JP2010191604A - Driving support device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a driving support device for achieving proper driving support for an emergency vehicle during emergency traveling. <P>SOLUTION: This driving support device is provided with a traffic light information acquisition means for acquiring the information of a traffic light at an intersection; a traveling direction detection means for detecting a traveling direction at the intersection of a vehicle; a traveling object detection means for detecting a traveling object which enters the intersection; and a driving support means for performing driving support for preventing the collision of the vehicle and the traveling object on the basis of the traveling direction at the intersection of the vehicle and the traveling object which enters the intersection. The driving support means is characterized to, when the state of the traffic light when the vehicle enters the intersection is a traveling invalidation signal, determine to perform the driving support which is not normally performed when the state of the traffic light is the traveling invalidation signal. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention relates to a driving support device.

  In recent years, in order to reduce the driver's driving load, various support such as crossing pedestrian accident prevention support, encounter accident prevention support, frontal collision accident prevention support, right-handed accident prevention support, left-turn accident prevention support, rear-end collision prevention support, etc. Driving assistance devices have been developed. For example, in Patent Document 1, in order to prevent a collision between vehicles at an intersection, a vehicle approaching the intersection from two directions is detected based on information detected by a sensor installed on a roadside or an in-vehicle sensor. The possibility of a collision of vehicles approaching from the two directions is determined, and an alarm is output to the driver of each vehicle as necessary.

JP 2002-140799 A JP 2000-338248 A

  When an emergency vehicle such as an ambulance travels urgently, it travels preferentially regardless of traffic regulations (for example, traffic lights, entry prohibition) under the Road Traffic Law in order to rush to the site. Therefore, an emergency vehicle that is traveling urgently differs from a general vehicle that travels in compliance with traffic regulations. For example, the vehicle enters an intersection at a red light or enters a road where entry is prohibited. However, various types of driving support as described above are intended for general vehicles that are based on the premise of complying with traffic rules. For this reason, when such various types of driving assistance are performed on an emergency vehicle that is traveling urgently, appropriate driving assistance cannot be performed on the emergency vehicle.

  Then, this invention makes it a subject to provide the driving assistance apparatus which can perform suitable driving assistance with respect to the emergency vehicle in emergency running.

  The driving support apparatus according to the present invention includes a traffic signal information acquisition unit that acquires information on traffic signals at an intersection, a traveling direction detection unit that detects a traveling direction at an intersection of a vehicle, and a moving body detection that detects a moving body that enters the intersection. And driving support means for providing driving support for preventing a collision between the vehicle and the moving body based on the traveling direction at the intersection of the vehicle and the moving body entering the intersection. When the state of the traffic signal when entering the intersection is a travel impossible signal, it is determined that driving assistance that is not normally performed is performed when the travel impossible signal is present.

  In this driving support device, the traffic signal information is acquired by the traffic signal information acquisition means. In the driving assistance device, the traveling direction of the vehicle at the intersection is acquired by the traveling direction detection means. Further, in the driving support device, the moving body entering the intersection is detected by the moving body detecting means. Then, in the driving support device, the driving support means determines the content of driving support based on the state of the traffic lights at the intersection, and based on the traveling direction of the vehicle and the moving body entering the intersection, Provide support to prevent collision between the vehicle and the moving object. In particular, when an emergency vehicle travels urgently, the vehicle enters the intersection even when the traffic light when entering the intersection is in a travel impossible signal. Therefore, for vehicles that must travel in this way, traffic regulations are not observed, so it is necessary to provide driving assistance that is not normally performed when a travel impossible signal is displayed. Therefore, in this driving support device, when the state of the traffic signal when the vehicle enters the intersection is a travel impossible signal, the driving support means does not normally perform the driving support when the vehicle enters the intersection (for example, crossing mobile object accident prevention support) Assistance for preventing accidents at the time of encounter) is performed, and support for preventing a collision between a vehicle and a moving body that enters the intersection with a progress impossible signal is performed by the determined driving assistance. As described above, in the driving assistance device, even when the vehicle has to travel differently from the normal by determining the content of the driving assistance based on the state of the traffic light at the intersection (for example, emergency traveling by an emergency vehicle) Appropriate driving assistance can be provided for the vehicle, and a collision between the vehicle and a moving body entering the intersection can be prevented. In particular, in this driving support apparatus, even when the vehicle has to enter the intersection when the state of the traffic signal when the vehicle enters the intersection is a travel impossible signal, appropriate driving support is performed for the vehicle. be able to.

  In addition, as a mobile body which approachs an intersection, they are a vehicle, a motorcycle, a bicycle, and a pedestrian, for example. Entering an intersection includes not only entering an intersection but also crossing a pedestrian crossing provided at the intersection. The progress impossible signal includes at least a red signal and may include a yellow signal. Incidentally, the progress permission signal includes at least a blue signal and an arrow lamp signal indicating each possible travel direction, and may include a yellow signal.

  In the driving support apparatus according to the present invention, the moving body detecting means travels on a road that intersects the road on which the vehicle has traveled at an intersection, detects other vehicles entering the intersection, and the driving support means detects the vehicle at the intersection. It is determined that driving assistance for preventing a collision with another vehicle detected by the moving body detection means is to be performed even when the state of the traffic light when entering the vehicle is a travel impossible signal.

  In this driving support device, the moving body detecting means detects other vehicles that travel on a road that intersects the road on which the vehicle has traveled at an intersection and enter the intersection. When the traffic light is in the traffic impossible state when the vehicle enters the intersection, the traffic light when the other vehicle traveling on the intersecting road enters the intersection is a normal travel permission signal. Enter the intersection. Therefore, if the vehicle ignores the travel impossible signal and enters the intersection, there is a possibility of colliding with another vehicle at the intersection. Therefore, in this driving support device, when the state of the traffic signal when the vehicle enters the intersection is a travel impossible signal, the driving support means performs driving support that is not normally performed when the vehicle cannot travel (for example, encounter accident prevention support). It is determined to be performed, and support for preventing a collision between the vehicle entering the intersection with a travel impossible signal and another vehicle is performed by the determined driving support. As described above, in the driving assistance device, even when the vehicle has to enter the intersection when the state of the traffic light when the vehicle enters the intersection is a travel impossible signal, appropriate driving assistance is performed for the vehicle. It is possible to prevent a collision between the vehicle and another vehicle entering the intersection.

  In the driving support apparatus according to the present invention, the moving body detecting means detects a moving body that moves on a pedestrian crossing for crossing a road on which the vehicle has traveled, and the driving support means is configured to detect when the vehicle enters an intersection. Even when the state of the traffic light is a travel impossible signal, it is determined that driving assistance for preventing a collision with the moving body detected by the moving body detecting means is performed.

  In this driving support device, a moving body (for example, a pedestrian or a bicycle) on a pedestrian crossing that crosses a road on which the vehicle has traveled is detected by a moving body detection means. When the state of the traffic light when the vehicle enters the intersection is a travel impossible signal, the traffic light state for the pedestrian crossing that crosses the road is a normal travel permission signal, so a pedestrian or the like crosses the pedestrian crossing. Therefore, if the vehicle ignores the travel impossible signal and enters the intersection, there is a possibility of colliding with the pedestrian or the like on the pedestrian crossing. Therefore, in this driving support device, when the state of the traffic signal when the vehicle enters the intersection is a travel impossible signal, the driving support means that is not normally performed when the vehicle cannot travel (for example, crossing pedestrian accident prevention support) ) And the support for preventing the collision between the vehicle that enters the intersection with a travel impossible signal and the moving object on the detected pedestrian crossing by the determined driving assistance. As described above, in the driving assistance device, even when the vehicle has to enter the intersection when the state of the traffic light when the vehicle enters the intersection is a travel impossible signal, appropriate driving assistance is performed for the vehicle. It is possible to prevent a collision between the vehicle and a moving object on the pedestrian crossing.

  In the driving support apparatus of the present invention, the driving support means determines that all driving support is stopped when the state of all the traffic lights at the intersection is a travel impossible signal.

  For example, when all the signals at the intersection are red, since all the moving bodies are normally stopped, there is no moving body that enters the intersection other than the emergency vehicle that is traveling urgently. Therefore, in this driving support device, when the state of all the traffic lights at the intersection is a travel impossible signal, the driving support means determines to stop all driving support. As described above, in the driving support device, when all the traffic lights at the intersection are in a travel impossible signal, the processing load can be reduced by stopping the driving support.

  In the above-described driving support device of the present invention, it is preferable that the driving support means determines that the driving support that is normally performed is not performed in the case of the travel permission signal when the state of the traffic signal when the vehicle enters the intersection is a travel impossible signal. .

  For example, when an emergency vehicle travels urgently, the vehicle enters the intersection even if the traffic light when entering the intersection is in a travel impossible signal. However, other moving bodies in the same direction as the emergency vehicle are stopped by the travel impossible signal. Therefore, in relation to these other moving bodies, it is not necessary to perform driving support that is normally performed at the time of the travel permission signal. Therefore, in this driving support device, when the signal of the traffic signal when the vehicle enters the intersection is a travel impossible signal by the driving support means, the driving support normally performed when the travel permission signal is given (for example, right-handed accident prevention support, left turn Decided not to provide support for preventing accidents involving accidents and preventing rear-end collisions). As described above, in the driving assistance device, the processing load can be reduced by stopping unnecessary driving assistance when the state of the traffic signal when the vehicle enters the intersection is a travel impossible signal.

  In the driving assistance device of the present invention, it is preferable that the vehicle is an emergency vehicle.

  When an emergency vehicle travels urgently, the vehicle travels preferentially regardless of traffic regulations under the Road Traffic Law, and the traffic signal enters the intersection even when the traffic light is in a travel impossible signal when the emergency vehicle enters the intersection. Therefore, this driving support device determines the content of driving support based on the state of the traffic light when the emergency vehicle enters the intersection, so that even if the emergency vehicle travels urgently, the driving support device Support can be provided, and collision between the emergency vehicle and a moving body entering the intersection can be prevented.

  In the present invention, when the state of the traffic signal when the vehicle enters the intersection is a travel impossible signal, it is determined that the driving assistance that is not normally performed when the travel impossible signal is performed, so that the vehicle must travel differently from the normal travel. Even when it is necessary (for example, emergency traveling by an emergency vehicle), it is possible to perform appropriate driving support for the vehicle and to prevent a collision between the vehicle and a moving body entering the intersection.

It is a block diagram of the driving assistance apparatus mounted in the emergency vehicle which concerns on this Embodiment. It is a block diagram of the driving assistance apparatus mounted in the general vehicle which concerns on this Embodiment. It is a schematic diagram which shows an example of the intersection into which an emergency vehicle approachs. FIG. 4 is an example of a case in which assistance for preventing a crossing pedestrian accident is required when an emergency vehicle travels at an intersection shown in FIG. 3. FIG. 4 is an example of a case where emergency vehicle prevention support is required when an emergency vehicle travels at an intersection shown in FIG. 3. FIG. 6 is another example of a case where an emergency vehicle encounters emergency accident prevention support at the intersection shown in FIG. FIG. 6 is another example of a case where an emergency vehicle encounters emergency accident prevention support at the intersection shown in FIG. FIG. 5 is an example of a case where assistance for preventing a frontal collision accident is required when an emergency vehicle travels urgently at the intersection shown in FIG. 3. It is another example when the emergency vehicle needs the front collision accident prevention support at the intersection shown in FIG. It is another example when the emergency vehicle needs the front collision accident prevention support at the intersection shown in FIG. FIG. 4 is an example of a case where emergency vehicle prevention assistance is unnecessary when an emergency vehicle travels at an intersection shown in FIG. 3. It is another example when the right vehicle accident prevention support is unnecessary when the emergency vehicle travels urgently at the intersection shown in FIG. FIG. 4 is an example of a case where an emergency vehicle needs assistance for preventing an accident involving a left turn during an emergency run at the intersection shown in FIG. 3. It is another example in case the emergency vehicle does not need the left turn accident prevention support at the intersection shown in FIG. It is another example in case the emergency vehicle does not need the left turn accident prevention support at the intersection shown in FIG. It is another example in case the emergency vehicle does not need the left turn accident prevention support at the intersection shown in FIG. FIG. 4 is an example of a case in which rear-end collision prevention support is unnecessary when an emergency vehicle travels urgently at the intersection shown in FIG. 3. It is another example when the emergency vehicle does not need rear-end collision prevention support at the intersection shown in FIG. It is a table | surface of the driving assistance required at the time of emergency driving of an emergency vehicle, and the conditions when it is required. 6 is a list of unnecessary driving assistance and conditions when the emergency vehicle is unnecessary during emergency traveling. It is a list of the order of the driving assistance operated by each pattern by the state of a traffic light and the advancing direction in an intersection. It is a flowchart which shows the flow of a process in ECU of the driving assistance device of FIG.

  Embodiments of a driving assistance apparatus according to the present invention will be described below with reference to the drawings.

  In the present embodiment, the driving support device according to the present invention is applied to a driving support device mounted on an emergency vehicle (for example, an ambulance, a fire engine, or a police vehicle). The driving support device according to the present embodiment performs driving support necessary when passing an intersection by infrastructure cooperative control. In particular, the driving support apparatus according to the present embodiment is safe and safe when an emergency vehicle travels urgently and passes through an intersection with priority regardless of traffic regulations (for example, traffic lights, entry prohibition) under the Road Traffic Law. Provide driving assistance so that you can run smoothly. In this embodiment, crossing pedestrian accident prevention support for preventing collisions with other moving bodies as driving support (in addition to pedestrians, other moving bodies (such as bicycles) that move on pedestrian crossings are also included) Assistance for preventing accidents at encounters, support for preventing frontal collisions, prevention for right-handed accidents, support for preventing accidents involving left turns, and support for preventing rear-end collisions at intersections. In the present embodiment, a red signal (however, in the case of a traffic light with an arrow lamp signal, the arrow signal is completely extinguished) is a progress impossible signal, and a signal state other than the red signal is a progress permission signal.

  With reference to FIGS. 1-3, the driving assistance apparatus 1 which concerns on this Embodiment is demonstrated. FIG. 1 is a configuration diagram of a driving assistance device mounted on an emergency vehicle according to the present embodiment. FIG. 2 is a configuration diagram of a driving support device mounted on a general vehicle according to the present embodiment. FIG. 3 is a schematic diagram illustrating an example of an intersection where an emergency vehicle enters.

  The driving assistance device 1 selects necessary assistance when the emergency vehicle is traveling urgently to perform driving assistance, and when the emergency vehicle is traveling normally, performs driving assistance similar to that of a general vehicle. When the emergency vehicle is traveling urgently, the driving support device 1 acquires infrastructure information for each approaching intersection, and it is necessary based on the state of traffic lights, road regulations (such as entry prohibition), and the direction of travel within the intersection of the emergency vehicle. Driving assistance and unnecessary driving assistance are determined, the order of driving assistance is determined, and driving assistance is performed according to the determination. In the present embodiment, the description of the driving assistance similar to that of the ordinary vehicle when the emergency vehicle is traveling normally is omitted.

  The driving support device 1 is capable of communication (vehicle-to-vehicle communication, inter-pedestrian communication, etc.) with a mobile body (including a mobile body that moves on a pedestrian crossing) that enters an intersection, receives information about the mobile body, When there is a possibility of a collision with a moving body entering the intersection, information is provided to the driver and information is provided to the moving body that is likely to collide. In addition, the driving support device 1 is capable of road-to-vehicle communication with an infrastructure device (light beacon) installed on the road side, signal cycle information of traffic lights at an approaching intersection, and entry prohibition information of each road connected to the intersection ( (Including information on prohibition of left turn and right turn), position information and shape information of intersections, crosswalk information (existence, location, etc.), status of traffic lights when emergency vehicles enter intersections, emergency vehicles pass intersections Later, it is possible to grasp the regulation information of the road on the travel route, the shape of the intersection, and the information of the pedestrian crossing that passes. In addition, the emergency vehicle on which the driving support device 1 is mounted is equipped with a navigation system, so that the travel route to the destination (site) can be grasped.

  Therefore, the driving support device 1 includes an emergency travel ON / OFF switch 10, a mobile communication antenna 11, a mobile communication vehicle-mounted device 12, a road-vehicle communication antenna 13, a road-vehicle communication vehicle-mounted device 14, a navigation system 15, and a notification device 16. And an ECU [Electronic Control Unit] 17. The configuration of each part will be described later in detail. In the present embodiment, the mobile communication antenna 11 and the mobile communication vehicle-mounted device 12 correspond to the mobile body detection means described in the claims, and the road-vehicle communication antenna 13 and the road-vehicle communication vehicle-mounted device 14 are patents. The navigation system 15 corresponds to the traveling direction detection means described in the claims, and the processing in the ECU 17 corresponds to the driving support means described in the claims. .

  On the other hand, the driving assistance device 2 is also mounted on other vehicles (including motorcycles) entering the intersection. The driving support device 2 is capable of vehicle-to-vehicle communication with other vehicles (such as emergency vehicles), and information for preventing a collision transmitted from the other vehicles (for example, an emergency vehicle from which direction of the intersection It provides drivers with information on whether they are approaching or may collide with an emergency vehicle when entering an intersection, and vehicle information (eg, current position, current traveling direction, vehicle speed, traveling direction at the intersection) (Incoming road)) to other vehicles. Therefore, the driving assistance device 2 includes a vehicle-to-vehicle communication antenna 20, a vehicle-to-vehicle communication vehicle-mounted device 21, a notification device 22 (for example, a speaker, a display), and an ECU 23. When receiving a signal from another vehicle, the vehicle-to-vehicle communication antenna 20 receives a signal from a vehicle existing within a predetermined distance, and the vehicle-to-vehicle communication on-vehicle device 21 demodulates the received signal to extract information to the ECU 23. Send. The ECU 23 generates a sound signal and an image signal for providing the information to the driver, and transmits the sound signal and the image signal to the notification device 22. The notification device 22 outputs sound corresponding to the sound signal or displays an image according to the image signal. When transmitting a signal to another vehicle, the ECU 23 transmits vehicle information to be provided to the other vehicle to the inter-vehicle communication vehicle-mounted device 21 based on information collected from other systems and sensors. The vehicle-to-vehicle communication vehicle-mounted device 21 modulates the information and transmits the modulated signal to a vehicle existing within a predetermined distance from the vehicle-to-vehicle communication antenna 20. In addition, the driving assistance apparatus 2 may also have a function of independently performing driving assistance for preventing a collision with another moving body.

  In addition, pedestrians and bicycle occupants can also use mobile phones to prevent collisions transmitted from other vehicles (emergency vehicles, etc.) such as those performed by other vehicles (for example, at intersections). From which direction the emergency vehicle is approaching and whether there is a possibility of colliding with the emergency vehicle when crossing a pedestrian crossing, etc., to pedestrians etc., and information such as pedestrians (for example, current location, (Current traveling direction) is transmitted to the vehicle.

  Here, an example of the intersection C where the emergency vehicle EV enters will be described with reference to FIG. Intersection C is an intersection of four roads where two roads are orthogonal (intersect) and four roads R1, R2, R3, R4 are connected. In each road R1, R2, R3, R4 connected to the intersection C, an infrastructure device (such as an optical beacon B) is installed at each position away from the intersection C by a predetermined distance. In the emergency vehicle EV, information is downlinked when passing through the downlink area of the optical beacon B by road-to-vehicle communication.

  This downlinked information includes VICS [Vehicle Information Communication System] information and infrastructure information. VICS information is road traffic information common to all lanes. Road traffic information includes traffic jam information, traffic regulation information, and parking lot information. Infrastructure information includes intersection location information, intersection shape information, pedestrian crossing information at intersections (presence / absence of pedestrian crossings, pedestrian crossing positions), entry prohibition information for each road connected to the intersection (no entry (one-way), right turn Prohibited, left turn prohibited, etc.) and signal cycle information. The signal cycle information that can be acquired with this infrastructure information includes the lighting cycle of the blue signal, yellow signal, and red signal (in the case of a traffic light equipped with an arrow lamp signal, the lighting cycle including the arrow lamp signal), and the lighting time of each signal (seconds) ), The currently lit signal and the elapsed time since the signal was lit.

  The pedestrian crossing information that can be acquired by this infrastructure information is the presence / absence of a pedestrian crossing and the position information of all the roads R1, R2, R3, R4 connected to the intersection C when there is a pedestrian crossing. In this example, a pedestrian crossing PC1 is provided on the road R1, and a pedestrian crossing PC2 is provided on the road R2. Further, the entry prohibition information that can be acquired by the infrastructure information is entry prohibition information for all roads R1, R2, R3, R4 connected to the intersection C. Further, the signal cycle information that can be acquired by this infrastructure information is not only the information of the traffic lights S1 and S2 of the roads R1 and R2 on which the emergency vehicle EV is traveling, but also the traffic lights S3 and S4 of the roads R3 and R4 orthogonal to the intersection C. Can also be obtained.

  Moreover, in the emergency vehicle EV, the information of each vehicle is received from the other vehicles OV1, OV2, etc. which exist around the intersection C by inter-vehicle communication. The vehicle information includes a current position, a traveling direction, a vehicle speed, and the like. Moreover, in the emergency vehicle EV, the information of each pedestrian is received from the pedestrians W1, W2, etc. which exist in the vicinity of the intersection C by inter-pedal communication. The pedestrian information includes the current position and the traveling direction. In the emergency vehicle EV, the travel route to the site is acquired by the navigation system.

  In the emergency vehicle EV during emergency travel, when infrastructure information is acquired, the traffic signal state and the orthogonal direction of the traveling road when entering the intersection based on the intersection position information, signal cycle information, vehicle speed, and current position information Predict the state of traffic lights on the road. Then, in the emergency vehicle EV, the driving assistance to be operated is selected based on the state of the traffic signal in the traveling direction, the state of the traffic signal in the orthogonal direction, the entry restricted road of each road and the traveling route (the traveling direction in the intersection), Perform the selected driving assistance.

  Then, each part of the driving assistance apparatus 1 is demonstrated in detail. The emergency travel ON / OFF switch 10 is a switch for inputting whether or not emergency travel is being performed by an operation by the driver (ON / OFF). The emergency travel ON / OFF switch 10 transmits the driver ON / OFF operation information to the ECU 17.

  The mobile communication antenna 11 and the mobile communication vehicle-mounted device 12 are mobile communication devices (for example, an inter-vehicle communication device, an inter-vehicle communication device) for communicating with a mobile object around the host vehicle. The mobile communication antenna 11 transmits and receives signals by radio waves to and from a mobile body that exists within a predetermined distance around the emergency vehicle. When transmitting the signal, the mobile communication vehicle-mounted device 12 modulates the information provided from the ECU 17 and transmits the modulated signal to the mobile communication antenna 11. When receiving the signal, the mobile communication vehicle-mounted device 12 demodulates the received signal to extract information, and transmits the information to the ECU 17. The mobile communication device may be an integrated communication device that can perform all of the inter-vehicle communication device and the inter-vehicle communication device, or each communication device corresponding to the inter-vehicle communication device, the inter-vehicle communication device, etc. But you can.

  The road-to-vehicle communication antenna 13 and the road-to-vehicle communication vehicle-mounted device 14 are road-to-vehicle communication devices for communicating with the infrastructure device, and are communication devices for optical beacons. The road-to-vehicle communication antenna 13 transmits / receives a signal using an optical beacon and a near infrared ray installed at a predetermined position before the intersection when the emergency vehicle passes through the Dunlink area before the intersection. In particular, when receiving a signal from the optical beacon, the road-vehicle communication vehicle-mounted device 14 demodulates the received signal to extract downlink information, and transmits the downlink information (particularly, infrastructure information) to the ECU 17. When the infrastructure device is not an optical beacon, the communication device is a communication device corresponding to the infrastructure device.

  The navigation system 15 is a system that calculates the travel route to the destination when the current position and traveling direction of the emergency vehicle and the destination are set, and performs route guidance along the travel route. In particular, the navigation system 15 transmits the detected current position, traveling direction, and vehicle speed information acquired from the vehicle speed sensor to the ECU 17. Moreover, in the navigation system 15, when the destination (site) is registered at the time of emergency driving, the travel route information to the destination is transmitted to the ECU 17.

  When the navigation system is not installed, the current position and the traveling direction are acquired by other means. For example, the current position is acquired by the GPS receiver, and the traveling direction is acquired by the time change of the current position. Alternatively, the traveling direction is acquired by various direction sensors such as a gyro sensor. Further, the traveling direction in the intersection is acquired from the operation information of the blinker switch.

  The notification device 16 is a notification device for providing information to the driver, and is, for example, a speaker or a display. When the notification device 16 receives a sound signal from the ECU 17, the notification device 16 outputs a sound according to the sound signal. In addition, when receiving the image signal from the ECU 17, the notification device 16 displays an image indicated by the image signal.

  The ECU 17 is an electronic control unit including a CPU [Central Processing Unit], a ROM [Read Only Memory], a RAM [Random Access Memory], and the like, and comprehensively controls the driving support device 1. The ECU 17 receives the infrastructure information from the road-to-vehicle communication vehicle-mounted device 14 when the emergency vehicle passes through the downlink area, and receives the mobile-object information from the mobile communication vehicle-mounted device 12 when there is a mobile body capable of communicating around the host vehicle. . Further, the ECU 17 receives various information from the navigation system 15 every predetermined time. Then, the ECU 17 executes signal state prediction processing, driving support processing, and the like based on these pieces of information, and when providing information, transmits each signal to the notification device 16 and provides information to the mobile communication vehicle-mounted device 12. Send.

  The signal state prediction process will be described. The ECU 17 assumes that the emergency vehicle maintains the current vehicle speed based on the intersection position information and signal cycle information from the road-to-vehicle communication vehicle-mounted device 14 and the vehicle speed information and current position information from the navigation system 15 for each passing intersection. In this case, the state of the traffic signal on the road in the traveling direction and the state of the traffic signal on the road in the orthogonal direction when the emergency vehicle enters the intersection are predicted. Specifically, the ECU 17 calculates the remaining distance to the intersection based on the current position of the emergency vehicle and the position of the intersection, and calculates the remaining time until the intersection is reached based on the remaining distance and the current vehicle speed of the emergency vehicle. calculate. Then, the ECU 17 predicts the state of the traffic signal when it reaches the intersection based on the remaining time and the signal cycle information. The prediction may be performed in consideration of other information such as the acceleration of the emergency vehicle.

  The driving support process will be described. Even when the vehicle travels urgently, when the state of the traffic signal in the traveling direction is a travel permission signal, the vehicle travels in compliance with traffic regulations, and therefore driving assistance for operating a general vehicle is selected. Further, even when the vehicle is traveling urgently, all the moving bodies other than the emergency vehicle are stopped when the state of all the traffic lights at the intersection is a travel impossible signal. Therefore, there is no possibility that the emergency vehicle collides with another moving body, so that it is not necessary to operate all the driving assistances, and all the driving assistances are not selected.

  If the traffic signal is in the direction of travel and the traffic is ignored without observing the traffic impossibility signal or the road prohibition of the destination road, the emergency vehicle will run differently than usual, so follow the traffic regulations. When driving, it is necessary to operate driving assistance that is not normally operated. As such driving assistance, there are (1) crossing pedestrian accident prevention support, (2) encounter accident prevention support, and (3) frontal collision accident prevention support.

  Moreover, when the state of the traffic signal in the traveling direction is a travel impossible signal, other vehicles in the same traveling direction as the emergency vehicle are stopped by the travel impossible signal. For this reason, when the vehicle travels urgently while ignoring traffic restrictions without observing the traffic impossible signal, the normal operation is performed when traveling according to traffic regulations in relation to other vehicles in the same traveling direction. It is not necessary to operate even with driving assistance. Such unnecessary driving support includes (4) right-handed accident prevention support, (5) left-turn accident prevention support, and (6) rear-end collision support in an intersection.

  The following is the state of the traffic signal in the direction of travel when the emergency vehicle enters the intersection, the state of the traffic signal in the direction orthogonal to the direction, the travel direction within the intersection of the emergency vehicle (straight or right or left), and the road to which the emergency vehicle is traveling The driving assistance selected under each condition based on the entry prohibition information will be specifically described.

  The condition of the progress permission signal when the state of the traffic signal in the traveling direction is described. If it is determined that the traffic signal in the direction of travel is a green signal and the traffic light in the orthogonal direction is a red signal, the rear-end collision prevention support is selected when the direction of travel within the intersection is straight, and the right when the direction of travel within the intersection is right Select direct accident prevention support, crossing pedestrian accident prevention support and rear-end collision prevention support, and select left turn accident prevention support, cross-pedestrian accident prevention support and rear-end collision prevention support when the direction of travel within the intersection is a left turn. . Further, when it is determined that the traffic signal in the traveling direction is a right turn arrow and the state of the traffic signal in the orthogonal direction is a red signal, the rear-end collision prevention support is selected when the traveling direction in the intersection is a right turn.

  A description will be given of the conditions for all the traffic lights to be unable to proceed. When it is determined that the traffic signal in the traveling direction is a red signal and the state of the traffic signal in the orthogonal direction is a red signal, all driving assistance is not selected.

  (1) Condition 1 when assistance for preventing crossing pedestrian accidents is required will be described with reference to FIG. If it is determined that the traffic light in the direction of travel is red and the traffic light in the orthogonal direction is green and the direction of travel within the intersection of the emergency vehicle is straight or right or left (Condition 1), select support for preventing crossing pedestrian accidents. .

  In the case of the example shown in FIG. 4, the emergency vehicle EV enters the intersection C under the above condition 1 (the traffic lights S1 and S2 are red, the traffic lights S3 and S4 are green, and the travel route of the emergency vehicle EV is straight or right or left). In this case, since the traffic light for the pedestrian crossing PC1 is green, the pedestrian W1 who walks in accordance with traffic regulations can enter the pedestrian crossing PC1 without noticing the emergency vehicle EV. Therefore, when the above condition 1 is satisfied, there is a possibility that the emergency vehicle EV entering the intersection C and the pedestrian W1 collide, so it is necessary to operate the crossing pedestrian accident prevention support for the pedestrian W1. Furthermore, when the emergency vehicle EV goes straight, the traffic light state for the pedestrian crossing PC2 is green, so it is necessary to provide support for preventing pedestrian accidents for the pedestrian W2 crossing the pedestrian crossing PC2. However, when the emergency vehicle EV makes a right turn or a left turn, even if there are pedestrian crossings on the orthogonal roads R3 and R4, the traffic light for this pedestrian crossing is in red, so there is no need to operate the pedestrian accident prevention support. .

  When the condition 1 is satisfied in the driving support for the general vehicle, in the related art, the driving support (information provision, intervention control, etc.) in which the vehicle does not enter the intersection with a red signal is operated with the highest priority. At that time, since the general vehicle stops at a red light, driving support for the pedestrians W1 and W2 is not operated in principle. Thus, it is necessary to operate the crossing pedestrian accident prevention support under the condition 1 because of the concept of driving support specialized when the emergency vehicle enters the intersection with a red light ignoring the traffic regulation.

  (2) Condition 2-1 when assistance for preventing accidents is required will be described with reference to FIG. When it is determined that the traffic light in the direction of travel is red and the traffic light in the orthogonal direction is green and the direction of travel within the intersection of the emergency vehicle is straight or right or left (Condition 2-1), select the accident prevention support. .

  In the case of the example shown in FIG. 5, the emergency vehicle EV meets the intersection C in the above condition 2-1 (the traffic lights S1 and S2 are red, the traffic lights S3 and S4 are green, and the travel route of the emergency vehicle EV is straight or right or left). When entering the vehicle, the other vehicles OV1 and OV2 traveling on the orthogonal roads R3 and R4 can enter the intersection C according to traffic regulations without noticing the emergency vehicle EV. Therefore, when the above condition 2-1 is satisfied, there is a possibility that the emergency vehicle EV entering the intersection C and the other vehicles OV1, OV2 may collide with each other, so the other vehicle OV1 traveling on the orthogonal roads R3, R4. It is necessary to operate the accident prevention support for OV2.

  (2) Condition 2-2 in the case where assistance for preventing accidents is required will be described with reference to FIG. If it is determined that the traffic signal in the traveling direction is a red signal and the traffic signal in the orthogonal direction is a right turn arrow and the traveling direction in the intersection of the emergency vehicle is straight or right turn (Condition 2-2), the encounter accident prevention support is selected.

  In the case of the example shown in FIG. 6, the emergency vehicle EV is at the intersection C under the above condition 2-2 (the traffic lights S1 and S2 are red, the traffic lights S3 and S4 are right turn arrows, and the travel route of the emergency vehicle EV is straight or right turn). When entering, the other vehicles OV1, OV2 traveling on the orthogonal roads R3, R4 can turn right at the intersection C according to traffic regulations without noticing the emergency vehicle EV. Therefore, when the above condition 2-2 is satisfied, there is a possibility that the emergency vehicle EV that goes straight or turns right at the intersection C and the other vehicles OV1 and OV2 may collide with each other. It is necessary to operate the accident prevention support for the vehicles OV1 and OV2.

  (2) Condition 2-3 when support for preventing accident at encounter is required will be described with reference to FIG. When it is determined that the traffic signal in the traveling direction is a right turn arrow and the state of the traffic signal in the orthogonal direction is a red signal and the traveling direction in the intersection of the emergency vehicle is straight or left turn (condition 2-3), the encounter accident prevention support is selected.

  In the case of the example shown in FIG. 7, the emergency vehicle EV is at the intersection C under the above condition 2-3 (the traffic lights S1 and S2 are right turn arrows, the traffic lights S3 and S4 are red lights and the travel route of the emergency vehicle EV is straight or left). When entering, the other vehicle OV1 traveling on the opposite road R2 can turn right at the intersection C according to traffic regulations without noticing the emergency vehicle EV. Therefore, when the above condition 2-3 is satisfied, there is a possibility that the emergency vehicle EV that goes straight or turns left at the intersection C and the other vehicle OV1 may collide with each other, so the encounter with the other vehicle OV1 that makes a right turn on the opposite road R2 It is necessary to operate accident prevention support.

  If any of the conditions 2-1, 2-2, or 2-3 is satisfied in the driving support for a general vehicle, the prior art gives top priority to driving support that prevents the vehicle from entering the intersection with a red light. Make it work. In the first place, encounter accident prevention support is driving assistance that operates at intersections without traffic lights, and in principle it does not work at intersections with traffic lights (if you comply with traffic regulations, encounter accidents will occur at intersections with traffic lights do not do). In this way, it is necessary to operate the accident prevention support in conditions 2-1, 2-2, and 2-3 because the emergency vehicle ignores traffic restrictions and enters the intersection with a red light or right turn arrow signal. This is a driving assistance concept specialized in

  (3) Condition 3-1 when frontal collision accident prevention support is required will be described with reference to FIG. When it is determined that the traffic light in the traveling direction is green and the traveling direction in the intersection of the emergency vehicle is straight and the road ahead of the emergency vehicle is prohibited from entering (condition 3-1), the frontal collision accident prevention support is selected.

  In the case of the example shown in FIG. 8, an emergency occurs under the above condition 3-1 (the traffic lights S1, S2 are green, the traffic lights S3, S4 are red, the travel route of the emergency vehicle EV goes straight, and the opposite road R2 is not allowed to enter). When the vehicle EV has to go straight ahead (such as a shortcut to the site), another vehicle OV1 traveling on the opposite road R2 may head-on with the emergency vehicle EV when traveling toward the intersection C according to traffic regulations. Sex is possible. Therefore, when the above condition 3-1 is satisfied, it is necessary to operate the front collision accident prevention support for the other vehicle OV1 traveling on the opposite road R2.

  (3) Condition 3-2 when frontal collision accident prevention support is required will be described with reference to FIG. When it is determined that the traffic light in the direction of travel is red, the traffic light in the orthogonal direction is green, the direction of travel within the intersection of the emergency vehicle is turning right, and the road to which the emergency vehicle is turning right is prohibited (ie, right turn prohibited) (Condition 3) -2) Select frontal collision accident prevention support.

  In the case of the example shown in FIG. 9, the above condition 3-2 (the traffic lights S1 and S2 are red traffic light, the traffic lights S3 and S4 are green traffic light, the travel route of the emergency vehicle EV turns right, and the right road R3 in the orthogonal direction is prohibited) When the emergency vehicle EV has to turn right (such as a shortcut to the site), when the other vehicle OV1 traveling on the right-side road R3 in the orthogonal direction proceeds toward the intersection C according to traffic regulations, the emergency vehicle EV The possibility of a frontal collision is possible. Therefore, when the above condition 3-2 is satisfied, it is necessary to operate the front collision accident prevention support for the other vehicle OV1 traveling on the right-side road R3 in the orthogonal direction.

  (3) The condition 3-3 when the frontal collision accident prevention support is required will be described with reference to FIG. When it is determined that the traffic light in the direction of travel is red, the traffic light in the orthogonal direction is green, the direction of travel within the intersection of the emergency vehicle is turning left, and the road to which the emergency vehicle is turning left is prohibited (ie, left turn prohibited) (Condition 3) -3) Select frontal collision prevention support.

  In the case of the example shown in FIG. 10, the above-mentioned condition 3-3 (the traffic lights S1 and S2 are red, the traffic lights S3 and S4 are green, the emergency vehicle EV travels to the left and the left road R4 in the orthogonal direction is prohibited) If the emergency vehicle EV has to turn left (such as a shortcut to the site), and the other vehicle OV1 traveling on the road R4 on the left side in the orthogonal direction proceeds toward the intersection C according to traffic regulations, the emergency vehicle EV The possibility of a frontal collision is possible. Therefore, when the above condition 3-3 is satisfied, it is necessary to operate the front collision accident prevention support for the other vehicle OV1 traveling on the road R4 on the left side in the orthogonal direction.

  When any one of the conditions 3-1, 3-2, and 3-3 is satisfied in the driving support for the general vehicle, in the related art, the driving support is operated so that the vehicle does not enter the prohibited road. In the first place, the frontal collision prevention support is a driving support that operates on a single road instead of an intersection (for example, for vehicles that cross the center line of a road or that run near the center on a road without a center line) Driving assistance when there is a possibility of a frontal collision), in principle, it will not work for vehicles that run backwards on prohibited roads (if you comply with traffic regulations, No frontal collision accident occurs). Thus, it is necessary to operate the frontal collision accident prevention support in the conditions 3-1, 3-2, and 3-3 when the emergency vehicle enters the road where entry is prohibited while ignoring traffic regulations. This is a driving assistance concept specialized in

  (4) The condition 4-1 when the right-handed accident prevention support is unnecessary will be described with reference to FIG. When it is determined that the traffic signal in the traveling direction is red and the traffic signal in the orthogonal direction is green and the traveling direction in the intersection of the emergency vehicle is a right turn (condition 4-1), the right-handed accident prevention support is not selected.

  In the case of the example shown in FIG. 11, the emergency vehicle EV turns right at the intersection C under the above condition 4-1 (the traffic lights S1, S2 are red, the traffic lights S3, S4 are green, and the travel route of the emergency vehicle EV is right). The other vehicle OV3 on the opposite road R2 that is the target of the right-straight accident prevention support is in a red light stop because it complies with traffic regulations. Therefore, when the above condition 4-1 is satisfied, it is not necessary to operate the right-handed accident prevention support. By the way, when this condition 4-1 is satisfied, the above condition 2-1 is also satisfied, so the encounter accident prevention support for the other vehicles OV1, OV2 traveling on the orthogonal roads R3, R4 is operated. There is a need.

  (4) The condition 4-2 when the right-handed accident prevention support is unnecessary will be described with reference to FIG. When it is determined that the traffic signal in the traveling direction is a red signal and the traffic signal in the orthogonal direction is a red signal and the traveling direction in the intersection of the emergency vehicle is a right turn (Condition 4-2), the right-handed accident prevention support is not selected.

  In the case of the example shown in FIG. 12, the emergency vehicle EV turns right at the intersection C under the above condition 4-2 (the traffic lights S1 and S2 are red and the traffic lights S3 and S4 are red and the travel route of the emergency vehicle EV is right). In this case, the other vehicle OV3 on the opposite road R2 that is the target of the right-straight accident prevention support complies with traffic regulations, and is stopped at a red light. Therefore, when the above condition 4-2 is satisfied, it is not necessary to operate the right-handed accident prevention support. By the way, when this condition 4-2 is satisfied, the above-mentioned traffic light direction signal is red signal and the orthogonal signal state is also the red signal condition, so the right-side accident prevention support is also included. There is no need to activate all driving assistance.

  When either condition 4-1 or condition 4-2 is satisfied in driving support for a general vehicle, the conventional technology provides driving support so that the vehicle does not enter the intersection with a red signal (or a traffic light that cannot turn right). Operate with top priority. In the first place, the right-hand accident prevention support is a driving support that is activated when making a right turn at a green light at an intersection with a traffic light, and is not operated in principle when making a right turn at a red light at an intersection with a traffic light. In the case of a general vehicle, the condition that the right-handed accident prevention support is not necessary is only when the traffic signal in the traveling direction is a right turn arrow, and in this case, the vehicle does not cross with the oncoming vehicle. In this way, it is not necessary to operate the right-straight accident prevention support under the conditions 4-1 and 4-2. The driving assistance specialized for the case where the emergency vehicle turns right at the intersection at a red light ignoring traffic regulations. This is the idea.

  (5) The condition 5-1 in the case where the left turn accident prevention support is unnecessary will be described with reference to FIG. When it is determined that the traffic light in the traveling direction is red and the traffic signal in the orthogonal direction is green and the traveling direction within the intersection of the emergency vehicle is a left turn (condition 5-1), the left turn accident prevention support is not selected.

  In the case of the example shown in FIG. 13, the emergency vehicle EV turns left at the intersection C under the above condition 5-1 (the traffic lights S1 and S2 are red and the traffic lights S3 and S4 are green and the travel route of the emergency vehicle EV is left). The motorcycle MC on the left side of the emergency vehicle EV that is subject to the left-turn accident prevention support is in a red light stop because it complies with traffic regulations. Therefore, when the above-mentioned condition 5-1 is satisfied, it is not necessary to operate the left turn-in accident prevention support. By the way, when this condition 5-1 is satisfied, the above-described condition 2-1 is also satisfied, so the encounter accident prevention support for the other vehicles OV1, OV2 traveling on the orthogonal roads R3, R4 is operated. There is a need.

  (5) The condition 5-2 in the case where the left turn accident prevention support is unnecessary will be described with reference to FIG. When it is determined that the traffic signal in the traveling direction is a red signal and the traffic signal in the orthogonal direction is a red signal and the traveling direction within the intersection of the emergency vehicle is a left turn (Condition 5-2), the left turn accident prevention support is not selected.

  In the case of the example shown in FIG. 14, the emergency vehicle EV turns left at the intersection C under the above condition 5-2 (the traffic lights S1, S2 are red, the traffic lights S3, S4 are red, and the travel route of the emergency vehicle EV is left). In this case, the motorcycle MC on the left side of the emergency vehicle EV that is the target of the left turn entanglement prevention support complies with traffic regulations, and is stopped at a red light. Therefore, when the above-mentioned condition 5-2 is satisfied, it is not necessary to operate the left turn-in accident prevention support. By the way, when this condition 5-2 is satisfied, the above-mentioned traffic light direction signal is red signal and the orthogonal signal state is also a red signal condition. There is no need to activate all driving assistance.

  (5) The condition 5-3 in the case where the left turn accident prevention support is unnecessary will be described with reference to FIG. If it is determined that the traffic signal in the direction of travel is a right turn arrow and the state of the traffic signal in the orthogonal direction is a red signal and the direction of travel within the intersection of the emergency vehicle is a left turn (condition 5-3), the left turn accident prevention support is not selected.

  In the case of the example shown in FIG. 15, the emergency vehicle EV turns left at the intersection C under the above condition 5-3 (the traffic lights S1, S2 are right turn arrows, the traffic lights S3, S4 are red lights, and the travel route of the emergency vehicle EV is left). In this case, the motorcycle MC on the left side of the emergency vehicle EV that is the target of the left-turn accident prevention support complies with traffic regulations, so only a right turn is allowed and the vehicle is stopped. For this reason, when the above condition 5-3 is satisfied, it is not necessary to operate the left turn-in accident prevention support. By the way, when the condition 5-3 is satisfied, the above condition 2-3 is also satisfied, so that the accident prevention support for the case where the other vehicle OV1 traveling on the opposite road R2 makes a right turn is operated. It is necessary to let

  (5) The condition 5-4 in the case where the left turn accident prevention support is unnecessary will be described with reference to FIG. When it is determined that the traffic light in the traveling direction is a red signal and the traffic light in the orthogonal direction is a right turn arrow and the traveling direction in the intersection of the emergency vehicle is a left turn (condition 5-4), the left turn accident prevention support is not selected.

  In the case of the example shown in FIG. 16, the emergency vehicle EV turns left at the intersection C under the above condition 5-4 (the traffic lights S1, S2 are red, the traffic lights S3, S4 are right turn arrows and the travel route of the emergency vehicle EV is left). In this case, the motorcycle MC on the left side of the emergency vehicle EV that is the target of the left turn entanglement prevention support complies with traffic regulations, and is stopped at a red light. Therefore, when the above condition 5-4 is satisfied, it is not necessary to operate the left-turning accident prevention support. Incidentally, when this condition 5-4 is satisfied, the other vehicles OV1, OV2 traveling on the orthogonal roads R3, R4 turn right, but these other vehicles OV1, OV2 and the emergency vehicle EV cross each other. There is no need to operate the accident prevention support. Therefore, it is not necessary to operate all driving assistance including left-turn accident prevention assistance.

  When any one of the conditions 5-1, 5-2, 5-3, and 5-4 is satisfied in the driving support for the general vehicle, in the conventional technique, the vehicle does not enter the intersection with a red signal. Make support work first. In the first place, the left turn accident prevention support is a driving support that is operated when turning left at a green light at an intersection with a traffic light, and is not operated in principle when turning left at a red light at an intersection with a traffic light. In this way, there is no need to operate the left turn accident prevention support in the conditions 5-1, 5-2, 5-3, and 5-4. This is a driving assistance concept specialized in making a left turn.

  (6) The condition 6-1 when the rear-end collision prevention support is unnecessary will be described with reference to FIG. If it is determined that the traffic signal in the direction of travel is a red signal and the traffic signal in the orthogonal direction is a right turn arrow and that the direction of travel within the intersection of the emergency vehicle is straight or right or left (Condition 6-1), the rear-end collision prevention support is selected. do not do.

  In the case of the example shown in FIG. 17, the emergency vehicle EV crosses under the above condition 6-1 (the traffic lights S1 and S2 are red, the traffic lights S3 and S4 are right turn arrows, and the travel route of the emergency vehicle EV is straight or right or left). When entering at C, the other vehicles on the road R1 on which the emergency vehicle EV is traveling comply with traffic regulations and are stopped at a red light. For this reason, when the above condition 6-1 is satisfied, there is no vehicle in front of the emergency vehicle EV in the intersection C, and therefore it is not necessary to operate the rear-end collision prevention support. Incidentally, when this condition 6-1 is satisfied, the above condition 2-2 may also be satisfied. In this case, when another vehicle on the orthogonal roads R3 and R4 makes a right turn, an encounter accident occurs. Prevention support needs to be activated.

  (6) The condition 6-2 when the rear-end collision prevention support is unnecessary will be described with reference to FIG. If the traffic light in the direction of travel is red and the traffic light in the orthogonal direction is red and the direction of travel within the intersection of the emergency vehicle is determined to be straight or right or left (Condition 6-2), the rear-end collision prevention support is selected. do not do.

  In the case of the example shown in FIG. 18, the emergency vehicle EV crosses under the above condition 6-2 (the traffic lights S1, S2 are red, the traffic lights S3, S4 are red, and the travel route of the emergency vehicle EV is straight or right or left). When entering at C, the other vehicles on the road R1 on which the emergency vehicle EV is traveling comply with traffic regulations and are stopped at a red light. Therefore, when the above condition 6-2 is satisfied, there is no vehicle in front of the emergency vehicle EV in the intersection C, and therefore it is not necessary to operate the rear-end collision prevention support. By the way, when the condition 6-2 is satisfied, the above condition is that the traffic signal in the traveling direction is a red signal and the signal condition in the orthogonal direction is also a red signal. There is no need to provide driving assistance.

  When either condition 6-1 or condition 6-2 is satisfied in driving support for a general vehicle, in the conventional technology, driving support that causes the vehicle not to enter the intersection with a red signal is operated with the highest priority. In the first place, rear-end collision prevention support is a driving support that operates when entering an intersection with a green light or a right turn arrow at an intersection with a traffic light, and in principle when entering an intersection with a red traffic light at an intersection with a traffic signal. Is not operated. In this way, there is no need to operate the rear-end collision prevention support in the conditions 6-1 and 6-2 because the driving assistance specialized for the case where the emergency vehicle enters the intersection with a red light ignoring traffic regulations. It is a way of thinking.

  FIG. 19 shows a list of conditions for operating the driving assistance that does not need to be normally operated when the emergency vehicle complies with the traffic regulation when the emergency vehicle ignores the traffic regulation and travels urgently. Is shown. FIG. 20 also illustrates the above-described conditions for not operating the driving support that needs to be normally operated when the emergency vehicle observes traffic regulations and ignores traffic regulations and travels urgently. The list is shown.

  Furthermore, FIG. 21 shows the selection of the operation described above when the pattern is divided into three parameters: the state of the traffic signal in the traveling direction, the state of the traffic signal in the orthogonal direction, and the traveling direction in the intersection of the emergency vehicle. The support order of the selected driving support and the selected driving support is shown.

  The pattern (i) is when the traffic light in the traveling direction is red and the traffic light in the orthogonal direction is green. The pattern (ii) is when the state of the traffic signal in the traveling direction is a red signal and the state of the traffic signal in the orthogonal direction is a right turn arrow. The pattern (iii) is when the traffic signal in the traveling direction is a red signal and the traffic signal in the orthogonal direction is a red signal. The pattern (iv) is when the traffic signal in the traveling direction is a green signal and the traffic signal in the orthogonal direction is a red signal. The pattern (v) is when the state of the traffic signal in the traveling direction is a right turn arrow (the right side is also the right turn arrow) and the state of the signal in the orthogonal direction is a red signal.

  In the case of pattern (i), the case where the traveling direction of the emergency vehicle is straight is pattern A. In this case, as described above, the crossing pedestrian accident prevention support and the encounter accident prevention support are selected, and before the intersection Support for crossing pedestrian accidents at pedestrian crossings, support for preventing accidents at encounters at intersections, and support for preventing pedestrian accidents at crosswalks after passing intersections. In the case of pattern (i), the case where the traveling direction of the emergency vehicle is a right turn is pattern B. In this case, the crossing pedestrian accident prevention support and the encounter accident prevention support are selected as described above, and further the right turn destination If the road is prohibited from entering, the frontal collision prevention support is selected as described above. First, the crossing pedestrian accident prevention support is performed at the pedestrian crossing before passing the intersection, and the encounter accident prevention support at the intersection is necessary. Depending on the situation, a frontal collision prevention support will be provided. In this case, as described above, the right-hand accident prevention support is not selected. In the case of the pattern (i), the emergency vehicle travels to the left when the traveling direction is left, and in this case, the pattern C is selected. In this case, the crossing pedestrian accident prevention support and the encounter accident prevention support are selected as described above. If the road is prohibited from entering, the frontal collision prevention support is selected as described above. First, the crossing pedestrian accident prevention support is performed at the pedestrian crossing before passing the intersection, and the encounter accident prevention support at the intersection is necessary. Depending on the situation, a frontal collision prevention support will be provided. In this case, as described above, the left-turn accident prevention support is not selected.

  In the case of pattern (ii), the case where the traveling direction of the emergency vehicle is straight is pattern D. In this case, the encounter accident prevention support is selected as described above, and the encounter accident prevention support at the intersection is performed. In this case, as described above, rear-end collision prevention support is not selected. In the case of pattern (ii), the case where the traveling direction of the emergency vehicle turns right is pattern E. In this case, the encounter accident prevention support is selected as described above, and the encounter accident prevention support at the intersection is performed. In this case, as described above, rear-end collision prevention support is not selected. In the case of the pattern (ii), the case where the traveling direction of the emergency vehicle turns to the left is the pattern F. In this case, the driving assistance is not selected because it does not cross with other moving bodies.

  In the case of the pattern (iii), the case where the traveling direction of the emergency vehicle is straight ahead, right turn, or left turn is the pattern G. In this case, as described above, not all driving assistance is selected. However, when one of the signals becomes a blue signal while the intersection is traveling, the support in the pattern (iv) is given priority when the traffic signal in the traveling direction becomes a blue signal, and the pattern (i) when the traffic signal in the orthogonal direction becomes a green signal. Give priority to support in Japan.

  In the case of the pattern (iv), the case where the traveling direction of the emergency vehicle is straight is the pattern H. In this case, the rear-end collision prevention support is selected. Thus, the front collision accident prevention support is selected, the rear collision accident prevention support at the intersection is performed, and the front collision accident prevention support is performed as necessary. When the traveling direction of the emergency vehicle is a right turn at the time of pattern (iv), it is pattern I. In this case, right-handed accident prevention support, crossing pedestrian accident prevention support and rear-end collision prevention support are selected, Provide support for right-hand accident prevention, rear-end collision prevention support at intersections, and cross-pedestrian accident prevention support at pedestrian crossings after crossing intersections. In the case of pattern (iv), the case where the traveling direction of the emergency vehicle turns left is pattern J. In this case, left turn accident prevention support, crossing pedestrian accident prevention support and rear-end collision prevention support are selected, Provide support for preventing accidents involving left turns, preventing rear-end collisions at intersections, and supporting pedestrian accidents at pedestrian crossings after crossing intersections. In this pattern (iv), the traveling is in compliance with traffic regulations in all the traveling directions, which is the same as the support for the general vehicle.

  In the case of the pattern (v), the case where the traveling direction of the emergency vehicle is straight is the pattern K. In this case, the encounter accident prevention support is selected, and the encounter accident prevention support at the intersection is performed. In the case of pattern (v), the case where the traveling direction of the emergency vehicle turns right is pattern L. In this case, the rear-end collision prevention support is selected, and the rear-end collision prevention support at the intersection is performed. In the case of the pattern (v), the case where the traveling direction of the emergency vehicle turns left is the pattern M. In this case, the encounter accident prevention support is selected, and the encounter accident prevention support at the intersection is performed. In this case, as described above, the left-turn accident prevention support is not selected. In this pattern (v), the left turn is the same as the support for a general vehicle because it is a travel that complies with traffic regulations.

  As specific processing, the ECU 17 determines the state of the traffic signal in the traveling direction, the state of the traffic signal in the orthogonal direction, and the traveling direction within the intersection of the emergency vehicle, and the destination after the intersection of the emergency vehicle as necessary. The entry prohibition regulations are determined.

  When the ECU 17 determines that the pattern (i) is A, the driving assistance is performed in the order of crossing pedestrian accident prevention support, encounter accident prevention support, and crossing pedestrian accident prevention support. Further, the ECU 17 provides driving assistance in the order of crossing pedestrian accident prevention assistance and encounter accident prevention assistance when it is determined as B of pattern (i), and when it is determined that the right turn destination road is prohibited from entering, Provide collision prevention support. The ECU 17 provides driving assistance in the order of crossing pedestrian accident prevention support and encounter accident prevention support when it is determined as C of pattern (i), and a frontal collision accident when it is determined that the left turn destination road is prohibited from entering. Provide prevention support.

  When the ECU 17 determines that the pattern (ii) is D, it performs an encounter accident prevention support. Further, the ECU 17 performs encounter accident prevention support when it is determined that the pattern (ii) is E. If the ECU 17 determines that the pattern (ii) is F, driving assistance is not performed.

  If the ECU 17 determines that the pattern (iii) is G, driving assistance is not performed.

  When the ECU 17 determines that the pattern (iv) is H, it performs rear-end collision prevention support, and when it determines that the straight ahead road is prohibited from entering, it performs front-end collision prevention support. Further, when the ECU 17 determines that the pattern (iv) is I, the driving assistance is performed in the order of right-straight accident prevention assistance, crossing pedestrian accident prevention assistance + rear-end collision prevention assistance. In addition, when the ECU 17 determines that the pattern (iv) is J, driving assistance is provided in the order of left turn accident prevention assistance, crossing pedestrian accident prevention assistance + rear-end collision prevention assistance.

  When the ECU 17 determines that the pattern (v) is K, it assists in the prevention of encounter accidents. Further, the ECU 17 performs rear-end collision prevention support when it is determined that the pattern (v) is L. Further, the ECU 17 performs encounter accident prevention support when it is determined that the pattern (v) is M.

  When the ECU 17 determines that there is a possibility of a collision when performing crossing pedestrian accident prevention support, the presence of pedestrians (including bicycles) crossing the pedestrian crossing in the traveling direction with respect to the driver of the emergency vehicle An audio signal or an image signal for providing information and information on the possibility of a collision is generated, and each signal is transmitted to the notification device 16, and an emergency vehicle approaches in order to communicate between the pedestrians to the target pedestrian. Information, information on the possibility of collision, and information on the approach direction are transmitted to the mobile communication vehicle-mounted device 12.

  When the ECU 17 determines that there is a possibility of a collision when performing an encounter accident prevention support, a frontal collision accident prevention support, a right-hand collision accident prevention support, and a rear-end collision prevention support, the ECU 17 provides other information to the driver of the emergency vehicle. Generates audio signals and image signals for providing information on the possibility of a collision with the vehicle and other information on the approaching direction of the vehicle, transmits each signal to the notification device 16, and transmits the signal to the target other vehicle. For vehicle-to-vehicle communication, emergency vehicle approach information, collision possibility information, and approach direction information are transmitted to the mobile communication vehicle-mounted device 12.

  When the ECU 17 determines that there is a possibility of a collision when performing a left turn-in accident prevention, an audio signal for providing information on the possibility of a collision with the left motorcycle to the driver of the emergency vehicle, An image signal is generated, each signal is transmitted to the notification device 16, and the approach information of the emergency vehicle, the information on the possibility of the collision, and the information on the approach direction are communicated to the target two-wheeled vehicle for mobile communication. It transmits to the vehicle equipment 12.

  For specific control of the five driving assistances mentioned above, such as crossing pedestrian accident prevention support, encounter accident prevention support, frontal collision accident prevention support, right-handed accident prevention support, left turn accident prevention support, and rear-end collision prevention support, Since the conventional method is applied, the description thereof is omitted.

  With reference to FIG.1 and FIG.2, the operation | movement in the driving assistance apparatus 1 which concerns on this Embodiment is demonstrated. In particular, the processing in the ECU 17 will be described along the flowchart of FIG. FIG. 22 is a flowchart showing the flow of processing in the ECU of the driving support apparatus of FIG. Here, an operation when an emergency vehicle equipped with the driving support device 1 travels urgently will be described.

  Upon receiving an emergency dispatch command, the driver of the emergency vehicle turns on the emergency travel ON / OFF switch 10. The emergency travel ON / OFF switch 10 transmits the ON operation information to the ECU 17. The ECU 17 receives this ON operation information and switches the emergency travel flag from OFF to ON.

  Further, the driver of the emergency vehicle registers the site as a destination in the navigation system 15 in order to go to the site. The navigation system 15 searches for a travel route to the site and transmits the searched travel route information to the ECU 17. The ECU 17 receives the travel route information (S1).

  When the vehicle enters the downlink area before the intersection at each intersection on the travel route, the road-to-vehicle communication antenna 13 receives a signal from the optical beacon, and the road-to-vehicle communication on-vehicle device 14 receives infrastructure information from the received signal. And the infrastructure information is transmitted to the ECU 17. The ECU 17 receives the infrastructure information (S2).

  In other vehicles around the intersection, the vehicle-to-vehicle communication antenna 20 and the vehicle-to-vehicle communication vehicle-mounted device 21 distribute information such as the current position, the traveling direction, and the vehicle speed. In the emergency vehicle, the distributed signal is received by the mobile communication antenna 11, the information of the other vehicle is extracted from the received signal by the mobile communication vehicle-mounted device 12, and the information of the other vehicle is transmitted to the ECU 17. The ECU 17 receives information on other vehicles around the ECU 17 (S3). In addition, pedestrians around intersections use mobile phones and the like to deliver their current location, direction of travel, and the like. In the emergency vehicle, the distributed signal is received by the mobile communication antenna 11, the pedestrian information is extracted from the received signal by the mobile communication vehicle-mounted device 12, and the pedestrian information is transmitted to the ECU 17. The ECU 17 receives information on pedestrians around the ECU 17 (S3).

  Further, the navigation system 15 detects the current position, the traveling direction, and the like at regular intervals, and transmits information such as the current position, the traveling direction, and the vehicle speed to the ECU 17. The ECU 17 receives the current position, traveling direction, vehicle speed, etc. of the emergency vehicle at regular intervals.

  The ECU 17 determines whether or not the emergency travel flag is ON (S4). Incidentally, when the vehicle is not urgently traveling, the emergency traveling flag is determined to be OFF in S4, and the ECU 17 performs driving support similar to that of a general vehicle (S5).

  If the emergency travel flag is determined to be ON in S4, the ECU 17 enters the forward intersection on the basis of information such as the signal cycle information of the infrastructure information, the intersection position information, the current position of the emergency vehicle, the traveling direction, and the vehicle speed. The state of the traffic signal in the traveling direction and the state of the traffic signal in the orthogonal direction are predicted. Then, the ECU 17 determines whether the predicted traffic signal in the traveling direction is a red signal and the traffic signal in the orthogonal direction is a blue signal (S6).

  If it is determined in S6 that the traffic signal in the traveling direction is a red signal and the traffic signal in the orthogonal direction is a green signal, the ECU 17 determines whether or not the traveling direction at the intersection of the emergency vehicle on the travel route is straight (S7). If it is determined that the vehicle is going straight in S7, the ECU 17 supports crossing pedestrian accident prevention at the pedestrian crossing before passing the intersection, supports encounter accident prevention at the intersection, and supports crossing pedestrian accident prevention at the pedestrian crossing after passing the intersection. (S8). If it is determined in S7 that the vehicle is not traveling straight, the ECU 17 determines whether or not the traveling direction at the intersection of the emergency vehicle on the travel route is a right turn (S9). If it is determined in S9 that the vehicle is turning right, the ECU 17 provides support for preventing pedestrian accidents at the pedestrian crossing before passing through the intersection, and provides support for preventing encounter accidents at the intersection (S10). At this time, the ECU 17 determines whether or not the road to be turned right is prohibited from entering (right turn prohibited). If it is determined that entry is prohibited, the ECU 17 also performs frontal collision accident prevention support (S10). If it is determined in S9 that the vehicle does not turn right (left turn), the ECU 17 provides support for preventing crossing pedestrian accidents at the pedestrian crossing before passing the intersection, and provides support for preventing encounter accidents at the intersection (S11). At this time, the ECU 17 determines whether or not the left turn road is prohibited from entering (left turn prohibited). If it is determined that entry is prohibited, the ECU 17 also performs frontal collision prevention support (S11).

  When it is determined in S6 that the traffic signal in the traveling direction is a red signal and the traffic signal in the orthogonal direction is not a blue signal, the ECU 17 determines whether the traffic signal in the traveling direction is a red signal and the traffic signal in the orthogonal direction is a right turn arrow signal (S12). ).

  If it is determined in S12 that the traffic signal in the traveling direction is a red signal and the traffic signal in the orthogonal direction is a right turn arrow signal, the ECU 17 determines whether or not the traveling direction at the intersection of the emergency vehicle on the travel route is straight ahead (S13). . If it is determined in S13 that the vehicle travels straight, the ECU 17 provides support for preventing an accident at the intersection (S14). If it is determined in S13 that the vehicle is not traveling straight, the ECU 17 determines whether or not the traveling direction at the intersection of the emergency vehicle on the travel route is a right turn (S15). If it is determined in S15 that the vehicle turns to the right, the ECU 17 provides support for preventing an accident at the intersection (S16). When it is determined in S15 that the vehicle does not turn right (left turn), the ECU 17 does not perform all driving assistance (S17).

  When it is determined in S12 that the traffic signal in the traveling direction is a red signal and the traffic signal in the orthogonal direction is not a right turn arrow signal, the ECU 17 determines whether the traffic signal in the traveling direction is a red signal and the traffic signal in the orthogonal direction is a red signal ( S18).

  When it is determined in S18 that the traffic signal in the traveling direction is a red signal and the traffic signal in the orthogonal direction is a red signal, the ECU 17 does not perform all driving assistance (S19).

  When it is determined in S18 that the traffic signal in the traveling direction is a red signal and the traffic signal in the orthogonal direction is not a red signal, the ECU 17 determines whether or not the traffic signal in the traveling direction is a blue signal and the traffic signal in the orthogonal direction is a red signal (S20). .

  When it is determined in S20 that the traffic signal in the traveling direction is a green signal and the traffic signal in the orthogonal direction is a red signal, the ECU 17 determines whether or not the traveling direction at the intersection of the emergency vehicle on the travel route is straight (S21). If it is determined that the vehicle is going straight in S21, the ECU 17 performs rear-end collision prevention support at the intersection (S22). At this time, the ECU 17 determines whether or not the straight ahead road is prohibited from entering, and if it is determined that the entry is prohibited, it also performs frontal collision accident prevention support (S22). If it is determined in S21 that the vehicle is not traveling straight, the ECU 17 determines whether or not the traveling direction at the intersection of the emergency vehicle on the travel route is a right turn (S23). If it is determined in S23 that the vehicle is turning right, the ECU 17 performs right-straight accident prevention support, rear-end collision prevention support at the intersection, and cross-pedestrian accident prevention support at the pedestrian crossing after passing the intersection (S24). If it is determined in S23 that the vehicle does not turn right (left turn), the ECU 17 provides support for preventing accidents involving left turns, provides support for preventing rear-end collisions at intersections, and provides support for preventing crossing pedestrian accidents at crosswalks after passing the intersection (S25). ).

  If it is determined in S20 that the traffic signal in the traveling direction is a blue signal and the traffic signal in the orthogonal direction is not a red signal, the ECU 17 determines whether the traffic signal in the traveling direction is a right turn arrow signal and the traffic signal in the orthogonal direction is a red signal (S26). ).

  If it is determined in S26 that the traffic signal in the traveling direction is a right turn arrow signal and the traffic signal in the orthogonal direction is a red signal, the ECU 17 determines whether or not the traveling direction at the intersection of the emergency vehicle on the travel route is straight ahead (S27). . If it is determined in S27 that the vehicle is going straight, the ECU 17 provides support for preventing an accident at the intersection (S28). If it is determined in S27 that the vehicle is not traveling straight, the ECU 17 determines whether or not the traveling direction at the intersection of the emergency vehicle on the travel route is a right turn (S29). If it is determined that the vehicle is turning right in S29, the ECU 17 performs rear-end collision prevention support at the intersection (S30). If it is determined in S29 that the vehicle does not turn right (left turn), the ECU 17 provides support for preventing accidents at intersections (S31).

  When each driving support is performed and it is determined that there is a possibility of collision with a surrounding mobile body, the ECU 17 provides the driver of the emergency vehicle with information on the possibility of collision and information on the target mobile body. Audio signals and image signals are generated, and each signal is transmitted to the notification device 16. The notification device 16 outputs a sound according to the sound signal or displays an image according to the image signal. In addition, the ECU 17 transmits emergency vehicle approach information, collision possibility information, and approach direction information to the target mobile body to the mobile communication vehicle-mounted device 12. The mobile communication vehicle-mounted device 12 modulates the information and transmits the modulated signal through the mobile communication antenna 11. For example, when the target mobile body is a vehicle, the signal is received by the vehicle-to-vehicle communication antenna 20, and the received signal is demodulated by the vehicle-to-vehicle communication vehicle-mounted device 21 to extract information and transmitted to the ECU 23. The ECU 23 generates a sound signal and an image signal for providing the information to the driver, and transmits the sound signal and the image signal to the notification device 22. The notification device 22 outputs sound according to the sound signal or displays an image according to the image signal.

  When all the driving assistance is completed and the emergency vehicle passes through the intersection (the pedestrian crossing of the approach destination also passes), the ECU 17 ends the process for this intersection (S32).

  According to this driving assistance device 1, driving assistance is based on the state of traffic lights in the direction orthogonal to the traveling direction of the emergency vehicle, the traveling direction within the intersection of the emergency vehicle, and, if necessary, the entry prohibition information of the destination road. By determining the content, even when the emergency vehicle travels urgently, it is possible to select appropriate driving support and perform appropriate driving support. As a result, it is possible to prevent a collision between the emergency vehicle and a moving body entering the intersection, and the emergency vehicle can travel safely and smoothly.

  In particular, according to the driving support device 1, it is considered that the vehicle travels ignoring traffic regulations (for example, red light, entry prohibition) during emergency traveling, and is not normally operated when traveling while complying with traffic regulations. By operating the support, it is possible to perform appropriate driving support for the emergency vehicle that is traveling urgently.

  In addition, according to the driving support device 1, in consideration of driving while ignoring traffic regulations during emergency driving, the driving assistance that is normally operated when driving in compliance with traffic regulations is not operated. The processing load can be reduced.

  As mentioned above, although embodiment which concerns on this invention was described, this invention is implemented in various forms, without being limited to the said embodiment.

  For example, in this embodiment, the present invention is applied to a driving support device mounted on an emergency vehicle, but there are other vehicles that are allowed to run with priority regardless of traffic regulations under the Road Traffic Law. The present invention can be applied to the driving support device of the vehicle, or may be applied to an infrastructure side device.

  Further, in the present embodiment, an example of an intersection of four roads where two roads intersect has been described as an example, but the present invention can also be applied to other intersections such as three roads, five roads, and six roads.

  In this embodiment, crossing pedestrian accident prevention support, encounter accident prevention support, frontal collision accident prevention support, right-straight accident prevention support, left turn accident prevention support, and rear-end collision prevention support are targeted. Other driving assistance may be targeted. In the present embodiment, the conditions for the five driving assistances are shown as necessary and unnecessary based on the state of the traffic light, the direction of travel in the intersection, and the entry prohibition restriction. It is also applicable to.

  Further, in this embodiment, the emergency vehicle is configured not to operate the right turn, left turn entrainment, and rear-end collision prevention support when the emergency vehicle is in a predetermined condition, but the priority order for operating it is not completely stopped. It may be lowered.

  In this embodiment, when the traffic light in the traveling direction of the emergency vehicle is in red, the rear-end collision prevention support is not provided.However, when the road ahead, right turn, or left turn is congested Therefore, rear-end collision prevention support for preventing rear-end collision with a vehicle in such a traffic jam may be performed.

  In this embodiment, support is provided by providing information by notification such as voice output or image display. However, support may be provided by intervention control or alarm output by brake control, steering control, or the like.

  In this embodiment, the information on the pedestrian and the bicycle occupant is obtained by using the communication between the pedestrians using the mobile phone or the like. However, if the information cannot be obtained by the communication between the pedestrians, the pedestrian Driving assistance may be performed on the assumption that the vehicle crosses, or information on a pedestrian or the like may be acquired by detection means (such as an image sensor) mounted on the vehicle.

  In the present embodiment, the vehicle information is obtained using inter-vehicle communication. However, when information cannot be obtained through inter-vehicle communication, driving assistance is provided on the assumption that another vehicle exists. Alternatively, information on other vehicles may be acquired by a detection means (image sensor or the like) mounted on the own vehicle.

  DESCRIPTION OF SYMBOLS 1, 2 ... Driving assistance device, 10 ... Emergency driving ON / OFF switch, 11 ... Mobile communication antenna, 12 ... Mobile communication vehicle-mounted device, 13 ... Road-to-vehicle communication antenna, 14 ... Road-to-vehicle communication vehicle-mounted device, 15 ... Navigation System, 16, 22 ... Notification device, 17, 23 ... ECU, 20 ... Inter-vehicle communication antenna, 21 ... Inter-vehicle communication on-vehicle device

Claims (6)

Traffic light information acquisition means for acquiring traffic signal information at the intersection;
A traveling direction detection means for detecting a traveling direction at an intersection of vehicles;
A moving body detecting means for detecting a moving body entering the intersection;
Driving assistance means for providing driving assistance for preventing a collision between the vehicle and the moving body based on the traveling direction at the intersection of the vehicle and the moving body entering the intersection;
The driving support device is characterized in that when the state of the traffic signal when the vehicle enters the intersection is a travel impossible signal, the driving support means determines that the driving support that is not normally performed is performed when the travel impossible signal is present. The moving body detecting means travels on a road that intersects the road on which the vehicle has traveled, and detects other vehicles entering the intersection,
The driving support means decides to perform driving support for preventing a collision with another vehicle detected by the moving body detecting means even when the state of the traffic light when the vehicle enters the intersection is a travel impossible signal. The driving support device according to claim 1, wherein The moving body detecting means detects a moving body that moves on a pedestrian crossing for crossing a road on which the vehicle has traveled,
The driving support means decides to perform driving support for preventing a collision with a moving body detected by the moving body detecting means even when the state of the traffic light when the vehicle enters the intersection is a travel impossible signal. The driving support device according to claim 1, wherein the driving support device is characterized by the following.   The driving support according to any one of claims 1 to 3, wherein the driving support means determines that all the driving support is stopped when the state of all the traffic lights at the intersection is a travel impossible signal. apparatus.   The said driving assistance means determines not performing the driving assistance normally performed at the time of a progress permission signal, when the state of the traffic signal when a vehicle approachs an intersection is a progress impossible signal. The driving assistance apparatus described in any one of the items.   The driving support device according to any one of claims 1 to 5, wherein the vehicle is an emergency vehicle.

Images