact accident prevention apparatus according to claim 6 is characterized in that the warning means includes a warning sound device, and performs the warning by sounding the warning sound device.

  The contact accident prevention apparatus according to claim 7 is characterized in that the warning means includes a headlamp and performs the warning by blinking the headlamp.

  According to the fifth aspect, it is possible to perform a warning by a predetermined projection image, and according to the sixth aspect, it is possible to perform a warning by the sound of a horn. Further, according to the seventh aspect, a warning can be given by blinking of the headlamp (that is, passing).

  The contact accident prevention apparatus according to claim 8 further includes information acquisition means for acquiring at least one of the information on the prospect of the intersection, time zone, and weather, and the warning means includes the information acquisition means. The warning is switched based on the information acquired in (1).

  This makes it possible to switch warnings according to the intersection prospects, time zone, and weather. As an example, if the intersection is poorly visible, a warning toward the target is given toward the front of the target, and if the intersection is good, a warning toward the target is given near the target body. It becomes possible. As another example, when the time zone is daytime, the warning is performed by a sound of a horn, and when the time zone is night, the warning is performed by a predetermined projection image or flashing of a headlamp. It becomes possible. As yet another example, when the weather is clear, a warning can be given by the sound of a horn, and when the weather is raining, a warning can be given by a predetermined projection image or flashing of the headlamps. become.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. FIG. 1 is a block diagram showing a schematic configuration of a contact accident prevention system 100. A contact accident prevention system 100 shown in FIG. 1 includes a non-priority road side communication processing device 1, a priority road side communication processing device 2, and a contact accident prevention device 3. In the present embodiment, the case where the present invention is applied to a navigation device mounted on a vehicle such as an automobile will be described as an example.

  The non-priority road side communication processing device 1 is installed on the road side of the non-priority road, and detects a passing vehicle and a passerby who are about to enter the intersection from the non-priority road side, The position and speed of the object are detected. Further, the non-priority road side communication processing device 1 includes information on whether or not an object is detected (hereinafter referred to as object presence / absence information), information on the position of the object (hereinafter referred to as object position information), and an object Information on the speed of the object (hereinafter referred to as object speed information) is sent to the priority road side communication processing device 2 via a wired cable. The passing vehicles mentioned here include not only automobiles but also motorbikes and light vehicles. The information on the position of the object is represented by the distance and direction of the object from the non-priority road side communication processing device 1.

  The priority road side communication processing device 2 is installed on the road side of the priority road side, detects the vehicle on the priority road side, and when the vehicle is provided with the contact accident prevention device 3, The object presence / absence information, the object position information, and the object speed information sent from the non-priority road side communication processing device 1 are transmitted to the contact accident prevention device 3 provided in the vehicle.

  The non-priority road side communication processing device 1 and the priority road side communication processing device 2 are installed as a pair at the intersection of a plane intersection without a traffic light. The detection range of the non-priority road side communication processing device 1 and the priority road side communication processing device 2 may be a range that can detect a vehicle or the like that is about to enter an intersection from the installation position of the device. It is good also considering the range on the road surface about several meters-10m as a detection range. Further, the non-priority road side communication processing device 1 and the priority road side communication processing device 2 only need to be installed at a position where a vehicle or the like to enter the intersection can be detected. For example, several meters to 10 m from the entrance of the intersection You may install in the position of about. Further, for non-priority roads that have a stop sign / sign before the intersection, the non-priority road side communication processing device 1 may be installed near the stop sign / sign.

  In the present embodiment, the non-priority road side communication processing device 1 and the priority road side communication processing device 2 will be described on the assumption that the above-described detection is performed by a millimeter wave radar. Millimeter wave radar receives radio waves reflected from an object by sequentially emitting millimeter waves within a predetermined scanning range, and determines the position and position of the object based on propagation time and frequency difference caused by the Doppler effect. The speed can be calculated.

  The contact accident prevention device 3 is provided in a vehicle and prevents contact accidents based on the object presence / absence information, the object position information, and the object speed information sent from the priority road side communication processing device 2. A warning is given by determining the risk of contact between a vehicle on the priority road side (hereinafter referred to as a priority vehicle) equipped with the device 3 and an object.

  In the present embodiment, transmission / reception of information between the priority road side communication processing device 2 and the contact accident prevention device 3 is performed using, for example, VICS (registered trademark) (Vehicle Information and Communication System). Alternatively, the configuration may be performed by DSRC (Dedicate Short Range Communication), wireless LAN, or the like.

  In the present embodiment, the configuration in which the wired cable is used when sending information from the non-priority road side communication processing device 1 to the priority road side communication processing device 2 is shown, but the present invention is not necessarily limited thereto. For example, a configuration may be used in which information is transmitted from the non-priority road side communication processing device 1 to the priority road side communication processing device 2 by wireless communication.

  Here, the operation | movement flow in the contact accident prevention system 100 is demonstrated using FIG. FIG. 2 is a flowchart showing an operation flow in the contact accident prevention system 100. This flow is started when the power of the non-priority road side communication processing device 1 and the priority road side communication processing device 2 is turned on.

  First, in step S1, the non-priority road side communication processing device 1 (here, T1) performs detection processing of an object (here, C1), and proceeds to step S2. In step S2, it is determined whether or not C1 is detected by this detection process. If it is determined that C1 is detected (Yes in step S2), the process proceeds to step S3. If it is determined that C1 has not been detected (No in step S2), the process proceeds to step S4.

  In step S3, a target presence / absence flag (in this case, J1), which is information about whether or not C1 is detected, is set to “target target”, and it is determined whether or not C1 is temporarily stopped. Is performed by T1. And when J1 is “there is an object” and the object speed information (here, J3) is determined to be “0” (that is, C1 is temporarily stopped) (Yes in step S3), Move on to step S5. If it is determined that J1 is “there is an object” and J3 is not “0” (that is, C1 is moving) (No in step S3), the process proceeds to step S6.

  In step S4, J1 is set as “no object”, J1 “no object” is periodically transmitted to the priority road side communication processing device 2 (here, T2), and the process proceeds to step S7. In step S5, C1 object position information (here, J2) and J3 are periodically transmitted to T2 in accordance with J1 “there is an object”, and the process proceeds to step S7. On the other hand, in step S6, J1 “there is an object”, J2, and J3 are transmitted to T2 by interruption, and the process proceeds to step S7. Here, information relating to C1, such as J1, J2, and J3, is referred to as C1 information. The term “send periodically” here means that transmission is performed at a predetermined time interval, and “send by interrupt” does not follow this time interval. This indicates that transmission is performed immediately after determining that it is not “0”.

  In step S7, the priority vehicle (here, C2) detection process is performed by T2, and the process proceeds to step S8. Subsequently, in step S8, it is determined whether C2 is detected by this process. And when it determines with C2 having been detected (it is Yes at step S8), it moves to step S9. If it is determined that C2 has not been detected (No in step S8), the process returns to step S1 and the flow is repeated.

  In step S9, T2 transmits a confirmation signal for confirming whether C2 includes the contact accident prevention device 3, and the process proceeds to step S10. In step S10, it is determined whether or not an acknowledgment response (ACK: ACKnowledgement) from C2 with respect to the above-described confirmation signal has been received at T2. If it is determined that the ACK is received at T2 (Yes in step S10), the process proceeds to step S11. If it is determined that ACK is not received at T2 (No in step S10), the flow returns to step S1 and the flow is repeated.

  In step S11, C1 information is transmitted from T2 to C2 contact accident prevention apparatus 3, and the process proceeds to step S12. If the C1 information transmitted to the contact accident prevention apparatus 3 of C2 has passed through step S4, J1 “no object” is periodically transmitted. Further, if the process has passed through step S5, J1 “There is an object”, J2, and J3 are periodically transmitted. Then, in the case of going through step S6, J1 “There is an object”, J2, and J3 are transmitted by interruption. Note that “periodic transmission” here also means that transmission is performed at a timing in accordance with a predetermined time interval, and “transmission by interruption” does not follow this timing, but T1. Represents that T2 performs transmission immediately after receiving C1 information.

  In step S12, the contact accident prevention device 3 determines the risk of contact between C1 and C2 based on the C1 information, and the process proceeds to step S13. Details of the process for determining the risk of contact between C1 and C2 based on the C1 information will be described later. If it is determined in step S13 that there is a risk of contact between C1 and C2 (Yes in step S13), the process proceeds to step S14. If it is determined that there is no risk of contact between C1 and C2 (No in step S13), the process returns to step S1 and the flow is repeated.

  In step S14, the contact accident prevention device 3 determines the type, method, intensity, and the like of the warning according to J2 and J3 and the environment information around the vehicle, issues a warning, returns to step S1, and repeats the flow. The details of the process of determining the type of warning, how to perform it, strength, etc. according to J2 and J3 and the environmental information around the vehicle will be described later. The warning is continued until it is determined in this flow that there is no risk of contact between C1 and C2. Further, this flow is repeated until the power of the non-priority road side communication processing device 1 and the priority road side communication processing device 2 is turned off.

  According to the above configuration, the object presence / absence information, the object position information, and the object speed information on the object hidden behind the intersection with poor visibility are easily detected to contact the object with the priority vehicle. It is possible to determine the risk of the warning and issue a warning. Moreover, since this warning is performed by the contact accident prevention device 3 provided in the priority vehicle, it is possible to easily recognize the direction in which the priority vehicle exists on the object. Therefore, it is possible to give a more appropriate warning to a vehicle or a passerby on the non-priority road side.

  Returning to FIG. 1, a schematic configuration of the contact accident prevention apparatus 3 will be described. The contact accident prevention device 3 includes a communication unit 31, a map data storage unit 32, an object detection unit 33, a positional relationship calculation unit 34, a contact risk determination unit 35, an environment information acquisition unit 36, and a warning unit 37. .

  The communication unit 31 receives target presence / absence information, target object position information, and target object speed information sent from the priority road side communication processing device 1. The communication unit 31 sends the received object presence / absence information to the object detection unit 33 and sends the received object position information and object speed information to the positional relationship calculation unit 34.

  The map data storage unit 32 stores map data used for road map display, guidance route display, and the like on the navigation device. The map data includes link data indicating roads and node data. A link is a link between nodes when the roads on the map are divided by a plurality of nodes such as intersections, branches, and merge points, and roads are configured by connecting the links. . Link data includes a unique number (link ID) that identifies the link, link length indicating the link length, link start and end node coordinates (latitude / longitude), road name, road type, road width, number of lanes, right turn -Consists of data such as the presence or absence of a left turn lane, the number of lanes, speed limit, etc. On the other hand, the node data includes a node ID, a node coordinate, a node name, and a link ID of a link connected to the node, each node having a unique number for each node where roads on the map intersect, merge and branch. It consists of each data such as ID, intersection type, and intersection visibility.

  The object detection unit 33 receives the object presence / absence information received by the communication unit 31 and sequentially detects the presence / absence of an object to enter the intersection from the non-priority road side.

  When the object detection unit 33 detects the object, the positional relationship calculation unit 34 receives the object position information and the object speed information received by the communication unit 31, the map data obtained from the map data storage unit 32, Based on the position information of the priority vehicle (hereinafter referred to as priority vehicle position information), the distance between the object and the priority vehicle, the arrangement relationship between the object and the priority vehicle, and the degree of entry of the object to the intersection Is calculated. The priority vehicle position information includes a geomagnetic sensor, a gyroscope, a distance sensor, and a GPS receiver for GPS (Global Positioning System) that detects the current position of the vehicle based on radio waves from a satellite. It shall be obtained by each of the sensors. In the present embodiment, object speed information is used to predict the distance between the object and the priority vehicle that changes over time when both the object and the priority vehicle are moving.

  The contact risk determination unit 35 has a risk of contact between the target object and the priority vehicle based on the object speed information received by the communication unit 31 and the positional relationship information calculated by the positional relationship calculation unit 34. It is determined whether or not there is a risk and the risk of contact between the object and the priority vehicle is high.

  The environment information acquisition unit 36 acquires environment information around the vehicle such as intersection prospects, time zones, and weather information. In addition, what is necessary is just to acquire from the above-mentioned map data etc. about the quality of the prospect of an intersection, and what is necessary is just to acquire from the time measuring apparatus with which the vehicle is equipped about the information of time zones, such as day and night. For weather information such as sunny, cloudy, and rainy, the weather information of the traveling position may be acquired from the weather information center via the wireless communication device, or by analyzing the vehicle surrounding image obtained from the in-vehicle camera. You may acquire the information of the detected weather. Furthermore, rain information may be obtained from a device that controls the operation of the rain sensor and the wiper.

  The warning unit 37 determines to give a warning when there is a risk according to the risk of contact between the target object and the priority vehicle determined by the contact risk determination unit 35. The warning is given by increasing the intensity of the.

  The warning unit 37 includes a warning sounder, a headlight, and a projection device that projects a picture or light. The warning unit 37 gives a warning by sounding the warning sound or blinks the headlight. Or a warning is given by projecting a picture or a character onto the road surface by a projection device. The projection device is a known projector including a light source and a projection unit that generates a projection image from light incident from the light source. The flashing of the headlight may be performed by alternately lighting the headlight for traveling (high beam) and the headlight for passing (low beam), or only one of the high beam and the low beam. You may carry out by making it blink. In addition, when changing the intensity | strength of a warning, a sound volume is changed about a warning sound machine, and a light quantity is changed about a headlamp and a projection apparatus.

  Further, the warning unit 37 calculates the direction in which the target object is present with respect to the priority vehicle based on the information on the positional relationship (arrangement relationship between the target object and the priority vehicle) calculated by the positional relationship calculation unit 34. The warning in the calculated direction is performed. Also, the direction of the warning unit 37 is variable, and the warning unit 37 performs a control to change the direction of the warning unit 37 itself to the calculated direction, thereby giving a warning in the calculated direction. Therefore, the sounding device, the headlamp, and the projection device provided in the warning unit 37 are also changed in direction to the calculated direction as in the warning unit 37, and a warning is issued in the calculated direction. .

  The warning unit 37 includes a warning sounder, a headlight, and a projection device that projects a picture or light. The warning unit 37 gives a warning by sounding the warning sound or blinks the headlight. Or a warning is given by projecting a picture or a character onto the road surface by a projection device. The projection device is a known projector including a light source and a projection unit that generates a projection image from light incident from the light source. The flashing of the headlight may be performed by alternately lighting the headlight for traveling (high beam) and the headlight for passing (low beam), or only one of the high beam and the low beam. You may carry out by making it blink.

  Further, the warning unit 37 performs warnings suitable for the environment by using different types of warnings and how to perform them according to the environmental information around the vehicle acquired by the environmental information acquisition unit 36. For example, if the intersection is poorly visible, a warning directed toward the object may be given toward the front of the object in the traveling direction, and if the intersection is good, a warning directed toward the object may be given near the object body. Good. Further, when the intersection is poorly sighted, a warning may be given by the sound of a warning sounder, and when the intersection is well-looked, a warning may be given by flashing a projected image or a headlamp. Further, when the time zone is daytime, the warning may be performed by the sound of a warning sounder, and when the time zone is night, the warning may be performed by blinking a projection image or a headlamp. Further, when the weather is fine, a warning may be given by the sound of a warning sounder, and when the weather is rainy or cloudy, the warning may be given by flashing a projected image or a headlamp. In addition, when the weather is foggy, a warning may be given to the sound of the alarm sound.

  In addition, in this embodiment, although the warning part 37 showed the structure provided with all of a warning sound machine, a headlamp, and a projection apparatus, it does not necessarily restrict to this. For example, the warning unit 37 may be configured to include only a part of a warning sounder, a headlamp, and a projection device.

  Moreover, in this embodiment, although the structure with which a projection apparatus was provided independently with a headlamp was shown, it does not necessarily restrict to this. For example, a configuration in which the projection apparatus is combined with a headlamp may be used. In this case, a headlamp of a headlamp may be used as the above-described light source, and a projection unit in a known projector may be used as the above-described projection unit. If no warning is given, light is projected forward according to the light distribution range / light distribution color of a normal headlamp, and if a warning is given, the light distribution range / light distribution color determined by the projection image by the projection unit Therefore, it may be configured to switch to project the projected image forward.

  The projection image (picture or character) projected by the projection device may be light such as red light. For example, it may be a character or an image that prompts the object to stop, such as “stop”, or may be projected in a recognizable direction as a character or image from the object side. Furthermore, it may be a frame figure surrounding the road marking provided on the road, for example, surrounding the “stop” road marking with a square frame.

  Subsequently, an operation flow in the contact accident preventing apparatus 3 will be described with reference to FIG. FIG. 3 is a flowchart showing an operation flow in the contact accident prevention apparatus 3. In the description of this flow, the abbreviations in the description of the flow in FIG. Further, this flow is started when the power supply of the contact accident prevention device 3 is turned on.

  First, in step S21, it is determined whether or not the communication unit 31 has received the above-described confirmation signal transmitted from T2. And when it determines with the confirmation signal having been received by the communication part 31 (it is Yes at step S21), it moves to step S22. When it is determined that the confirmation signal has not been received by the communication unit 31 (No in step S21), the process returns to step S21 to repeat the flow.

  In step S22, an ACK is generated by a response unit (not shown) in response to the confirmation signal received by the communication unit 31. And the ACK is transmitted to T2 via the communication part 31, and it moves to step S23. In step S23, the communication unit 31 receives C1 information transmitted from T2 in response to ACK. In the C1 information, J1 is sent to the object detection unit 33, J2 and J3 are sent to the positional relationship calculation unit 34, and the process proceeds to step S24.

  In step S24, the object detection unit 33 detects the presence or absence of C1 that is about to enter the target intersection based on J1. When J1 “There is an object” is sent to the object detection unit 33 (Yes in step S24), it is determined that the presence of C1 is detected, and the process proceeds to step S25. If J1 “No object” is sent to the object detection unit 33 (No in step S24), it is determined that the presence of C1 has not been detected, and the process returns to step S21 to repeat the flow.

  In step S25, an intersection local display is performed in which a map in which the vicinity of the target intersection is enlarged and the positions of C1 and C2 on the map are displayed on the display of the navigation device, and the process proceeds to step S26. In step S26, the contact risk determination unit 35 determines whether C1 is temporarily stopped based on J3. If J3 is “0” (Yes in step S26), it is determined that C1 is temporarily stopped, and the process proceeds to step S31. If J3 is not “0” (No in step S26), it is determined that C1 is not temporarily stopped (moving), and the process proceeds to step S27. When it is determined that C1 is paused, a display for notifying that C1 is paused may be performed simultaneously with the local display on the above-mentioned display, or C1 is paused. You may alert | report that there exists.

  In step S27, the contact risk determination unit 35 calculates the distance between C1 and C2 calculated by the positional relationship calculation unit 34 based on J2 and J3, the arrangement relationship between C1 and C2, and the degree of entry of C1 with respect to the intersection. The risk of contact between C1 and C2 is determined based on the positional relationship information such as. Specifically, when the arrangement relationship between C1 and C2 is an arrangement relationship in which the traveling directions do not overlap each other (for example, one of C1 and C2 has already passed the other side). In the case where C1 and C2 pass each other), it is determined that there is no risk of contact between C1 and C2. In addition, when the arrangement relationship between C1 and C2 is an arrangement relationship in which the traveling directions overlap each other, it is determined that there is a risk of contact between C1 and C2. Further, when the traveling directions of C1 and C2 overlap each other, the closer the distance between C1 and C2, and the deeper the degree of entry of C1 with respect to the intersection, the more C1 and C2 It is determined that there is a high risk of contact with In Step S27, when it is determined that there is a risk of contact between C1 and C2 (Yes in Step S27), the process proceeds to Step S28. If it is determined that there is no risk of contact between C1 and C2 (No in step S27), the process proceeds to step S31.

  In step S28, based on the time zone information acquired by the environment information acquisition unit 36, the warning unit 37 determines whether or not the present day is noon. If it is determined that it is “daytime” (Yes in step S28), the process proceeds to step S29. If it is determined that it is not “daytime” (No in step S28), the process proceeds to step S30. As for the determination of whether it is daytime, for example, when the above-mentioned time zone is between 7 o'clock and 17 o'clock, it is determined as “daytime”, otherwise it is determined as “no daytime”. The time zone is determined according to whether or not the time zone is included within a predetermined time range. In addition, the predetermined time range mentioned here may be determined in advance, or may be changed in accordance with sunrise and sunset times.

  In step S29, the warning unit 37 sounds the alarm with a strength (in this case, the loudness) that matches the risk of contact between C1 and C2 determined by the contact risk determination unit 35. A warning (sound warning) is given to C1. The warning unit 37 controls the direction of the alarm sound based on the arrangement relationship between C1 and C2 calculated by the positional relationship calculation unit 34, and warns the sound emitted from the alarm device toward C1. I do.

  On the other hand, in step S30, the warning unit 37 sends the projection image to the projection device with the intensity (in this case, the brightness of the light) that matches the risk of contact between C1 and C2 determined by the contact risk determination unit 35. By projecting, a warning (light warning) is given to C1. The warning unit 37 controls the direction of the projection device based on the positional relationship between C1 and C2 calculated by the positional relationship calculation unit 34, and the projection image projected from the projection device is projected onto the road surface in front of C1. To be warned. In step S30, a warning by flashing the headlamp may be performed instead of the warning by the projection image. In this case, the warning unit 37 blinks the headlamp with an intensity (again light brightness) that matches the level of contact risk between C1 and C2 determined by the contact risk determination unit 35. A warning (light warning) is given to C1. Further, the warning unit 37 controls the direction of the headlamp based on the positional relationship between C1 and C2 calculated by the positional relationship calculation unit 34 so that the light from the headlamp hits the road surface in front of C1. Warning.

  In step S31, it is determined whether or not C2 has passed through the target intersection. If it is determined that C2 has passed through the target intersection (Yes in step S31), the process proceeds to step S32. If it is determined that C2 has not passed through the target intersection (No in step S31), the process returns to step S1 and the flow is repeated.

  In step S32, the aforementioned intersection local display is terminated, and the process proceeds to step S33. In step S33, when the power supply of the contact accident prevention device 3 is turned off (Yes in step S33), the flow is finished. Moreover, when the power supply of the contact accident prevention apparatus 3 is not turned off, it returns to step S1 and repeats a flow.

  Here, with reference to FIG. 4A to FIG. 4D, a description will be given of a warning in accordance with the high risk of contact between C1 and C2. 4A to 4D are diagrams showing four types of positional relationships between C1 and C2.

  First, when C1 is temporarily stopped as shown in FIG. 4 (a), there is no danger of contact between C1 and C2 as shown in the flow of FIG. The C2 driver is notified that C1 is temporarily stopped.

  Subsequently, as shown in FIG. 4B, when C1 is not stopped immediately before the target intersection (for example, when trying to enter the target intersection without performing the temporary stop, after the temporary stop, When starting and entering the target intersection, for example, there is a risk of contact between C1 and C2, so a warning of a predetermined intensity is given to C1. The predetermined intensity mentioned here is an intensity that can be arbitrarily set.

  Further, as shown in FIG. 4C, when C1 starts to enter the target intersection, C1 has entered the course of C2, and C1 is more than in FIG. 4B. And C2 are close to each other, and the risk of contact between C1 and C2 is higher than in the case of FIG. Therefore, when C1 starts to enter the target intersection, a stronger warning is given to C1 than when C1 is not stopped immediately before the target intersection.

  Further, as shown in FIG. 4D, when C1 enters the target intersection deeply and jumps out to the front of C2, C1 blocks the course of C2, and FIG. The distance between C1 and C2 is closer than in the case of c), and the risk of contact between C1 and C2 is higher than in the case of FIG. Therefore, when C1 enters the target intersection deeply and jumps out to the front of C2, the warning is given to C1 with a stronger intensity than when C1 starts to enter the target intersection. When C1 enters the target intersection deeply and jumps out to the front of C2, there is a high risk of contact between C1 and C2, so in this embodiment, C1 is warned. In addition, a warning may be given to the C2 driver by voice or the like. In addition to notifying the C2 driver, the C2 is automatically braked, the braking force of the brake is increased, and the steering gear ratio is changed to quick. It is good also as a structure.

  In the flow of FIG. 3, the configuration in which the type of warning is selectively used according to the time zone such as day and night is shown as an example. The structure which uses properly may be sufficient.

  In the present embodiment, the configuration in which the information on the position of the object is represented by the distance and direction of the object from the non-priority road side communication processing device 1 is shown, but the present invention is not necessarily limited thereto. For example, the information on the position of the object may be expressed by the distance and direction of the object from the target intersection, or may be expressed as coordinates on the map data.

  Moreover, the structure which is not provided with the priority road side communication processing apparatus 2 in the contact accident prevention system 100 may be sufficient. In other words, in the present embodiment, the contact accident prevention device 3 obtains the object presence / absence information, the object position information, and the object speed information from the non-priority road side communication processing apparatus 1 via the priority road side communication processing apparatus 2. Although the configuration is shown, it is not necessarily limited to this. For example, the contact accident prevention device 3 obtains the object presence / absence information, the object position information, and the object speed information from the non-priority road side communication processing apparatus 1 without using the priority road side communication processing apparatus 2. May be. In this case, the contact accident prevention device 3 may be configured to obtain the object presence / absence information, the object position information, and the object speed information directly from the non-priority road side communication processing device 1, or the road side of the priority road The configuration may be such that the object presence / absence information, the object position information, and the object speed information are obtained via another device (such as a communication device of the VICS center) installed in addition to the above.

  It has been shown so far that the contact accident prevention device 3 directly or indirectly obtains the object presence / absence information, the object position information, and the object speed information from the non-priority road side communication processing device 1. However, this is not necessarily the case. For example, when a sensor such as a millimeter wave radar capable of detecting the position / velocity of an object is provided in a vehicle including the contact accident prevention device 3, the object presence / absence information, the object position information, and the object speed The information may be obtained from the sensor. According to this, even if the non-priority road side communication processing device 1 is not installed at the intersection of a plane intersection without a traffic signal, the contact accident prevention device can detect the risk of contact between the object and the priority vehicle. 3, it becomes possible to warn the target from the contact accident prevention device 3 provided in the priority vehicle.

  Moreover, in this embodiment, although the structure which uses object speed information in the contact accident prevention apparatus 3 was shown, it does not necessarily restrict to this. For example, the structure which does not use object speed information with the contact accident prevention apparatus 3 may be sufficient. Even in this case, the object is calculated based on the distance between the object and the priority vehicle calculated from the object position information, the arrangement relationship between the object and the priority vehicle, and the degree of entry of the object with respect to the intersection. It is possible to issue a warning by determining the risk of contact between an object and a priority vehicle. However, when the object speed information is used, as described above, the distance between the object and the priority vehicle that changes with time can be predicted, so that there is a risk of contact between the object and the priority vehicle. It becomes possible to make a warning by determining the sex more accurately. Therefore, the configuration using the object speed information in the contact accident prevention apparatus 3 is more preferable.

  In the present embodiment, the contact accident prevention device 3 uses the information on the degree of entry of the object with respect to the intersection (hereinafter referred to as the object entry degree information), but is not necessarily limited thereto. . For example, the contact accident prevention apparatus 3 may be configured not to use the object entry degree information. Even in this case, the risk of contact between the object and the priority vehicle is determined based on the distance between the object and the priority vehicle calculated from the object position information and the arrangement relationship between the object and the priority vehicle. Judgment can be made and a warning can be given. However, when the object approach degree information is used, the strength is increased in accordance with the risk of contact between the object and the priority vehicle, which increases as the degree of the object approach to the intersection increases as described above. And warning can be made. Therefore, the configuration using the object speed information in the contact accident prevention apparatus 3 is more preferable.

  Moreover, although the structure which performs an intersection local display was shown in this embodiment, not only this but the structure which does not necessarily perform an intersection local display may be sufficient.

  In the present embodiment, the warning unit 37 issues a warning in the direction in which the target object exists based on the positional relationship information such as the positional relationship between the target object and the priority vehicle calculated by the positional relationship calculation unit 34. Although the configuration is shown, it is not necessarily limited to this. For example, the warning unit 37 may be configured to issue a warning toward the front of the vehicle provided with the contact accident prevention device 3 without using positional information such as the positional relationship between the target object and the priority vehicle. Even in this case, since the warning is given from the priority vehicle side, the object receives the warning from the direction in which the priority vehicle exists. Therefore, it is possible to easily recognize the direction in which the priority vehicle exists on the object.

  Further, in the present embodiment, the configuration in which the type of warning and how to perform the warning are used according to the environmental information around the vehicle acquired by the environmental information acquisition unit 36 is shown, but the configuration is not necessarily limited thereto. For example, the configuration may be such that the environment information acquisition unit 36 is not provided and the type of warning and how to perform the warning are not properly used.

  The present invention is not limited to the above-described embodiments, and various modifications can be made within the scope of the claims, and the technical means disclosed in different embodiments can be appropriately combined. Such embodiments are also included in the technical scope of the present invention.

1 is a block diagram showing a schematic configuration of a contact accident prevention system 100. FIG. 3 is a flowchart showing an operation flow in the contact accident prevention system 100. 4 is a flowchart showing an operation flow in the contact accident prevention apparatus 3. (A)-(d) is a figure which shows four types of the positional relationship of C1 and C2.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Non-priority road side communication processing apparatus, 2 Priority road side communication processing apparatus, 3 Contact accident prevention apparatus, 31 Communication part, 32 Map data storage part, 33 Object detection part (object detection means), 34 Positional relationship calculation part (Positional relationship calculation means), 35 Contact risk determination section (contact risk determination means), 36 Environmental information acquisition section (information acquisition means), 37 Warning section (warning means), 100 Contact accident prevention system

Claims (8)

A contact accident prevention device provided in a vehicle,
Before the vehicle enters the intersection at the plane intersection from the priority road side, the presence / absence of an object that is at least one of a vehicle and a passerby entering the intersection from the non-priority road side is sequentially detected. An object detection means for
A positional relationship calculating means for calculating a positional relationship between the target object and the vehicle when the target object is detected by the target object detecting means;
Contact risk determination means for determining the risk of contact between the object and the vehicle based on the positional relationship information calculated by the positional relationship calculation means;
A contact accident prevention apparatus comprising: a warning unit that issues a warning based on the risk determined by the contact risk determination unit.   2. The contact accident prevention apparatus according to claim 1, wherein the warning unit further performs the warning toward the object based on the positional relationship calculated by the positional relationship calculation unit. The positional relationship calculating means further calculates the positional relationship of the object with respect to the intersection,
The contact risk determination means is based on the information on the positional relationship of the object with respect to the intersection calculated by the positional relationship calculation means, so that the object is at a position that is deeper into the intersection. While judging the risk higher,
The contact accident prevention apparatus according to claim 1, wherein the warning unit increases the warning as the risk is determined to be higher. The object detection means obtains information of the detection result from a non-priority road side communication processing device that is installed on the road side of the non-priority road and detects the object and calculates the position of the object. To detect the presence or absence of the object,
The said positional relationship calculation means calculates the positional relationship between the said target object and the said vehicle by obtaining the information of the result of the said calculation from the said non-priority road side communication processing apparatus. 4. The contact accident prevention device according to any one of 3 above. The warning means is
A light source; and a projection unit that receives light from the light source, generates a projection image from the incident light, and projects the projected image forward of the vehicle.
The contact accident prevention apparatus according to claim 1, wherein the warning is performed by generating a predetermined projection image by the projection unit. The warning means is
Equipped with a horn,
The contact accident prevention device according to any one of claims 1 to 5, wherein the warning is performed by sounding the alarm. The warning means is
With headlamps,
The contact accident prevention device according to any one of claims 1 to 6, wherein the warning is performed by blinking the headlamp. And further comprising information acquisition means for acquiring at least one of the information on the intersection prospect, time zone, and weather,
8. The contact accident prevention apparatus according to claim 1, wherein the warning unit switches the warning based on information acquired by the information acquisition unit.

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