JP2010211528A - Traveling support device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a traveling support device for supporting traveling until a right turn vehicle makes a right turn. <P>SOLUTION: The traveling support device 100 includes: an inter-vehicle communication device 23 for receiving location information and vehicle speed information from a peripheral vehicle; an information processing means 24 for specifying a preceding vehicle 70 traveling in a right turn lane from the location information, and for monitoring the vehicle speed information of the preceding vehicle 70; a right turn location specification means 24 for specifying the location information when the right turn of the preceding vehicle 70 is detected from the transition of the vehicle speed information as a right turn point; and a right turn support means 26 for supporting the right turn of the own vehicle until the right turn point. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention relates to a driving support device that supports driving of a vehicle that is turning right at an intersection, and more particularly to a driving support device that can change a support service area.

  An accident may occur in which a vehicle turning right at an intersection contacts an oncoming vehicle. In order to reduce such accidents, a driving assistance (right turning assistance) technique for informing the vehicle turning right of approaching an oncoming vehicle has been considered (for example, see Patent Document 1). Patent Document 1 discloses a driving support device that detects an oncoming vehicle that enters an intersection from an oncoming lane, and transmits alarm information to a right turn vehicle when detected.

JP 2000-113396 A

  However, since the driving support device described in Patent Document 1 uniformly transmits alarm information to a right turn vehicle that has entered a right turn lane, there is a problem in that the timing for driving support does not coincide with the right turn timing of the right turn vehicle.

  FIG. 1 is an example of a diagram illustrating a problem of driving support for a right turn vehicle. In FIG. 1, the right turn vehicle waits for a right turn on the near side of the center marker 11. If the right turn vehicle is to be informed of the approach of the oncoming vehicle 60, for example, it is preferred that the right turn vehicle (own vehicle 50) shown in the figure immediately turns right. For example, alarm information is received when the preceding vehicle 70 is waiting for a right turn. do not have to. That is, the driving assistance device described in Patent Document 1 does not consider the timing of assistance.

  By the way, in the driving assistance device for the host vehicle 50, it is conceivable to limit the service area for assisting a right turn (notifying the approaching oncoming vehicle 60). In FIG. 1, the area from the right turn lane start point to the center marker 11 is the service area.

  However, in some cases, the host vehicle 50 that has traveled to the center marker 11 in the intersection moves forward to determine whether a right turn is possible and exceeds the center marker 11. In this case, there is a problem in that it is determined that the driving support device has made a right turn even though the host vehicle 50 is not actually making a right turn, and the support is designated to end.

  In view of the above problems, an object of the present invention is to provide a travel support device that can support a right turn vehicle until it turns right.

  From an inter-vehicle communication device that receives position information and vehicle speed information from surrounding vehicles, an information processing means that identifies a preceding vehicle that travels in a right turn lane from the position information, and monitors vehicle speed information of the preceding vehicle, and a transition of vehicle speed information A driving support device comprising: a right turn position specifying unit that specifies position information when a right turn of a preceding vehicle is detected as a right turn point; and a right turn support unit that supports a right turn of the host vehicle up to the right turn point. I will provide a.

  It is possible to provide a travel support device that can support a right turn vehicle until it makes a right turn.

It is an example of the figure explaining the subject of the driving assistance with respect to a right turn vehicle. 1 is an example of a system configuration diagram of a travel support device (Example 1). It is an example of the figure which shows the right turn vehicle and preceding vehicle which communicate between vehicles. It is an example of the figure explaining specification of the right turn position of a preceding vehicle. It is an example of the figure which illustrates correction of a offer right turn point typically. FIG. 11 is an example of a flowchart illustrating a procedure for supporting a right turn by a travel support device (Example 1); It is an example of the system block diagram of a driving assistance device (Example 2). It is an example of the figure which illustrates a right turn vehicle and an oncoming straight-ahead vehicle typically. It is a figure which shows an example of the link produced from the positional information on the oncoming vehicle. (Example 2) which is an example of the flowchart figure which shows the procedure in which a driving assistance device supports a right turn. It is an example of the system block diagram of a driving assistance device (Example 3). It is an example of the figure explaining the outline of the roadside system of an intersection. It is an example of the figure for demonstrating the analysis of a right turn point. (Example 3) which is an example of the flowchart figure which shows the procedure in which a driving assistance system supports a right turn.

  Hereinafter, embodiments for carrying out the present invention will be described with reference to examples.

FIG. 2 shows an example of a system configuration diagram of the driving support device 100 of the present embodiment. The driving support device 100 includes a road-to-vehicle communication device 21, a road-to-vehicle communication information processing unit 22, a vehicle-to-vehicle communication device 23, another vehicle information processing unit 24, a right turn waiting point correction processing unit 25, a GPS reception device 27, and own vehicle information processing. Unit 28 and right-right collision prevention support processing unit 26. Among these, the road-to-vehicle communication information processing unit 22, the other vehicle information processing unit 24, the right turn waiting point correction processing unit 25, the own vehicle information processing unit 28, and the right-straight collision prevention support processing unit 26 are provided with a predetermined ECU (Electronic Control Unit). ) Is executed by executing a program stored in an EEPROM or HDD (Hard Disk Drive). Although there are a plurality of ECUs mounted on the vehicle, for example, the navigation ECU acquires position information of the host vehicle 50, and therefore has high affinity with the driving support device 100 of the present embodiment. The ECU, the road-to-vehicle communication device 21, the vehicle-to-vehicle communication device 23, and the GPS receiving device 27 are connected by a vehicle-mounted LAN such as a CAN (Controller Area Network), a FlexRay, or a LIN (Local Interconnect Network).

  The road-to-vehicle communication device 21 is a device that communicates with a roadside device. The road-vehicle communication device 21 communicates over a relatively short communication distance by DSRC (Dedicated Short Range Communication), wireless LAN, or the like. The roadside device is installed, for example, at a position 50 to 100 [m] in front of a traffic light or an intersection. When the host vehicle 50 approaches the roadside device within a predetermined distance, the road-to-vehicle communication device 21 is connected to the roadside device. connect. In this embodiment, the roadside device provides the driving support device 100 with information for supporting a right turn. The roadside apparatus provides road alignment information and oncoming vehicle information of the nearest intersection in the traveling direction of the host vehicle 50, for example. The road alignment information is, for example, road shape information including an intersection from the position of the roadside device. The road shape includes information for specifying the road shape such as a line connecting the own lane and the center mark, and an angle of a line connecting the center mark and the right turn lane. The road shape information includes the position of the roadside device and the position of the right turn point. The position of the roadside device may be provided by coordinate information of “latitude / longitude / elevation”, or the position at which the intensity of the radio wave received by the road-to-vehicle communication device 21 is the highest is used as the position of the roadside device. Good. The right turn point is, for example, the center mark, the waiting marker line 12 of the right turn waiting lane, and the like. The driving assistance device 100 of this embodiment corrects this right turn point. Hereinafter, the right turn point provided from the roadside device is referred to as “provided right turn point”.

  The oncoming vehicle information includes position information of the oncoming straight vehicle 60 traveling on the oncoming lane, the traveling speed of the oncoming straight vehicle 60, and the like. The oncoming vehicle information is acquired from the oncoming vehicle 60 by the device on the roadside of the oncoming lane.

  The road-to-vehicle communication information processing unit 22 distinguishes the road alignment information and the oncoming vehicle information from the format and header of the received data, and sends the provided right turn point to the right turn waiting point correction processing unit 25.

  The inter-vehicle communication device 23 is a communication device that communicates with the preceding vehicle 70, the oncoming straight vehicle 60, the following vehicle, and the like. For example, a DSRC method capable of communicating only within a radius of several tens to several hundreds of meters Thus, a one-to-one or one-to-N ad hoc network is realized to communicate information with each other.

  FIG. 3 is an example of a diagram schematically showing the host vehicle 50 and the preceding vehicle 70 that perform inter-vehicle communication. The own vehicle 50 corresponds to a right turn vehicle, and the traveling support device 100 of the present embodiment is mounted on the own vehicle 50. In the present embodiment, the inter-vehicle communication device 23 communicates with the preceding vehicle 70. The inter-vehicle communication device 23 receives the position information (latitude / longitude / altitude coordinate information) and vehicle speed information of the counterpart vehicle with which it has communicated, and sends it to the other vehicle information processing unit 24.

  The other vehicle information processing unit 24 executes specification of the preceding vehicle 70, specification of the right turn position of the preceding vehicle 70, and the like. When the inter-vehicle communication device 23 communicates with a plurality of vehicles, the other vehicle information processing unit 24 specifies that the vehicle in the same traveling lane ahead of the host vehicle is the preceding vehicle 70. Or you may communicate only with the preceding vehicle 70 using a radio wave with a strong straightness.

  Further, the other vehicle information processing unit 24 specifies the right turn start point of the preceding vehicle 70 based on the vehicle speed information received from the preceding vehicle 70. FIG. 4 is an example of a diagram illustrating the specification of the right turn start point of the preceding vehicle 70. In FIG. 4, the vehicle speed of the preceding vehicle 70 is monitored with respect to time. Note that the inter-vehicle communication device 23 receives the position information from the preceding vehicle 70 while monitoring the vehicle speed.

  The preceding vehicle 70 before the right turn intermittently slows down and approaches the provided right turn point, and starts the right turn when the oncoming straight vehicle 60 is not approaching or when the pedestrian completes passing. By starting the right turn, the vehicle speed of the preceding vehicle 70 increases rapidly. Therefore, as shown in FIG. 4, the position of the preceding vehicle 70 when the vehicle speed suddenly rises is the right turn start point. This right turn start point is known from the position information received by the preceding vehicle 70.

  Since the right turn starting point is a position where the preceding vehicle 70 actually made a right turn, it is considered to be a right turn point suitable for the road shape of the intersection. The other vehicle information processing unit 24 sends the right turn start point to the right turn waiting point correction processing unit 25.

The right turn waiting point correction processing unit 25 compares the provided right turn point with the right turn start point and corrects the provided right turn point to the right turn start point.
FIG. 5 is an example of a diagram for schematically explaining correction of a provided right turn point. It is not always necessary to correct the provided right turn point. For example, when the right turn start point is far from the provided right turn point, the provided right turn point is corrected. By doing so, it is possible to prevent the right turn support service area from becoming narrow.

  The right turn waiting point correction processing unit 25 compares the right turn start point and the provided right turn point to calculate a deviation component. The shift component includes information on the distance from the provided right turn point to the right turn start point and information on the direction of the right turn start point viewed from the provided right turn point. Then, the right turn waiting point correction processing unit 25 corrects the position obtained by extending the provided right turn point by the shift component to the right turn point of the intersection (hereinafter referred to as the optimal right turn point). In this way, the provided right turn point can be corrected to a position optimal for the road shape of the intersection.

  Returning to FIG. 2, the GPS receiver 27 detects the position of the host vehicle 50 using radio waves received from four or more GPS satellites. The GPS receiver 27 sends the position information of the host vehicle 50 to the host vehicle information processing unit 28 every cycle time. The own vehicle information processing unit 28 sends the position information of the own vehicle 50 to the right-hand collision prevention support processing unit 26.

  The right-hand collision prevention support processing unit 26 supports the vehicle 50 to turn right. Since the right-right collision prevention support processing unit 26 receives the optimal right turn point and the position information of the host vehicle 50, the right-hand collision prevention support processing unit 26 has the position information of the host vehicle 50 reaching the optimal right turn point. Help turn right until you do. In the support mode, for example, the driver of the host vehicle 50 is cautioned about the presence of the oncoming straight vehicle 60 and the pedestrian. The right-straight-collision prevention support processing unit 26 calculates TTC (Time To Collition) from the position information and vehicle speed information of the on-coming vehicle 60 included in the oncoming vehicle information, and when the TTC falls below a predetermined value, the driver of the host vehicle 50 A warning sound or message informs the approaching oncoming vehicle 60. When the TTC is further shortened, the right-straight collision prevention support processing unit 26 may control the brake actuator of the host vehicle 50 to reduce the vehicle speed or forcibly stop. In addition, in relation to TTC, the seat belt may be wound up, the threshold of impact for deploying the curtain shield airbag may be lowered, and the like. Further, when calling attention to the presence of a pedestrian, particularly at night, a near infrared ray may be projected to photograph the front of the vehicle 50, and the pedestrian may be detected by pattern matching or the like. When the right-hand collision prevention support processing unit 26 detects a pedestrian, the driver of the host vehicle 50 is notified of the presence of the pedestrian by an alarm sound or a message.

  Since the driving support device 100 of the present embodiment corrects the provided right turn point to the optimal right turn point, it is possible to prevent such right turn support from ending before starting the right turn.

  FIG. 6 shows an example of a flowchart showing a procedure in which the driving support device 100 of this embodiment supports a right turn. The flowchart of FIG. 6 starts when, for example, the vehicle enters a right turn lane, turns on a winker switch to the right, or approaches an intersection where a route to be turned right is set. In FIG. 6, the procedure for communicating with the roadside device (the procedure on the left side in FIG. 6) and the procedure for communicating with the preceding vehicle 70 (the procedure on the right side in FIG. 6) are executed in random order.

  First, the procedure on the right side will be described. The inter-vehicle communication device 23 communicates with surrounding vehicles such as the preceding vehicle 70 and sends the received position information and vehicle speed information to the other vehicle information processing unit 24 together with information for supporting the right turn (S10). .

  The other vehicle information processing unit 24 determines whether or not it communicates with a vehicle traveling ahead in the right turn lane and ahead of the host vehicle 50 based on the position information of each vehicle (S20). When not communicating with such a vehicle (No in S20), the other vehicle information processing unit 24 cannot acquire the right turn start point, and therefore discards the received vehicle position information and vehicle speed information (S50). In this case, the process of FIG. 6 is repeated from step S10.

  Since the other vehicle information processing unit 24 can acquire the right turn start point from the preceding vehicle 70 when communicating with a vehicle traveling ahead of the host vehicle 50 and in a right turn lane (Yes in S20), The other vehicle information processing unit 24 monitors the vehicle speed information of the other vehicle (S30). When the vehicle speed of the preceding vehicle 70 suddenly increases as shown in FIG. 4, the other vehicle information processing unit 24 determines the position information at that time as the right turn start point (S40). The other vehicle information processing unit 24 sends the right turn start point to the right turn waiting point correction processing unit 25.

  Next, the procedure moves to the left side. The road-to-vehicle communication device 21 receives the road alignment information and the oncoming vehicle information of the intersection from the roadside device (S60). The road-to-vehicle communication information processing unit 22 extracts the provided right turn point from the road shape information (S70). The road-to-vehicle communication information processing unit 22 sends the provided right turn point to the right turn waiting point correction processing unit 25.

  The right turn waiting point correction processing unit 25 compares the right turn start point with the provided right turn point and calculates a deviation component (S80). The right turn waiting point correction processing unit 25 corrects the position where the provided right turn point is extended by the deviation component to the optimum right turn point at the intersection (S90).

  The right-hand collision prevention support processing unit 26 supports the vehicle 50 to turn right until the vehicle 50 reaches the optimal right turn point (S100).

  According to the driving support device 100 of the present embodiment, the provided right turn point is corrected to the optimum right turn point based on the right turn start point of the preceding vehicle 70, so that the right turn can be supported to the optimum right turn point at the intersection, and the right turn It is possible to prevent the right turn support from ending before the start.

  In the present embodiment, a driving support device 100 that determines a right turn waiting point from the position information of the oncoming vehicle 60 will be described.

  FIG. 7 shows an example of a system configuration diagram of the driving support device 100 of the present embodiment. 7, the same parts as those in FIG. 2 are denoted by the same reference numerals, and the description thereof is omitted. The other vehicle information processing unit 24 of the present embodiment uses the position information of the oncoming vehicle 60 from the information on surrounding vehicles received by the inter-vehicle communication device 23. In the first embodiment, the position information and the vehicle speed information of the oncoming vehicle 60 are obtained from the roadside device in the first embodiment so that the right-straight collision prevention support processing unit 26 supports the right turn of the host vehicle 50. The device 23 receives it.

  FIG. 8 is an example of a diagram that schematically illustrates the host vehicle 50 and the opposite straight vehicle 60. The inter-vehicle communication device 23 receives position information and vehicle speed information of other vehicles from a vehicle within a predetermined distance from the host vehicle 50. For example, when the host vehicle 50 enters the right turn lane, the other vehicle information processing unit 24 identifies the oncoming straight vehicle 60 from the position information. A vehicle traveling in the oncoming lane and gradually approaching the position is the oncoming straight vehicle 60.

  And the other vehicle information processing part 24 connects the positional information on the oncoming vehicle 60 in time series, and produces the link 41. FIG. FIG. 9 shows an example of the link 41 created from the position information of the oncoming straight vehicle 60. A black dot is position information of the on-coming vehicle 60 and a line connecting them is a link 41. Since this link 41 can be created by an unspecified oncoming lane passing through an intersection, when the other vehicle information processing unit 24 receives a series of position information from the oncoming vehicle 60 that has passed the intersection, a link created from the position information. 41 is sent to the right turn waiting point correction processing unit 25.

  In addition, the host vehicle information processing unit 28 acquires the position information (white circles in FIG. 9) of the host vehicle 50 detected by the GPS receiver 27 in time series, and sends it to the right turn waiting point correction processing unit 25.

  By doing so, the right turn waiting point correction processing unit 25 can use the position information of the host vehicle 50 and the link 41. As shown in FIG. 9, the right turn waiting point correction processing unit 25 lowers the vertical line 42 from the position information of the host vehicle 50 with respect to the link 41 and calculates the length of the vertical line 42. The length of the vertical line 42 is substantially constant until the right turn, and gradually decreases when the right turn is started. Further, since the length of the vertical line 42 is the distance to the trajectory through which the oncoming straight vehicle 60 passes, the vehicle 50 is on the link 41 when the length of the vertical line 42 becomes zero. Therefore, it is considered that the point before the perpendicular 42 becomes zero is the right turn waiting point.

  Specifically, the right turn waiting point correction processing unit 25 acquires the width of the oncoming lane from road shape information or a map DB (Data Base). Then, the right turn waiting point is defined according to the following formula.

Right turn waiting point: Length of vertical line 42 <width of oncoming lane / 2
The position of the host vehicle 50 when the determination formula is satisfied
When the length of the vertical line 42 is “width of the opposite lane / 2”, the host vehicle 50 is in a position that is one lane away from the opposite lane.

  The right turn waiting point correction processing unit 25 determines the end point of the service area that supports the right turn up to the right turn waiting point. When the host vehicle 50 has received the provided right turn point from the roadside device, the provided right turn point may be corrected to the right turn waiting point.

  The right turn waiting point is determined as the end point of the service area in consideration of the travel locus of the oncoming straight vehicle 60 and the width of the oncoming lane, so that it is possible to prevent the right turn support from ending before starting the right turn.

  FIG. 10 shows an example of a flowchart showing a procedure in which the driving support device 100 of the present embodiment supports a right turn. The flowchart in FIG. 10 starts when, for example, the vehicle enters a right turn lane, turns on a winker switch in the right direction, or approaches an intersection where a route to be turned right is set. In FIG. 10, the procedure for communicating with the roadside device (the procedure on the left side in FIG. 10) and the procedure for communicating with the oncoming vehicle 60 (the procedure on the right side in FIG. 10) are executed in random order.

  First, the procedure on the right side will be described. The inter-vehicle communication device 23 communicates with surrounding vehicles such as the preceding vehicle 70, and sends the received position information and vehicle speed information of each vehicle to the other vehicle information processing unit 24 (S210).

  The other vehicle information processing unit 24 determines whether or not it communicates with the vehicle traveling in the oncoming lane based on the position information of each vehicle (S220). When not communicating with such a vehicle (No in S220), the other vehicle information processing unit 24 cannot acquire the right turn waiting point, and discards the received vehicle position information (S250). In this case, the process of FIG. 10 is repeated from step S210.

  When communicating with a vehicle traveling in the oncoming lane (Yes in S220), the other vehicle information processing unit 24 can create a link 41 that is a travel locus from the preceding vehicle 70. The position information of the oncoming vehicle 60 is monitored and connected to create the link 41 (S230). The other vehicle information processing unit 24 sends the created link 41 to the right turn waiting point correction processing unit 25.

  The own vehicle information processing unit 28 sends the position information of the own vehicle 50 to the right turn waiting point correction processing unit 25. The right turn waiting point correction processing unit 25 lowers the perpendicular 42 to the link 41 from the position information of the host vehicle 50, and calculates the length of the perpendicular 42 (S240).

  Then, each time the right turn waiting point correction processing unit 25 calculates the length of the vertical line 42, it determines whether or not the relationship of “the length of the vertical line 42 <the width of the opposite lane / 2” is established (S250). . If this determination formula is not satisfied (No in S250), the position of the host vehicle 50 has not yet reached the right turn waiting point, so the right turn waiting point correction processing unit 25 repeats the processing from step S240. (S280).

  When this determination formula is established (Yes in S250), the right turn waiting point correction processing unit 25 determines that the host vehicle 50 has passed the right turn waiting point (S260).

  Next, the procedure moves to the left. The road-to-vehicle communication device 21 receives the road alignment information of the intersection along with the information for right turn support from the roadside device (S310). The road-to-vehicle communication information processing unit 22 extracts the width of the oncoming lane from the road shape information (S320). The road-to-vehicle communication information processing unit 22 sends the width to the right turn waiting point correction processing unit 25. Thereby, determination of step S250 is attained.

  The right-straight collision prevention support processing unit 26 supports the right turn of the host vehicle 50 based on the position information of the host vehicle 50 and the TTC of the oncoming vehicle 60 (S330).

  In step S260, the right-hand collision prevention support processing unit 26 supports the right turn until it is determined that the host vehicle 50 has passed the right turn waiting point, and is determined that the host vehicle 50 has passed the right turn waiting point. And end the right turn support.

  According to the driving support device 100 of the present embodiment, the right turn waiting point is determined from the trajectory and width of the oncoming lane, so that the right turn support can be prevented from ending before the right turn starts.

  In this embodiment, a driving support system 200 that provides a right turn point for each vehicle type using a vehicle detection camera 32 installed on the road side will be described.

  FIG. 11 shows an example of a system configuration diagram of the driving support system 200 of the present embodiment. 11, the same parts as those in FIG. 2 are denoted by the same reference numerals, and the description thereof is omitted. The system configuration diagram of FIG. 11 has a roadside system 90. The roadside system 90 includes a road-vehicle communication device 21, a right turn waiting point correction processing unit 25, a vehicle detection sensor information processing unit, and a vehicle detection camera 32.

  FIG. 12 is an example of a diagram illustrating an outline of an intersection roadside system 90. As shown in the figure, the vehicle detection camera 32 images the host vehicle 50. Although the optical axis of the vehicle detection camera 32 is fixed or movable, the optical axis is known. Using this, the vehicle detection camera information processing unit 31 analyzes the image data, identifies the host vehicle 50, and monitors time-series position information of the detected host vehicle 50.

  Note that the vehicle detection camera information processing unit 31 also identifies the vehicle type (sedan, bus, truck, 1 Box, etc.) of the host vehicle 50. The vehicle type of the host vehicle 50 can be specified by pattern matching with a standard template of a vehicle in which various types of vehicles are known. The vehicle detection camera information processing unit 31 associates the vehicle type with the position information and sends them to the right turn waiting point correction processing unit 25.

  The right turn waiting point correction processing unit 25 determines which vehicle makes a right turn at which position (particularly, the start position of the right turn). By doing so, the roadside system 90 can detect the right turn point for each vehicle type.

  FIG. 13 is an example of a diagram for explaining analysis of a right turn point. Specifically, the position at which the vehicle speed starts to increase rapidly from the time-series position information or the position where the traveling direction of the host vehicle 50 that has entered the intersection has rotated 45 degrees or more is detected as the right turn point. The right turn waiting point correction processing unit 25 associates the right turn point with the vehicle type information and sends it to the road-vehicle communication device 21. The right turn point is detected for each vehicle type because the steering wheel operation required for a right turn differs depending on the size of the vehicle body, and the right turn point differs depending on the vehicle type because the parting position varies depending on the vehicle height and weight. is there.

  Since the road-to-vehicle communication device 21 repeatedly transmits a right turn point for each vehicle type to surrounding vehicles, the vehicle-to-vehicle communication device 21 also receives the right turn points of various vehicle types. The road-to-vehicle communication information processing unit 22 extracts a right turn point of the same vehicle type as the own vehicle from the right turn point for each vehicle type, and sends the right turn point to the right-hand collision prevention support processing unit 26.

  The right-straight-collision-prevention support processing unit 26 can determine a right-turn point as an optimal position for a right turn at the intersection, and can prevent the right-turn support from ending before the host vehicle 50 makes a right turn. In addition, it can absorb differences in right turn points due to differences in vehicle types.

  FIG. 14 shows an example of a flowchart showing a procedure in which the driving support system of this embodiment supports a right turn. The flowchart on the left side of FIG. 14 shows the procedure executed by the roadside system 90, and the flowchart on the right side shows the procedure executed by the on-vehicle driving support device 100. The flowchart on the left side of FIG. 14 is repeatedly executed every time the host vehicle 50 is detected. The flowchart on the right side starts when the host vehicle 50 enters, for example, a right turn lane, turns on a winker switch to the right, or approaches an intersection where a route to be turned right is set.

  First, the procedure on the left side will be described. The vehicle detection camera 32 images a vehicle that makes a right turn at an intersection (S410).

  The vehicle detection camera information processing unit 31 analyzes image data obtained by photographing the host vehicle 50 and detects position information in time series. Moreover, the vehicle detection camera information processing part 31 specifies the vehicle type of the own vehicle 50 (S420). The vehicle detection camera information processing unit 31 sends the time-series position information and the vehicle type to the right turn waiting point correction processing unit 25.

  The right turn waiting point correction processing unit 25 determines a right turn point for each vehicle type (S430). Since it is considered that the same vehicle type makes a right turn at the same intersection, the right turn waiting point correction processing unit 25 determines, for example, an average for each vehicle type or an average + 2σ (σ: standard deviation) as a right turn point. By setting “average + 2σ”, the position where the right turn support ends can be made longer.

  Then, the road-to-vehicle communication device 21 transmits the right turn point for each vehicle type to the surrounding vehicles in addition to the road shape information (S440).

  For this reason, the road-to-vehicle communication device 21 of the host vehicle 50 receives the right turn point for each vehicle type (S510).

  The road-to-vehicle communication information processing unit 22 extracts the right turn point of the vehicle type that most closely matches the vehicle type of the host vehicle (S520). Then, the road-to-vehicle communication information processing unit 22 sends the extracted right turn point to the right-hand collision prevention support processing unit 26.

  The right-straight collision prevention support processing unit 26 provides the right turn support until the position of the host vehicle 50 reaches the right turn point (S530).

  The driving support device 100 according to the present embodiment can determine a right turn point as the optimal position for a right turn at an intersection, and can prevent the right turn support from ending before the host vehicle 50 makes a right turn. In addition, it can absorb differences in right turn points due to differences in vehicle types.

DESCRIPTION OF SYMBOLS 21 Road-to-vehicle communication apparatus 23 Inter-vehicle communication apparatus 25 Right turn waiting point correction | amendment process part 26 Right-right collision prevention assistance process part 27 GPS receiver 50 Own vehicle 60 Opposite vehicle 70 preceding vehicle 100 Travel assistance apparatus

Claims (1)

An inter-vehicle communication device that receives position information and vehicle speed information from surrounding vehicles; an information processing means that identifies a preceding vehicle traveling in a right turn lane from the position information; and monitors vehicle speed information of the preceding vehicle;
A right turn position specifying means for specifying the position information when a right turn of a preceding vehicle is detected from the transition of the vehicle speed information as a right turn point;
Right turn support means for supporting right turn of the host vehicle up to the right turn point;
A driving support device comprising: