JP2009157618A - Traveling support device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a traveling support device for supporting traveling so that not only an own vehicle as a preceding vehicle but also a following vehicle can pass a traffic signal. <P>SOLUTION: The device includes: an inter-road/vehicle communication equipment 51 for reading signal cycle information; a minimum speed calculation part 55 for calculating the vehicle speed of an own vehicle A at which the own vehicle A passes a traffic signal S; a provision information determination part 59 for supporting the traveling of the own vehicle A based on the lowest vehicle speed; and a following vehicle state acquisition part 58 for acquiring the state of the following vehicle B of the own vehicle A. When it is detected that the following vehicle B of the own vehicle A exists by the following vehicle state acquisition part 58, the provision information determination part 59 supports the traveling of the own vehicle A so that the following vehicle B can pass the traffic signal S according to the state of the following vehicle B acquire by the following vehicle state acquisition part 58. Thus, not only the own vehicle A as the preceding vehicle but also the following vehicle B can pass the traffic light S. <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

  The present invention relates to a travel support device, and more particularly, travel support that reads signal cycle information, which is information related to signal transition in a traffic light transmitted from a roadside transmitter installed on a road, and performs vehicle travel support based on the signal cycle information. It relates to the device.

Conventionally, a roadside transmitter such as an optical beacon installed on a road has been used to provide information related to signal transition in a traffic signal to a vehicle. For example, in Patent Document 1, when a vehicle is traveling on a road toward an intersection with a signal, the vehicle cannot enter the intersection by the end of the yellow signal at the intersection, and is in front of the intersection. When the vehicle is in a dilemma zone, which is the vehicle position and speed area that cannot be stopped at, the signal control switching timing information such as the yellow start time set by the signal control system is captured by the vehicle and By providing the limit travel speed at which the vehicle can stop before the intersection, the limit travel speed at which the vehicle can enter the intersection by the end of the yellow signal at the intersection, the vehicle can stop smoothly at the intersection, or yellow A technique for enabling entry to an intersection before the end of a signal is disclosed.
JP 2006-139707 A

  In the technology as described above, when the vehicle is guided to the driver so that the vehicle can pass through the intersection before the signal turns red, an ecological effect is exerted on the vehicle. You can expect. However, if the preceding vehicle decelerates to the vehicle speed guided for safety at the intersection, the vehicle following the vehicle must stop at the intersection due to a red light. In this case, the entire vehicle on the road cannot expect an ecological effect.

  The present invention has been made in order to solve the above-described problems, and its purpose is not only to drive the host vehicle, which is a preceding vehicle, but also to perform driving support that allows the following vehicle to pass through a traffic light. It is to provide a support device.

  The present invention is based on signal cycle reading means for reading signal cycle information, which is information relating to signal transition in a traffic light, transmitted from a roadside transmitter installed on a road, and signal cycle information read by the signal cycle reading means. Vehicle speed calculating means for calculating the vehicle speed of the own vehicle through which the own vehicle can pass the traffic light, driving support means for supporting the driving of the own vehicle based on the vehicle speed calculated by the vehicle speed calculating means, and a successor of the own vehicle And a subsequent vehicle state acquisition unit that acquires a vehicle state. When the subsequent vehicle state acquisition unit detects that a subsequent vehicle exists in the host vehicle, the subsequent vehicle state acquisition unit includes: In accordance with the acquired state of the succeeding vehicle, this is a travel assisting device that assists the traveling of the host vehicle so that the succeeding vehicle can also pass the traffic light.

  According to this configuration, when the subsequent vehicle state acquisition unit detects that the subsequent vehicle exists in the host vehicle, the driving support unit determines whether the subsequent vehicle state acquisition unit acquires the following vehicle state. In order to support the traveling of the host vehicle so that the subsequent vehicle can also pass the traffic light, not only the host vehicle that is the preceding vehicle but also the subsequent vehicle can pass the traffic signal.

  In this case, the vehicle speed calculation means calculates the first minimum vehicle speed of the own vehicle that allows the own vehicle to pass the traffic light, and the driving support means does not detect the presence of the following vehicle by the subsequent vehicle state acquisition means. In this case, it is preferable to perform driving support for the host vehicle based on the first minimum vehicle speed calculated by the vehicle speed calculation means.

  According to this configuration, the vehicle speed calculation means calculates the first minimum vehicle speed of the host vehicle that allows the host vehicle to pass the traffic light, and the travel support means detects that the subsequent vehicle state acquisition means detects the presence of the subsequent vehicle. If not, the vehicle speed is calculated based on the conditions only for the host vehicle when there is no following vehicle in order to support the driving of the host vehicle based on the first minimum vehicle speed calculated by the vehicle speed calculating means. The first vehicle speed having a wide allowable range allows the host vehicle to pass through the traffic light.

  In this case, the following vehicle state acquisition means detects the presence of the following vehicle, and detects that either the distance to the traffic signal of the following vehicle or the arrival time when the host vehicle passes the traffic signal exceeds the threshold value. In this case, it is preferable that the travel support means provide travel support for the host vehicle based on the first minimum vehicle speed calculated by the vehicle speed calculation means.

  According to this configuration, the following vehicle state acquisition unit detects the presence of the following vehicle, and when the own vehicle passes the traffic signal, either the distance to the traffic signal of the subsequent vehicle or the arrival time exceeds the threshold value. If this is detected, the driving support means performs driving support of the host vehicle based on the first minimum vehicle speed calculated by the vehicle speed calculating means, so that even if there is a subsequent vehicle, the subsequent vehicle has a traffic light. When the possibility of passing is originally low and the change in the vehicle speed of the own vehicle has little influence on the following vehicle, the own vehicle is determined by the first minimum vehicle speed having a wide allowable range calculated based on the conditions of only the own vehicle. It is possible to pass through a traffic light.

  In this case, the subsequent vehicle state acquisition means detects the presence of the subsequent vehicle and detects that either the distance to the traffic signal of the subsequent vehicle or the arrival time when the host vehicle passes the traffic signal is less than the threshold value. In this case, the vehicle speed calculation means calculates the second minimum vehicle speed of the host vehicle that allows the following vehicle to pass through the traffic light, and the travel support means determines the vehicle speed based on the second minimum vehicle speed calculated by the vehicle speed calculation means. It is preferable to provide driving support for the vehicle.

  According to this configuration, the following vehicle state acquisition means detects the presence of the following vehicle, and when the own vehicle passes the traffic signal, either the distance to the traffic signal of the subsequent vehicle or the arrival time is less than the threshold value. When the vehicle speed is detected, the vehicle speed calculation means calculates the second minimum vehicle speed of the host vehicle that allows the following vehicle to pass the traffic light, and the travel support means sets the second minimum vehicle speed calculated by the vehicle speed calculation means. The following vehicle is likely to be able to pass through the traffic light, and the following vehicle will also pass through the traffic light if there is a significant influence on the following vehicle due to changes in the vehicle speed. Both the own vehicle and the following vehicle can pass through the traffic light according to the second minimum vehicle speed that enables the vehicle.

  In this case, it further includes driver information providing means for providing information to the driver of the host vehicle, and the driving support means provides the driver information providing means with the first minimum vehicle speed and the second minimum vehicle speed to the driver of the host vehicle. By providing information on either of them, it is possible to support driving of the host vehicle.

  According to this configuration, the driving support device provides driving support for the host vehicle by providing the driver information providing means with information on either the first minimum vehicle speed or the second minimum vehicle speed to the driver of the host vehicle. Therefore, the driver can drive the vehicle based on the first and second minimum vehicle speeds provided, so that the driver can pass the traffic signal not only for the preceding vehicle but also for the following vehicle. It becomes.

  According to the driving support device of the present invention, it is possible to perform driving support that allows a traffic signal to pass through not only a host vehicle that is a preceding vehicle but also a subsequent vehicle.

  Hereinafter, a driving support device according to an embodiment of the present invention will be described with reference to the accompanying drawings. FIG. 1 is a functional block diagram showing the configuration of the travel support apparatus according to the first embodiment. The driving support apparatus 100 of the present embodiment reads signal cycle information that is information related to signal transition in a traffic signal that is mounted on the host vehicle A and is transmitted from a roadside transmitter installed on the road, and based on the signal cycle information. It is for performing vehicle driving support.

  As shown in FIG. 1, the driving support device 100 of this embodiment includes a road-to-vehicle communication device 51, a vehicle state sensor 52, a driving recorder 53, an idle running time calculation unit 54, a minimum vehicle speed calculation unit 55, and a vehicle-to-vehicle communication device 56. , An autonomous sensor 57, a subsequent vehicle state acquisition unit 58, a provision information determination unit 59, and a driver information provision unit 60.

  The road-to-vehicle communication device 51 receives road-to-vehicle communication data transmitted in the form of infrared communication, radio wave communication or the like from a beacon (roadside transmitter) V such as an optical beacon or a radio beacon installed on the road, and particularly a signal in a traffic light This is for reading signal cycle information which is information relating to the transition of. Alternatively, the road-to-vehicle communication device 51 obtains, from the road-to-vehicle communication data, information on whether or not there is a subsequent vehicle on the host vehicle A, information on the distance to the subsequent vehicle, and information on the vehicle speed and acceleration of the subsequent vehicle. get. The road-to-vehicle communication device 51 functions as signal cycle reading means described in the claims.

  The vehicle state sensor 52 is specifically an accelerator amount detection sensor, a vehicle speed sensor, or the like, and detects the speed and acceleration of the host vehicle A. Further, the vehicle state sensor 52 detects the current position of the host vehicle A by GPS (Global Positioning System).

  The driving recorder 53 is for recording past travel records of the host vehicle A or a specific driver of the host vehicle A.

  The idle running time calculation unit 54 includes the signal cycle information acquired from the road-to-vehicle communication device 51, the information on the speed and acceleration of the own vehicle A acquired from the vehicle state sensor 52, and the own vehicle A or Based on the past driving record of a specific driver of the host vehicle A, it is for calculating the estimated deceleration of the host vehicle A and the idle running time from the presentation of information related to driving support to the deceleration operation. is there.

  The minimum vehicle speed calculation unit 55 is for calculating the minimum vehicle speed (first minimum vehicle speed) of the host vehicle that allows the host vehicle A to pass the stop position corresponding to the traffic signal before the end of the yellow signal of the traffic signal. is there. Further, when there is a following vehicle in the own vehicle A, the minimum vehicle speed calculation unit 55 is when either the distance to the traffic signal of the following vehicle or the arrival time when the own vehicle passes the traffic signal is less than the threshold value. This is for calculating the minimum vehicle speed (second minimum vehicle speed) of the host vehicle that allows the following vehicle to pass through the stop line of the traffic signal before the end of the yellow signal of the traffic signal. The minimum vehicle speed calculation unit 55 functions as vehicle speed calculation means described in the claims.

  The inter-vehicle communication device 56 is a communication device capable of wireless communication with the following vehicle, and information on whether or not there is a following vehicle in the own vehicle A, information on the distance to the following vehicle, and the following vehicle Get information about vehicle speed and acceleration.

  Specifically, the autonomous sensor 57 is a millimeter wave radar sensor, a camera sensor, or the like, information on whether or not there is a subsequent vehicle in the own vehicle A, information on the distance to the subsequent vehicle, and the information on the subsequent vehicle. Get information about vehicle speed and acceleration.

  The following vehicle state acquisition unit 58 is for acquiring the state of the following vehicle of the host vehicle from the road-to-vehicle communication device 51, the vehicle-to-vehicle communication device 56, and the autonomous sensor 57. Whether the following vehicle exists, the distance between the following vehicle and the host vehicle A, and the vehicle speed / acceleration of the following vehicle are acquired. The following vehicle state acquisition part 58 functions as a following vehicle state acquisition means as described in a claim.

  The provision information determination unit 59 is for determining information to be provided to the driver of the host vehicle A based on information from the minimum vehicle speed calculation unit 55 and the following vehicle state acquisition unit 58. Specifically, The minimum vehicle speed of the own vehicle A in which the own vehicle A can pass the stop position according to the traffic light by the end of the yellow signal of the traffic light, and the stop position according to the traffic light by the following vehicle by the end of the yellow signal of the traffic signal One of the minimum vehicle speeds of the own vehicle A that can pass through is selected.

  The driver information providing unit 60 is a liquid crystal display or an audio speaker of the navigation system, and is used to provide the minimum vehicle speed of the host vehicle determined by the providing information determining unit 59 to the driver of the host vehicle A by video or voice. . The provided information determining unit 59 and the driver information providing unit 60 function as a driving support unit described in the claims.

  Hereinafter, the operation of the driving support apparatus of the present embodiment will be described. In the following description, as shown in FIG. 2, the own vehicle A passes the beacon V and is approaching the intersection where the traffic light S is installed, and the following vehicle B exists in the own vehicle A. Assumes a situation that exists or does not exist.

  FIGS. 3A and 3B are graphs showing the vehicle speed of the host vehicle and the succeeding vehicle and the remaining distance to the stop line when driving assistance is performed without considering the succeeding vehicle. Each horizontal axis of FIGS. 3A and 3B represents the time until the yellow signal of the traffic light S ends.

  For example, as shown in FIG. 4, the vehicle A provides a stop position (stop line) corresponding to the traffic light S before the end of the yellow signal of the traffic light S. When it is performed by presenting the minimum vehicle speed of the own vehicle A that can pass (40 km / h in the example of FIG. 4), as shown in FIG. For safety, the vehicle speed is reduced from the vehicle speed v0 to the vehicle speed v1 that is the lowest vehicle speed presented. If the vehicle speed of the host vehicle A is equal to or higher than the above minimum vehicle speed, as shown in FIG. 3 (b), the host vehicle A, the stop line, and the time until the time becomes zero (by the end of the yellow signal of the traffic light S). The remaining distance becomes 0, and the own vehicle A can pass the stop line.

  On the other hand, as shown in FIG. 3 (a), the following vehicle B has to decelerate as the own vehicle A decelerates from the vehicle speed v0 to the vehicle speed v1, and as shown in FIG. When becomes 0, the remaining distance l remains, and the following vehicle B cannot pass the stop line. Therefore, in the present embodiment, travel support is performed in consideration of the following vehicle B.

  FIG. 5 is a flowchart showing the operation of the driving support apparatus according to the first embodiment. As shown in FIG. 5, the road-to-vehicle communication device 51 receives from the beacon V signal cycle information that is information related to signal transition in the traffic light S and information related to road alignment (S11). The vehicle state sensor S12 acquires the remaining distance L to the stop line of the traffic light S of the host vehicle A and the current vehicle speed of the host vehicle A (S12). Here, when the signal of the current traffic light S is not a green signal (S13), the provision information determination unit 59 and the driver information provision unit 60 perform a display that prompts the driver of the host vehicle A to pay attention to the red signal (S14). ).

  On the other hand, when the signal of the current traffic light S is a green signal (S13), the idle time calculation unit 54 decelerates from the information on the assumed deceleration of the own vehicle A and the driving assistance for the driver of the own vehicle A. The idle running time until the operation is performed is calculated (S15). The assumed deceleration and idle running time in this case may be uniform values or calculated based on the past traveling record of the own vehicle A or a specific driver of the own vehicle A recorded in the driving recorder 53. Also good. Note that when running support is performed by automatically controlling the acceleration, braking, steering, etc. of the own vehicle A, the delay time until the system operation and the deceleration defined by the system are determined as idle running. This corresponds to the distance and the assumed deceleration.

  The minimum vehicle speed calculation unit 55 determines the own vehicle A based on the remaining distance L to the stop line of the traffic light S of the own vehicle A, the current vehicle speed of the own vehicle A, the assumed deceleration of the own vehicle A, and the idle running time. Calculates the minimum vehicle speed of the host vehicle that can pass through the stop line of the traffic light S by the end of the yellow signal of the traffic light S (S16). In the present embodiment, in calculating the minimum vehicle speed, not only the remaining distance L to the stop line of the traffic light S of the own vehicle A acquired in S12 and the current vehicle speed of the own vehicle A, but also the estimated deceleration of the own vehicle A in S14 and By considering the idle time, the accuracy of calculating the minimum vehicle speed can be improved. Hereinafter, the time when the vehicle A passes the stop line of the traffic light S at this time is assumed to be t.

  The following vehicle state acquisition unit 58 acquires the state of the following vehicle B from the road-to-vehicle communication device 51, the vehicle-to-vehicle communication device 56, and the autonomous sensor 57 (S17). Specifically, the subsequent vehicle state acquisition unit 58 acquires whether the subsequent vehicle B exists in the own vehicle A, the distance between the subsequent vehicle B and the own vehicle A, and the vehicle speed and acceleration of the subsequent vehicle B. To do.

  When the following vehicle B does not exist here (S18), the provision information determination part 59 makes the driver information provision part 60 pass the stop line of the traffic light S by the own vehicle A by the end of the yellow signal of the traffic light S. The minimum vehicle speed of the subject vehicle A that can be displayed is presented to the driver (S19).

  On the other hand, when the following vehicle B exists here (S18), the following vehicle state acquisition part 58 further acquires the information of the following vehicle B (S20).

  TTC (Time To Collision) obtained by dividing the inter-vehicle distance from the own vehicle A by the relative speed at the time t (when the traffic signal S of the own vehicle A passes through the stop line), the arrival time to the stop line of the signal S, and the signal S When any one selected from the distance to the stop line is equal to or greater than the threshold (S21), the provision information determination unit 59 informs the driver information provision unit 60 that the own vehicle A has completed the yellow signal of the traffic light S. The minimum vehicle speed of the host vehicle A that can pass through the stop line of the traffic light S is presented to the driver (S19).

  On the other hand, any one selected from the TTC obtained by dividing the inter-vehicle distance from the host vehicle A at time t by the relative speed, the arrival time to the stop line of the traffic light S, and the distance to the stop line of the traffic light S is less than the threshold value. In some cases (S21), the minimum vehicle speed calculation unit 55 calculates and provides the minimum vehicle speed of the host vehicle that allows the following vehicle B to pass the stop line of the traffic light S before the end of the yellow signal of the traffic light S. The information determining unit 59 causes the driver information providing unit 60 to present the minimum vehicle speed to the driver (S22).

  Accordingly, as shown in FIGS. 6A and 6B, the following vehicle B can also pass through the stop line of the traffic light S by the end of the yellow signal of the traffic light S.

  According to the present embodiment, the provided information determination unit 59, when the subsequent vehicle state acquisition unit 58 detects that the subsequent vehicle B is present in the host vehicle A, is acquired by the subsequent vehicle state acquisition unit 58. Depending on the state of the vehicle B, in order to support the traveling of the host vehicle A so that the subsequent vehicle B can also pass the traffic light S, not only the host vehicle A that is the preceding vehicle but also the subsequent vehicle B It is possible to pass through the traffic light S.

  Further, according to the present embodiment, the minimum vehicle speed calculation unit 55 calculates the minimum vehicle speed of the host vehicle A that allows the host vehicle A to pass the traffic light S, and the provided information determination unit 59 performs the following vehicle state acquisition unit. When 58 does not detect the presence of the following vehicle B, the driving assistance of the own vehicle A is performed based on the lowest vehicle speed calculated by the lowest vehicle speed calculation unit 55. The own vehicle A can pass through the traffic light S by the minimum vehicle speed having a wide allowable range calculated based on the condition of the own vehicle A alone.

  Furthermore, according to this embodiment, the following vehicle state acquisition part 58 detects the presence of the following vehicle B, and when the own vehicle A passes the signal S, the distance and arrival time of the following vehicle B to the signal S When any of the above has exceeded the threshold value, the provision information determination unit 59 provides driving support for the host vehicle A based on the minimum vehicle speed calculated by the minimum vehicle speed calculation unit 55, so that the following vehicle B Even if it exists, the possibility that the following vehicle B can pass through the traffic light S is originally low, and when the change in the vehicle speed of the own vehicle A has little influence on the following vehicle B, the condition of only the own vehicle A is used. The own vehicle A can pass through the traffic light S with the minimum vehicle speed having a wide allowable range calculated based on the above.

  On the other hand, the following vehicle state acquisition unit 58 detects the presence of the following vehicle B, and when the own vehicle A passes the traffic signal S, either the distance to the traffic signal S of the subsequent vehicle B or the arrival time is less than the threshold value. When it is detected that the vehicle is present, the minimum vehicle speed calculation unit 55 calculates the minimum vehicle speed of the host vehicle A that allows the following vehicle B to pass the traffic light S, and the provision information determination unit 59 determines the minimum vehicle speed calculation unit. Since the traveling support of the host vehicle A is performed based on the minimum vehicle speed calculated by 55, there is a high possibility that the subsequent vehicle B can pass the traffic light S, and the change in the vehicle speed of the host vehicle A has a great influence on the subsequent vehicle B. In some cases, both the own vehicle A and the following vehicle B can pass through the traffic light at the minimum vehicle speed at which the following vehicle B can also pass through the traffic light S.

  In addition, according to the present embodiment, the driving support apparatus 100 provides driving support for the host vehicle A by providing the information regarding the minimum vehicle speed to the driver of the host vehicle A by the provision information determining unit 59. Therefore, the driver can drive the traffic signal S not only for the host vehicle A as the preceding vehicle but also for the following vehicle B by driving the host vehicle A based on the provided minimum vehicle speed.

  Hereinafter, a second embodiment of the present invention will be described. In the first embodiment, driving support is performed so as not to affect the subsequent vehicle B1 directly behind the host vehicle A. However, in the present embodiment, a plurality of subsequent vehicles of the host vehicle A are provided. Provide driving support in consideration of the impact. In this case, when information about a plurality of subsequent vehicles of the host vehicle A can be acquired, it becomes a problem to determine the vehicle speed of the host vehicle A in consideration of the range of the subsequent vehicles.

In this case, specifically, the following method can be considered.
(1) Consider all the following vehicles from which information can be acquired within a range where the host vehicle A does not require acceleration.
(2) Considering the following vehicles up to the rear N (vehicles) of the own vehicle A in a range where the own vehicle A does not require acceleration.
(3) Consider the following vehicle existing within the range up to the rear X (m) of the own vehicle A in a range where the own vehicle A does not require acceleration.

  In addition, you may limit the subsequent vehicle which considers the influence in this case with the vehicle etc. which can acquire the information from roadside transmitters (roadside infrastructure), such as an optical beacon and an electric wave beacon. By combining these conditions, for example, up to one succeeding vehicle that is located within a range of 200m from the intersection, can acquire information from the roadside receiver, and is willing to pass the intersection. It is possible to make a condition such as “considering the effect on

  For example, in the example shown in FIG. 7, among the following vehicles C, D, E, F, and G with respect to the own vehicle A, it can be estimated that all the vehicles have an intention to pass the intersection from the running state. The vehicles located within the range X of 200 m from the intersection are the following vehicles C, D, E, and F. In this example, only the following vehicles E and G can acquire information from the roadside receiver. Therefore, only the following vehicle E meets the above condition, and the driving support device 100 determines the vehicle speed of the own vehicle A that allows the own vehicle A and the following vehicle E to pass through the intersection. Or the vehicle A is automatically travel-controlled by the vehicle speed.

Hereinafter, a third embodiment of the present invention will be described. In this embodiment, according to the state of the following vehicle B, the driving assistance which accelerates the own vehicle A and passes the traffic light S is performed. A specific example of conditions for performing travel support (presentation of information to the driver and automatic travel control) that accelerates the host vehicle A and passes the traffic light S in this manner is shown below. Note that the following conditions can be applied individually or in combination.
(1) When the host vehicle A stops, the deceleration required for the following vehicle B is equal to or greater than a certain value.
(2) The acceleration required for the vehicle A is not more than a certain value.
(3) The vehicle speed required for the host vehicle A is not more than a certain value (this vehicle speed may be a regulated speed or within + X km / h with respect to the current vehicle speed).
(4) The host vehicle A is located in a place where the risk of acceleration is not high (no side roads, good prospects, etc.).
(5) The following vehicle B exists within a certain range from the host vehicle A (the certain range is defined by the inter-vehicle time, distance, etc.).
(6) The following vehicle B can be prevented from accelerating with the acceleration of the host vehicle A by an infrastructure coordination system using road-to-vehicle communication and inter-vehicle communication, and the like. B can be instructed to stop.

  Here, as a display method for prompting the driver of the own vehicle A to pass the traffic light S, an instruction such as “Please pass by accelerating” may be simply displayed on the display or the like. It may be kept in the presentation such as “It is possible to pass with h”. In this case, if the driving support device 100 is performing driving support such as issuing an alarm for a driver's red signal oversight, and if the vehicle A is traveling near the vehicle speed that can pass, Since there is a case where an alarm for an oversight of a red signal is issued, in this case, an alarm for an oversight of a red signal may be turned off.

  In the present embodiment, when the own vehicle A is in an optional zone (a state in which it can pass and stop) and the own vehicle A stops, the own vehicle A is accelerated if the following vehicle B requires sudden braking. Thus, the following vehicle B can also pass the traffic light S. Alternatively, when the own vehicle A passes the traffic light S, the subsequent vehicle B also tries to pass the traffic light S, so that the subsequent vehicle B enters a dangerous state (dilemma zone: a state in which neither passing nor stopping is possible). Can be prevented.

  Although the embodiments of the present invention have been described above, the present invention is not limited to the above-described embodiments, and various modifications can be made. For example, in the above embodiment, driving support is provided by providing the driver of the host vehicle A with information that allows the traffic light S to pass through. However, the present invention automatically performs acceleration, braking, steering, etc. of the host vehicle A. Alternatively, the driving support may be performed by performing the driving control to be controlled automatically.

  In the above embodiment, as a condition for passing the traffic light S, the stop position corresponding to the traffic light S is passed by the end of the yellow signal of the traffic light S. However, the present invention is centered at the intersection where the traffic light S is installed. Or passing on an extension line of the intersection road of the intersection where the traffic light S is installed may be a condition for passing the traffic light S. Further, as a condition for passing the traffic light S, the red signal may be turned on instead of the end of the yellow signal.

It is a functional block diagram which shows the structure of the driving assistance apparatus which concerns on 1st Embodiment. It is a top view which shows the condition where the driving assistance device of 1st Embodiment is applied. (A) (b) is a graph which shows the remaining distance to the own vehicle and the following vehicle's vehicle speed at the time of performing the driving assistance which does not consider the following vehicle, and a following vehicle, and a stop line. It is a figure which shows an example of the display with respect to a driver | operator. It is a flowchart which shows operation | movement of the driving assistance apparatus which concerns on 1st Embodiment. (A) (b) is a graph which shows the remaining distance to the vehicle speed and stop line of the own vehicle at the time of performing the driving assistance which considered the following vehicle, respectively. It is a top view which shows the range of the succeeding vehicle to consider in the driving assistance device of 2nd Embodiment.

Explanation of symbols

DESCRIPTION OF SYMBOLS 51 ... Road-to-vehicle communication machine, 52 ... Vehicle state sensor, 53 ... Driving recorder, 54 ... Empty driving time calculation part, 55 ... Minimum vehicle speed calculation part, 56 ... Inter-vehicle communication machine, 57 ... Autonomous sensor, 58 ... Subsequent vehicle state Acquisition unit, 59 ... provided information determining unit, 60 ... driver information providing unit, 100 ... running support device, A ... own vehicle, B ... following vehicle, S ... signal, V ... beacon, L ... distance.

Claims (5)

A signal cycle reading means for reading signal cycle information, which is information relating to signal transition in a traffic light, transmitted from a roadside transmitter installed on a road;
Vehicle speed calculating means for calculating the vehicle speed of the host vehicle that allows the host vehicle to pass through the traffic light based on the signal cycle information read by the signal cycle reading unit;
Travel support means for performing travel support of the host vehicle based on the vehicle speed calculated by the vehicle speed calculation means;
Subsequent vehicle state acquisition means for acquiring the state of the subsequent vehicle of the host vehicle;
With
When the subsequent vehicle state acquisition unit detects that the subsequent vehicle is present in the host vehicle, the driving support unit determines whether the subsequent vehicle state acquisition unit acquires the subsequent vehicle state. A travel support device that performs travel support of the host vehicle so that a subsequent vehicle can also pass through the traffic light. The vehicle speed calculation means calculates a first minimum vehicle speed of the host vehicle that allows the host vehicle to pass the traffic light,
The travel support means performs travel support of the host vehicle based on the first minimum vehicle speed calculated by the vehicle speed calculation means when the subsequent vehicle state acquisition means does not detect the presence of a subsequent vehicle. Item 2. The driving support device according to Item 1. The following vehicle state acquisition means detects the presence of the following vehicle, and when the own vehicle passes the signal, either the distance to the signal or the arrival time of the following vehicle exceeds a threshold value. Is detected,
The travel support device according to claim 2, wherein the travel support means performs travel support of the host vehicle based on the first minimum vehicle speed calculated by the vehicle speed calculation means. The following vehicle state acquisition means detects the presence of a following vehicle, and when either the distance to the traffic signal or the arrival time of the following vehicle when the host vehicle passes the traffic signal is less than a threshold value. If detected,
The vehicle speed calculating means calculates a second minimum vehicle speed of the host vehicle that allows the following vehicle to pass through the traffic light,
The travel support device according to claim 3, wherein the travel support means performs travel support of the host vehicle based on the second minimum vehicle speed calculated by the vehicle speed calculation means. Driver information providing means for providing information to the driver of the host vehicle;
The driving support means provides driving support for the host vehicle by providing the driver information providing means with information on either the first minimum vehicle speed or the second minimum vehicle speed to the driver of the host vehicle. The travel support apparatus according to any one of claims 2 to 4, which is performed.

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