JP2010102529A - Information providing device and information providing method - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an information providing device and an information providing method capable of reducing left-turn collision accidents by estimating and determining a left-turn collision accident and giving a warning to a driver. <P>SOLUTION: An in-vehicle device 1 as a device for providing information for supporting the reduction of left-turn collision accidents, in the case that a mobile unit advancing in the same direction with an object vehicle planned to turn left exists, reports the warning about a left-turn collision accident to the object vehicle, and includes: a communication means 10 for acquiring traffic information 18 from a roadside radio device installed at a roadside; a sensor means 11 for acquiring the vehicle information 19 of the object vehicle; and an information provision determination means for determining whether the provision of the information or the warning about a left-turn collision accident is given to the driver of the object vehicle by estimating the intersection arrival time of the object vehicle and the mobile unit based on the traffic information 18, the vehicle information 19, and parameter information. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention relates to an information providing apparatus and information providing method for assisting in reducing left turn accidents provided in a safe driving support system.

  Conventionally, a traffic accident caused by a so-called left turn involving a two-wheel vehicle approaching from the left rear side when the vehicle turns left at an intersection has been constantly studied, and various countermeasures have been studied. In order to reduce the occurrence of such a left turn accident, there is a device that supports safe driving by providing information to the driver when the target vehicle turns left.

  For example, the position, angle, and distance of an object existing around the vehicle are detected by sensors mounted on the front and side of the target vehicle, and the detected object is captured as an image using a camera. There is an in-vehicle device that recognizes whether or not and displays a warning on the in-vehicle display (see, for example, Patent Document 1). In addition, a roadside device that collects information on intersections from a plurality of sensors installed around the intersection and provides the intersection information together with the traffic signal information to the left turn waiting vehicle using narrowband communication to alert the driver Yes (see, for example, Patent Document 2).

WO2007-135856 JP 2004-157735 A

  In Patent Document 1, when the target vehicle turns to the left, the position, angle, and distance of a two-wheeled vehicle, bicycle, pedestrian, etc. existing on the side and front of the target vehicle are detected, and the detected moving object is a dangerous object. The driver is alerted by displaying an image of a dangerous object according to the situation of the intersection. Moreover, in patent document 2, a roadside device collects the situation of an intersection, transmits it as signal intersection information together with signal information, and alerts the driver when the left turn waiting vehicle near the intersection receives the transmitted intersection information. Is going.

  However, the above-mentioned conventional technology can acquire information near the intersection when the target vehicle makes a left turn, but it is difficult for the driver to grasp the moving object involved in the left turn operation and instantly determine the danger, It is expected that there will be little technical effect that leads to a reduction in accidents involving left turn.

  The present invention has been made to solve these problems, and an information providing apparatus and an information providing method for reducing a left turn entrainment accident by predicting and judging a left turn entrainment accident and alerting the driver. The purpose is to provide.

  In order to solve the above-mentioned problem, the information providing apparatus according to the present invention notifies the target vehicle of a warning about a left turn entrainment accident when there is a moving body approaching in the same direction as the target vehicle scheduled to turn left. Communication means for acquiring traffic information from the roadside wireless communication device installed on the roadside, sensor means for acquiring vehicle information of the target vehicle, parameter management means for managing parameter information as a reference, and traffic information Based on vehicle information and parameter information, determine whether to provide information or alert to the driver of the target vehicle about the left turn accident by predicting the arrival time of the target vehicle and the moving object Control of output of HMI information including information provision and alerting based on the information provision judgment means to be performed and the judgment result by the information provision judgment means And an HMI information output controlling unit that.

  According to the present invention, based on traffic information, vehicle information, and parameter information, information about a left turn involving accident is provided to the driver of the target vehicle or alerting the driver of the target vehicle by predicting the arrival time of the target vehicle and the moving object. Therefore, it is possible to reduce the left turn accident by predicting and judging the left turn accident and alerting the driver.

  Embodiments of the present invention will be described below with reference to the drawings.

  The information providing service using the on-vehicle device for preventing left turn accidents according to the present embodiment provides the driver of the vehicle who is about to turn left with the recognition support for the moving object (for example, a motorcycle) approaching from the rear of the vehicle. ). By using such a left-turn accident prevention support service, before the target vehicle starts making a left turn, the driver is alerted to the driver's back and the presence of a mobile object such as a motorcycle that is easy to overlook is recognized. It is expected to reduce the occurrence of contact accidents between the target vehicle turning left and the two-wheeled vehicle. In the present embodiment, the description will be made assuming a two-wheeled vehicle as the moving body, but the same applies to a target object such as a pedestrian or a bicycle that may be involved when the vehicle turns left.

  FIG. 1 is a block diagram of a safe driving support system using an information providing apparatus that implements an information providing method according to an embodiment of the present invention. The in-vehicle device (information providing device) 1 assumes a configuration having a DSSS determination processing function based on an ITS (Intelligent Transport System) in-vehicle device. The optical beacon receiver 2 and the DSRC in-vehicle device 3 can transmit and receive road-vehicle communication information between the optical beacon roadside device 8 and the DSRC roadside device 9 by wireless communication. Here, the wireless communication medium may be a vehicle-to-vehicle communication device, a wireless tag, a wireless LAN (including WiFi and WiMAX), a mobile phone, and the like. The vehicle sensor 4 can acquire sensor information related to the speed, acceleration, brake, winker, accelerator, steering, wiper, engine, shift, and the like of the subject vehicle that is the target vehicle. From the in-vehicle device 1, images, sounds, texts, codes, and the like, which are HMI information, are transmitted to the car navigation 5 as a safe driving support system and displayed on the display 7, or transmission to the car navigation 5 may be canceled. it can. The other processing device 6 is a vehicle-mounted system different from the vehicle-mounted device according to the present embodiment. For example, there is a vehicle-mounted device in an ASV (Advanced Safety Vehicle). The in-vehicle device 1 can display the safe driving support information in another system on the car navigation 5 by transmitting the information determination result to the other processing device 6. Here, the DSRC in-vehicle device 3 and the car navigation 5 may be ITS in-vehicle devices.

  Since the optical beacon receiver 2 has a relatively small optical communication area, basically only one vehicle can exist in the optical communication area, and a plurality of vehicles cannot exist simultaneously. Therefore, the optical beacon receiver 2 receives only information directed to the own vehicle, and does not receive information directed to other vehicles. Therefore, the optical beacon receiver 2 can obtain the safety support information as the downlink information by uplinking the DSSS service ID, and the in-vehicle device 1 acquires the lane information while traveling and the collision of the traveling lane Information can be obtained.

  Since the DSRC in-vehicle device 3 has a relatively wide radio wave communication area, there may be a plurality of vehicles at the same time in the radio wave communication area. Therefore, the DSRC in-vehicle device 3 may receive information directed to other vehicles in addition to the information directed to the own vehicle. Therefore, the DSRC in-vehicle device 3 selects whether or not the downlink information is information necessary for the own vehicle, and outputs only the downlink information necessary for the own vehicle to the in-vehicle device 1. At this time, the downlink information may be acquired from the optical beacon roadside device 8 even if the DSRC roadside device 9 is not installed. The optical beacon roadside machine 8 and the DSRC roadside machine 9 installed on the roadside are connected to the information relay device 26. Similarly, the vehicle detection information and the traffic lights detected by the vehicle detection sensor 21 connected to the information relay device 26 are connected. 27 signal information is received via the information relay device 26 and transmitted to the vehicle.

  The car navigation 5 has a car navigation function and functions as an HMI between the vehicle and the driver. In addition, the car navigation system 5 may include a GPS (Global Positioning System) receiver, obtain position information of the host vehicle from the GPS receiver, and output the vehicle information as vehicle information. The car navigation 5 performs image display, voice output, text display, and the like based on the safety support HMI information received from the in-vehicle device 1. Therefore, the driver's driver is notified of the warning information about the rear-end collision, and the rear-end collision in front of the host vehicle can be avoided in advance. At this time, HMI information that prompts the user to change the lane of the host vehicle may be provided from the lane where the attention of the rear-end collision is predicted.

  FIG. 2 is a block diagram of an information providing apparatus that implements an information providing method according to an embodiment of the present invention. As shown in FIG. 2, when there is a moving body that approaches in the same direction as the host vehicle that is scheduled to turn left, the vehicle-mounted device 1 that notifies the host vehicle of a warning about a left turn accident is installed on the road side. Communication means 10 for obtaining traffic information 18 from the roadside wireless communication apparatus, sensor means 11 for obtaining vehicle information 19 of the host vehicle, parameter management means 14 for managing parameter information as a reference, traffic information 18, Based on the vehicle information 19 and the parameter information, it is determined whether to provide information about the left turn-in accident or alert the driver of the own vehicle by predicting the arrival time of the own vehicle and the moving body. HMI (Human Mach) including information provision and alerting based on information provision judgment means 13 and the judgment result by information provision judgment means 13 And an HMI information output control section 15 for controlling the output of the ne Interface) information 17. The data management unit 12 manages data obtained from the communication unit 10 and the sensor unit 11, and the determination processing result holding unit 16 holds the determination result processed by the information provision determination unit 13. The HMI information output control means 15 is used to determine the output of the HMI information 17.

  Note that the communication unit 10 is a communication unit serving as road-to-vehicle communication such as VICS (Vehicle Information and Communication System) and DSRC (Dedicated Short Range Communication), a mobile phone, a wireless LAN, and other communication media. Further, the HMI information is information for notifying the driver of alert information using characters, sounds, images, or the like.

  FIG. 3 is a diagram illustrating an example of a system arrangement on the infrastructure side in the safe driving support system according to the embodiment of the present invention. As shown in FIG. 3, the vehicle detection sensor 21 is installed on the left turn lane, and the optical beacon roadside machine 8 is installed upstream thereof. The DSRC roadside machine 9 sets the DSRC communication area 20 from the optical beacon roadside machine 8 to the stop line 23 or the left turn start position. The optical beacon roadside machine 8 is installed upstream of the road into which the left turn vehicle flows. In addition, the DSRC roadside unit 9 is installed so as to cover the range of the communication area or sensor area necessary for the left-turn entrainment prevention support service. In the present embodiment, an image sensor is used as the vehicle detection sensor 21. In addition, the level of support for safe driving is to provide information for alerting. The safe driving support by the in-vehicle device 1 is to provide information for alerting.

  The lower diagram of FIG. 3 explains the movement of the vehicle near the intersection. For example, when a vehicle traveling at a speed of 50 km / h is near the intersection, the vehicle decelerates at 3 m / s. Go. If there is no moving object when turning left, turn left at about 20 km / h slowly, but if there is a moving object and there is a risk of getting involved when turning left, alert the driver. Pause and start moving left after passing the moving object.

  FIG. 4 is a diagram illustrating an example of an arrangement criterion for the roadside system on the infrastructure side in the safe driving support system according to the embodiment of the present invention. As shown in FIG. 4, L1 is the installation position of the optical beacon roadside unit 8, L2 is the DSRC communication area length, L3 is the sensing area length, and L1 to L3 are relative to the stop line 23 or the left turn start position. Shows the distance.

The installation position L1 of the optical beacon roadside machine 9 is
Vs: Design speed of own vehicle that is a left turn scheduled vehicle (left turn vehicle) (information provision target upper limit speed acquired from sensor information)
Ve: Reference speed when turning left (speed that can safely turn left)
Tdr: Driver's reaction time (time until the driver recognizes information notified from the vehicle-mounted device 1 and takes an appropriate response)
Tds: Information provision processing time (time from when the sensor detects a moving object to be alerted until information is provided to the driver)
Tdl: Time required for making a left turn (time required from the stop line 23 or the left turn start position to the start of a left turn)
D1: If the deceleration of the vehicle is a design parameter,
Td: Deceleration time from the speed Vs to the reference speed when turning left,
Td = (Vs−Ve) / D1
It becomes.

At this time,
(1) The free running distance of the vehicle until the provided information is recognized by the driver:
Vs × (Tdr + Tds + Tdl)
(2) Braking distance when the vehicle decelerates to the left turn reference speed:
Vs × Td− (D1 × Td ² ) / 2
L1 is larger than the sum of (1) and (2).

As an example,
Vs = 50 [km / h] = 13.9 [m / s]
Ve = 25 [km / h] = 6.9 [m / s]
D1 = 3 [m / s ² ]
Tdr = 2 [sec]
Tdl = 0.5 [sec]
Then,
L1 ≧ {Vs × (Tdr + Tds + Tdl)} + {Vs × Td− (D1 × Tds ² ) / 2}
= Vs × (Tdr + Tds + Tdl) + {(Vs ² −Ve ² ) / 2D1}
≒ 61.6 [m]
A value that satisfies

  Table 1 shows the relationship between the design speed (Vs) before the start of deceleration of the left turn vehicle (own vehicle) and the installation position (L1) of the optical beacon roadside unit 8. In Table 1, Ve = 25 [km / h], Tdr = 2 [sec], Tds = 0.2 [sec], and Tdl = 0.5 [sec].

  The DSRC communication area length L2 is installed so as to cover the lane on the downstream side from the installation position of the optical beacon roadside machine 8.

The sensing area length L3 of the vehicle detection sensor 21 is
L3: Sensing area length from the stop line 23 Vb: Design speed of the moving object (information provision target upper limit speed acquired from sensor information)
L3 is
(3) The free running distance of the moving object until the information provided is recognized by the driver:
Vb × (Tdr + Tds)
(4) Braking distance of the moving body when the left turn vehicle decelerates to the reference speed:
Vb x Td
L3 is larger than the sum of (3) and (4),
L3 ≧ Vb × (Td + Tdr + Tds)
A value that satisfies

  Table 2 shows the relationship between the installation position (L1) of the optical beacon roadside device 8 and the sensing area length (L3). In Table 2, Ve = 25 [km / h], Tdr = 2 [sec], and Tds = 0.2 [sec]. As shown in Table 2, the DSRC communication area length (L2) and the sensing area length (L3) are determined according to the design speed Vs of the left turn vehicle (own vehicle), the design speed Vb of the moving body, and the like. The administrator of the safe driving support service selects and uses an appropriate value according to the use of the service to be applied.

  In addition, the target of the information provision service is the vehicle (four-wheeled vehicle, two-wheeled vehicle) that runs in the same direction as the vehicle before the left turn (four-wheeled vehicle, two-wheeled vehicle), the pedestrian, the bicycle, or the moving body to turn left It may be a pedestrian or a bicycle.

  The target section of the information providing service of the in-vehicle device 1 according to the present embodiment is upstream of the stop line or the left turn starting point. Regarding the information provision determination algorithm for determining whether or not to provide the information provision service, the traffic information used for information provision judgment is obstacle detection information (support data classification = left turn), obstacle event expression information (motorcycle obstacle information) ), Signal information, and signal event expression information. Here, the obstacle event expression information indicates detection information such as a four-wheeled vehicle or a two-wheeled vehicle that is an obstacle of the own vehicle in the target vehicle detection area, and expresses its position, type, quantity, lane, etc. . The signal information indicates the target intersection road and pedestrian traffic light information, and expresses the signal traffic direction, intersection route, lamp number, lamp number, lamp color, etc., and the signal event expression information is the target The stop line information of the four-wheeled vehicle and the two-wheeled vehicle at the intersection is shown, and the lane number, the number of lanes, the road distance, the latitude and longitude are expressed. The motorcycle obstacle information may be a bicycle or a pedestrian.

  In this embodiment, the information provided to the driver is information that calls attention to a moving body such as a two-wheeled vehicle that exists behind the host vehicle when turning left, and is evoked using characters, sounds, images, vibrations, etc. To do. For example, in the case of a vehicle, characters, sounds, and images may be displayed on the display of the car navigation system.

The condition for providing information to the driver using the information provision determination means 13 of the in-vehicle device 1 according to the present embodiment is when there is at least one moving body that satisfies all of the following conditions (5) to (7). If the condition is satisfied, the driver is alerted about the moving object. That is, the information provision judging means 13 is such that the moving body (two-wheeled vehicle) is located behind the own vehicle (planned turn left vehicle), the moving body reaches the stop line before the own vehicle, and the driver of the own vehicle alerts When the moving body reaches the stop line before the left turn operation is completed after recognizing
(5) The moving body is located behind the host vehicle. At this time, the system should be operated safely (information is provided) in consideration of the detection error of the sensor.
(6) The moving body reaches the stop line before the person planning to turn left. At this time, the system should be operated (information provided) on the safe side in consideration of the detection error of the time until it reaches the stop line of the host vehicle.
(7) The moving body reaches the stop line before the driver completes the left turn operation after recognizing the provided information.

The method for determining whether or not there is a moving object to be alerted is shown below.
L_bike: distance to the stop line of the moving body L_margin: tolerance of sensor detection distance error (detection margin)
L_stop_margin: tolerance value of distance error to the stop line of the host vehicle (relative distance from the position of the stop line to the inside of the intersection) [m]
L_car: Distance to the stop line of the host vehicle Ttc_bike: Time until the moving body reaches the stop line Ttc_car: Time until the host vehicle reaches the stop line Ttc_margin: Time until the host vehicle reaches the stop line Allowable error Vmin: Estimated speed when turning left (minimum speed for providing information) [m / s]
D1: Deceleration of own vehicle [m / s ² ]
When
The condition of (5) is
L_bike> L_car + L_margin
The condition of (6) is
Ttc_bike ≦ Ttc_car + Ttc_margin
The condition of (7) is
Ttc_bike ≦ (Tds + Tdr + Tdl)
It becomes.

The alerting end condition ends the alerting to the driver when both of the following conditions (8) and (9) are satisfied. In other words, the left turn entrainment prevention determination processing means 13 waits for the object (two-wheeled vehicle) that has been the object of alert passing the own vehicle (planned to turn left) and the driver of the own vehicle recognizes the HMI information. When there is no moving body that reaches the stop line before completing the left turn operation, the alerting to the driver of the host vehicle is terminated.
(8) A moving object that has been the subject of alert overtaking a vehicle that is scheduled to turn left.
L_bike ': When the distance to the stop line of the moving object that was the target of alerting is
L_bike '≦ L_car + L_margin
If it satisfies.
(9) The case where there is no moving body that reaches the stop line before the left turn operation is completed after the driver of the left turn scheduled vehicle recognizes the HMI information.
All mobiles that do not meet condition (8)
Ttc_bike> (Tds + Tdr + Tdl)
If it satisfies.

When the information erasure condition provided to the driver of the information provision determination means 13 satisfies both of the following conditions (10) and (11), the information being provided is erased. That is, when there are a plurality of moving bodies (two-wheeled vehicles) that run in the same direction as the host vehicle (planned left turn vehicle) and approach the intersection, the information provision determination unit 13 reaches each intersection of the moving body that approaches the intersection Based on the maximum value of time, the alert to the driver of the own vehicle is deleted.
(10) When passing an intersection.
(11) When left turn is not possible.

  Note that in the condition (11), a left turn is impossible. When the host vehicle is traveling in a lane where the vehicle cannot turn left, and the host vehicle is traveling without turning the left turn signal, the signal is red. The case where the driver does not intend to make a left turn, such as when it is impossible, or the case where it can be considered that the driver cannot turn left due to traffic restrictions.

  By doing so, it is possible to prevent display of information unnecessary for the driver.

  When there are a plurality of target mobile bodies, the alert information of the mobile body farthest from the left turn planned vehicle is deleted using the maximum time until the mobile body reaches the stop line. That is, when there are a plurality of moving bodies that run in the same direction as the host vehicle (scheduled vehicle for left turn) and approach the intersection, the information provision determination means 13 includes the intersection arrival times of the moving bodies that approach the intersection. Based on the maximum value of, the warning to the driver of the own vehicle is deleted. Moreover, the time to reach the stop line for each of the two-wheeled vehicle, the bicycle, and the pedestrian may be predicted, and the alert information for each of the two-wheeled vehicle, the bicycle, and the pedestrian may be individually deleted. At this time, the left turn entrainment prevention judgment processing means, under the assumption that the host vehicle travels at a predetermined speed when turning left after the host vehicle decelerates toward the intersection, and the moving body travels at a constant speed toward the intersection, Predict the intersection arrival time of the vehicle and the moving body.

  By doing so, it is possible to prevent early erasure of the moving object existing in the vicinity of the host vehicle.

Regarding the above, when the distance L_bike to the stop line of the mobile body and the time Ttc_bike until the mobile body reaches the stop line are the speed Vb of the mobile body,
Ttc_bike = L_bike / Vb
It becomes. Here, L_bike and Vb are acquired from the sensor information included in the traffic information 18. However, since information varies depending on the sensor, Ttc_bike assumes the maximum value of the calculated value.

  In addition, when there are a plurality of moving bodies in the sensor area, L_bike and Vb are acquired for the number of existing units, so that a plurality of Ttc_bikes are obtained. As a reference for extracting a value effective for a left turn car from a plurality of acquired Ttc_bike, sensing is performed to alert an accident between the last tail of a plurality of moving bodies and a left turn car by using a maximum value of Ttc_bike. It will be possible to make a safer left turn for all moving objects in the area.

  The time Ttc_car until the host vehicle reaches the stop line is calculated as follows by obtaining the distance L_Car to the stop line for the speed Vcar of the host vehicle.

(12) When the host vehicle moves at a constant speed to the stop line after decelerating to the assumed speed at the time of left turn,
(L_car + L_stop_margin)> (Vcar ² −Vmin ² ) / 2D1
In the case of,
Ttc_car = (deceleration required time) + (time to move from the position where deceleration was completed to the stop line)
= {(Vcar-Vmin) / D1} + {(L_car + L_stop_
margin) − (Vcar ² −Vmin ² ) / Vmin}
It becomes.

  Here, the position of the stop line is assumed to be the distance from the host vehicle to the stop line + allowable error (L_car + L_stop_margin).

Further, (Vcar ² −Vmin ² ) / 2D1 indicates a distance (braking distance) required to decelerate from the current speed Vcar to the assumed speed Vmin at the time of left turn at the deceleration D1.

(13) When the host vehicle is decelerating to the assumed speed at the time of turning left, or moves to the stop line when decelerating is completed,
Vcar> Vmin, and
(L_car + L_stop_margin) ≦ (Vcar ² −Vmin ² ) / 2D1
In the case of, in consideration of reaching the stop line upon completion of deceleration (making a margin on the safe side by arriving late to the stop line = easy to call attention)
Ttc_car = {(Vcar−Vmin) / D1}
And

  In the case of a left turn (when Ttc_car cannot be calculated, such as when the vehicle is moving ahead of the stop line), there is no moving object to be alerted.

  FIG. 5 is a flowchart in the information provision judgment unit 13 according to the embodiment of the present invention. When the obstacle data support classification is a left turn from the received road-to-vehicle data, the left turn service provision is validated (step S501). When the left turn service is enabled in step S501, from the vehicle linear information such as obstacle event expression information (two-wheel obstacle information), signal information, and signal event expression information, which are received traffic information, from the own vehicle to the intersection center To determine whether the vehicle is before or after passing the intersection (step S502). Here, the road alignment information represents the shape of the road from the target intersection, and expresses the distance from the optical beacon roadside machine to the target intersection as a node and a link.

  In step S503, if the host vehicle is after passing the intersection, the left turn service is disabled. On the other hand, when the host vehicle is before passing the intersection, when the traffic light is blue or left turn arrow from the acquired signal information, the host vehicle speed is the design parameter speed, and the left turn signal is ON, It is determined that a left turn is about to be made (step S503). In step S503, if the host vehicle is not about to turn left, the service is in a service-out state. If the host vehicle is about to turn left, the presence / absence of a moving object to be alerted is determined (step S504). In step S504, if the mobile object does not exist, the left turn service provision is valid, so the left turn information provision service in state is entered. If the mobile object exists, the alert state is established. After each state is determined in this way, it is output to the HMI information output control means 15 as a state determination result output (step S505). The series of determination processes described above are repeated periodically. Here, the state indicates a result of determination processing for the information display condition and the information erasure condition, or the alerting start and end.

  FIG. 6 is a flowchart in the HMI information output control means 15 according to the embodiment of the present invention. The determination result in the information provision determination unit 13 is output as a state determination result output, and is periodically input to the HMI information output control unit 15. Then, it is determined whether or not the state at the previous input is different from the current input state (step S601). If the state is different in step S601, the determination result is updated to the latest state (step S602), and is output as the determination result (step S604). On the other hand, if the state is the same, the determination result is maintained (step S603) and output as the determination result (step S604). In this way, the determination result updated or maintained is held in the determination processing result holding means 16.

  When the above operation is repeated periodically, the acquired data may be missing depending on the communication state or sensor state. In the data management means 12, for example, the vehicle-mounted ID is monitored, and since the number of the previous vehicle-mounted ID and the current vehicle-mounted ID are different, it is determined that data has been lost. The left turn entrainment prevention determination processing means 13 subtracts the time for the missing period from the previously estimated intersection arrival time between the vehicle and the moving body. That is, the left-turn entrainment prevention determination processing unit 13 periodically repeats the determination process, and the data management unit 12 has lost the traffic information 18 acquired from the communication unit 10 or the vehicle information 19 acquired from the sensor unit 11. In the case where it is determined, the driver of the own vehicle is notified of the alert by subtracting the time of the period in which the determination process is missing from the predicted intersection arrival times of the own vehicle and the moving body.

  In this way, even when data is missing, it is possible to predict the approach of moving objects without interruption, so there is no interruption or interruption of alerting notifications due to data loss and driving. It is possible to reliably prevent the left turn from being caught in the hand.

  From the above, it is possible to predict the entrainment state at the time of left turn and alert the driver of the own vehicle that is the left turn scheduled vehicle, which is effective in preventing a left turn entrainment accident. In addition, since the vehicle can be alerted before the intersection where the vehicle turns to the left, the vehicle can pass through the intersection without stopping when making a left turn. In the present embodiment, the provision condition of the HMI information is determined on the vehicle side. However, the information provision determination unit may be provided on the roadside infrastructure and may be determined on the roadside, or the determination processing result may be provided on the vehicle side. .

It is a block diagram of the safe driving assistance system by the information provision apparatus which mounts the information provision method by embodiment of this invention. It is a block diagram of the information provision apparatus which mounts the information provision method by embodiment of this invention. It is a figure which shows an example of the system arrangement | positioning by the side of the infrastructure in the safe driving assistance system by embodiment of this invention. It is a figure which shows an example of the arrangement | positioning reference | standard of the roadside system by the side of an infrastructure in the safe driving assistance system by embodiment of this invention. It is a flowchart in the information provision judgment means by embodiment of this invention. It is a flowchart in the HMI information output control means by embodiment of this invention.

Explanation of symbols

  DESCRIPTION OF SYMBOLS 1 In-vehicle apparatus, 2 Optical beacon receiver, 3 DSRC in-vehicle apparatus, 4 Vehicle sensor, 5 Car navigation system, 6 Other processing apparatus, 7 Display, 8 Optical beacon roadside machine, 9 DSRC roadside machine, 10 Communication means, 11 Sensor means, 12 Data management means, 13 information provision judgment means, 14 parameter management means, 15 HMI information output control means, 16 judgment processing result holding means, 17 HMI information, 18 traffic information, 19 vehicle information, 20 DSRC communication area, 21 vehicle detection sensor , 22 Sensor area, 23 Stop line, 24 intersection, 25 Left turn entrainment accident occurrence point, 26 Information relay device, 27 Traffic light.

Claims (7)

Communication means for obtaining traffic information;
Sensor means for acquiring vehicle information of the target vehicle;
Parameter management means for managing reference parameter information;
Whether to provide information or call attention by predicting the intersection arrival time of the target vehicle and a moving object approaching in the same direction as the target vehicle based on the traffic information, the vehicle information, and the parameter information Information provision judging means for judging
HMI information output control means for controlling the output of HMI (Human Machine Interface) information including the information provision and the alerting based on the determination result by the information provision determination means;
An information providing apparatus comprising:   The information providing determination means is based on the assumption that the target vehicle travels at a predetermined speed when turning left after the target vehicle decelerates toward the intersection, and the moving body travels at a constant speed toward the intersection. The information providing apparatus according to claim 1, wherein the intersection arrival time of the target vehicle and the moving body is predicted.   In the case where the information provision determining means periodically repeats the determination process and the data management means determines that a part of the traffic information acquired from the communication means or the vehicle information acquired from the sensor means is missing. Attention is given to the driver of the target vehicle by subtracting the period of the period in which the determination process is missing from the predicted arrival times of the intersections of the target vehicle and the moving body. The information providing apparatus according to claim 1, wherein an alert is notified.   The information provision determining means is configured such that the moving body is located behind the target vehicle, the moving body reaches a stop line before the target vehicle, and the driver of the target vehicle calls the attention. When the moving body reaches the stop line before completing the left turn operation after the recognition, it is determined that there is the moving body that travels in the same direction as the target vehicle and approaches the intersection, and the target vehicle The information providing apparatus according to claim 1, wherein the warning is notified to the driver.   The information provision judging means, when there are a plurality of the moving bodies that run in the same direction as the target vehicle and approach the intersection, the maximum of the intersection arrival times of the moving bodies approaching the intersection The information providing apparatus according to claim 1, wherein an alert to the driver of the target vehicle is deleted based on a value.   The information provision determining means is configured to allow the mobile object that has been the target of alerting to pass the target vehicle and before the driver of the target vehicle recognizes the HMI information before completing the left turn operation. The information providing apparatus according to claim 1, wherein when the moving body that reaches the stop line does not exist, the alerting to the driver of the target vehicle is terminated. A communication means for obtaining traffic information;
A sensor means for acquiring vehicle information of the target vehicle;
A step in which parameter management means manages parameter information as a reference;
The information provision judging means predicts the arrival time of the intersection of the target vehicle and the moving object approaching in the same direction as the target vehicle based on the traffic information, the vehicle information, and the parameter information, thereby providing information or calling attention Determining whether or not to perform
HMI information output control means for controlling output of HMI information including the information provision and the alerting based on the judgment result by the information provision judgment means;
An information providing method comprising:

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