JP2010244212A - Driving support device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a driving support device for sufficiently ensuring safety by reliably causes a driver to temporarily stop at a place where temporary stop is required. <P>SOLUTION: The driving support device 1 includes: a stop determination means 2c for determining whether or not the vehicle is stopping before a temporary stop line of an intersection; a presence determination means 2d for determining whether or not another vehicle exists between the temporary stop line and the vehicle; and a possibility determination means 2e for, when the determination of the stop determination means 2c is positive, and when the determination of the presence determination means 2d is positive, determining that when the area occupied by the other vehicle within a field of view when viewed from the vehicle is within a predetermined area, the vehicle is highly likely to enter the intersection without temporary stop before the temporary stop line. <P>COPYRIGHT: (C)2011,JPO&INPIT

Description

  The present invention relates to a driving support device that can alert a driver to a stop line and a stop sign at a no-signal intersection, and can ensure that the safety at the intersection is sufficiently secured by following the stop. .

  Conventionally, in order to ensure that the driver temporarily stops the vehicle at the stop line and the stop sign at the intersection where no signal is installed due to low traffic, etc. In order to make it easier for the driver to recognize the stop line and the stop sign, etc., and in order to make the driver comply with the temporary stop at the place where the stop is necessary, In the required intersection, when monitoring the traveling situation such as the vehicle speed and acceleration of the vehicle passing before the intersection, and it is determined from the traveling situation that the vehicle is difficult to stop on the temporary stop line, As described in Patent Document 1, it has been proposed to appropriately warn a driver of a vehicle.

Japanese Patent Laid-Open No. 2001-67596

  However, in the alarm based on the traveling state of the vehicle as described in Patent Document 1, the traveling state of one vehicle in a state where the one vehicle is traveling with respect to the temporary stop line is monitored. Since only an appropriate warning for the vehicle is considered as a precondition, the following problems arise.

  That is, in the situation where the leading vehicle and the vehicle are approached to some extent, the vehicle continuously enters the intersection including the pause line, or the leading vehicle and the vehicle are continuously stopped before the pause line. When the vehicle enters the intersection in compliance with the temporary stop, the driver of the vehicle following the behavior of the leading vehicle is dragged and follows, or the driver of the following vehicle is the leading vehicle Because it is safe to enter, it is easy to judge that there is no need to stop temporarily, and the driver may cause the vehicle to enter the intersection without complying with the temporary stop. There is a problem that the suspension is not thoroughly observed and safety is not sufficiently secured.

  In view of the above problems, an object of the present invention is to provide a driving support device that can ensure sufficient safety by allowing a driver to observe a temporary stop at a place where the temporary stop is necessary.

In order to solve the above problem, the driving support device according to the present invention provides:
Stop determination means for determining whether or not the vehicle is stopped before the temporary stop line at the intersection;
Presence / absence determination means for determining whether or not another vehicle exists between the temporary stop line and the vehicle;
When the stop determination unit determines affirmative and the existence determination unit determines affirmation, and the occupied area of the other vehicle in the field of view viewed from the vehicle is within a predetermined area, the vehicle Possibility determining means for determining that there is a high possibility of entering the intersection without temporarily stopping on the temporary stop line.

  According to the driving support device, whether or not the driver of the vehicle is likely to enter the intersection without temporarily stopping the vehicle on the temporary stop line, that is, whether or not there is a possibility of a temporary stoppage approach. Therefore, if the possibility is determined to be high, notification and warning are appropriately executed as follows to temporarily notify the driver of the vehicle. Encourage compliance with the suspension.

  When the possibility determination means determines that the possibility is high, the vehicle in the case where an intersection vehicle other than the other vehicle enters the intersection with respect to the driver of the vehicle. Including a notification means for acquiring and appropriately notifying the situation of the intersection including the possibility of crossing with the intersection vehicle by inter-vehicle communication or road-to-vehicle communication; The warning can be given to the driver in advance, including warning means for warning that the vehicle is temporarily stopped.

  Note that the temporary stop line is a legally required stop line to confirm safety when the vehicle is temporarily stopped and the vehicle is stopped when no traffic lights are installed at the intersection. In general, a stop white character is accompanied on the rear road surface, and a sign indicating a white stop on a red inverted triangle is included in the vicinity of the side roadside belt.

  Here, the case where the occupied area of the other vehicle in the field of view viewed from the vehicle is within a predetermined area is typically the case where the other vehicle is one light vehicle or one or more motorcycles. Can be considered. Alternatively, it may be set that the other vehicle is a large vehicle such as a bus or a large truck or a non-medium vehicle such as a medium-sized truck or the like or a one or more motorcycles.

  Further, when the other vehicle is a light vehicle or one or more motorcycles, or when the other vehicle is a normal vehicle that is not a large vehicle or a medium-sized vehicle or is one or more motorcycles, Although the other vehicle exists between the temporary stop line and the vehicle, the area occupied by the other vehicle in the field of view that blocks the field of view when looking through the intersection as viewed from the driver of the vehicle is within a predetermined area Because the vehicle is small and the visibility is good to some extent, the driver of the vehicle must temporarily stop the vehicle on the temporary stop line and enter the intersection, and the situation related to the intersection It is easy to judge that there is little need for confirmation, failing to confirm safety in the temporary stop and stop state on the temporary stop line, and entering into the intersection with the other vehicle It refers to a high of situation.

  In other words, the case where the other vehicle is a light vehicle or one or more motorcycles, or the case where the other vehicle is an ordinary vehicle that is not a large vehicle or a medium-sized vehicle or is one or more motorcycles. The vehicle is stopped at the second vehicle relative to the other vehicle of the leading vehicle, or even if there are a plurality of other vehicles, they are all motorcycles and the vehicle is substantially the second vehicle from the leading vehicle. It can be assumed that the vehicle is located at a position where the other vehicle blocks the field of view and the area occupied by the field of view is small, and the line of sight is good when viewed from the driver of the vehicle.

  Even when the vehicle is the head vehicle as viewed from the intersection stop line, the notification means performs the notification and the warning means performs the warning, but the vehicle has three vehicles from the head vehicle. In order to avoid making the driver feel bothered when the vehicle is positioned after the eye or substantially positioned after the third vehicle, the notification means does not perform the notification and the warning The means does not issue the warning.

  In this case, when the stop determination means determines whether or not the vehicle is stopped before the temporary stop line, the stop line is set, for example, about 10 m from the temporary stop line. As the point within the first predetermined distance, the distance between the position of the temporary stop line converted from the node of the intersection included in the map information for searching the car navigation system and the detected current position of the vehicle is, for example, The determination can be made based on the relative positional relationship whether the distance is within the first predetermined distance.

  A roadside communication device is installed at the first predetermined distance of, for example, about 10 m from the temporary stop line, and the roadside communication device is installed at a position separated from the temporary stop line by the first predetermined distance. When the vehicle is stopped to the side of the roadside communicator, the vehicle communicator installed in the vehicle is positioned. When the information signal is received, the stop determination unit may determine that the vehicle has stopped before the temporary stop line.

  Further, the presence / absence determining means is, for example, binarization processing, shading processing, luminance based on image information captured by an object recognition camera sensor used for PCS (Pre Crash Safety System), LKA (Lane Keep Assist), or the like. Difference processing, edge processing, or the like may be performed to determine whether or not another vehicle exists between the temporary stop line and the vehicle, and the distance between the temporary stop line and the vehicle may be determined based on the distance between the temporary vehicle and the vehicle. For example, based on the fact that the distance is equal to or greater than the second predetermined distance of, for example, about 5 m, the presence / absence of the other vehicle is determined based on the relative positional relationship of whether the distance is the second predetermined distance or not. Good.

  Further, the possibility determination means is based on a comparison between the external dimensions and shape of the other vehicle included in the image information, and the predetermined external dimensions and shape of the light vehicle, and the external dimensions and shape of the motorcycle. It may be determined whether the other vehicle is the light vehicle or one or more motorcycles. If the other vehicle is a light vehicle or one or more motorcycles, the temporary stop is performed. Using the fact that the distance between the line and the vehicle is a third predetermined distance of, for example, about 3 to 4 m, based on the comparison between the distance and the third predetermined distance, You may determine whether it is the above motorcycle.

  Of course, the possibility determination means is based on a comparison between the external dimensions and shape of the other vehicle included in the image information, and the predetermined external dimensions and shape of the ordinary automobile, and the external dimensions and shape of the motorcycle. It may be determined whether the other vehicle is the ordinary vehicle or one or more motorcycles. If the other vehicle is an ordinary vehicle or one or more motorcycles, the temporary stop is performed. Using the fact that the distance between the line and the vehicle is a fourth predetermined distance of about 4 to 5 m, for example, the other vehicle is the normal automobile or the one based on the comparison between the distance and the fourth predetermined distance. You may determine whether it is the above motorcycle.

  Further, if vehicle-to-vehicle communication is in widespread use, the vehicle-side communication device included in the light vehicle or one or more motorcycles as the other vehicle is changed to a vehicle-side communication device installed in the vehicle. When the type information signal including whether the other vehicle is the head and whether it is a light vehicle, a normal vehicle or a motorcycle is transmitted, and the communication device on the vehicle side receives the type information signal The possibility determination means is such that the type information signal transmitted from the other vehicle indicates a light vehicle or a normal vehicle, or the transmitted type information signal indicates a motorcycle. In this case, the possibility determination means may determine that the other vehicle is the light vehicle, the ordinary vehicle, or one or more motorcycles.

  The possibility determination means may determine that the possibility is high when the traveling direction of the other vehicle coincides with the traveling direction of the vehicle, in addition to the condition regarding the other vehicle.

  Here, even when the traveling direction of the other vehicle coincides with the traveling direction of the vehicle, the other vehicle exists between the temporary stop line and the vehicle, but viewed from the driver of the vehicle. Immediately after the other vehicle can enter the intersection, the driver of the vehicle must temporarily stop the vehicle at the temporary stop line and enter the intersection or walk. The driver easily determines that there is little need to check other situations, neglects the safety check in the temporary stop line and the stop state on the stop line, and is taken by the other vehicle to the intersection. A high probability of entering.

  Also in this case, the possibility determination means may detect the traveling direction of the other vehicle based on the luminance difference of the blinker lamp in the image captured by the object recognition camera, or the vehicle You may receive and detect the vehicle information signal containing the advancing direction from the said other vehicle using inter-vehicle communication. About the advancing direction of the said vehicle, the said possibility determination means can be suitably acquired from communication standards, such as CAN (Controller Area Network) of a vehicle.

  ADVANTAGE OF THE INVENTION According to this invention, a driver | operator can be provided with the driving assistance apparatus which can ensure safety | security enough by making a driver observe a temporary stop in the location where a temporary stop is required.

1 is a block diagram showing an embodiment of a driving support apparatus according to the present invention. It is a schematic diagram which shows the aspect of the intersection where the driving assistance device concerning this invention is applied. It is a schematic diagram which shows the crossing possibility of the intersection where the driving assistance device concerning this invention is applied. It is a schematic diagram which shows the crossing possibility of the intersection where the driving assistance device concerning this invention is applied. It is a schematic diagram which shows the crossing possibility of the intersection where the driving assistance device concerning this invention is applied. It is a flowchart which shows the control content of one Embodiment of the driving assistance device which concerns on this invention.

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

  FIG. 1 is a schematic diagram showing an embodiment of a driving support apparatus according to the present invention. FIG. 2 is a schematic diagram showing an aspect of an intersection to which the driving support apparatus 1 according to the present invention is applied. Further, FIGS. 3 to 5 are schematic diagrams showing the possibility of crossing at an intersection to which the driving support device 1 according to the present invention is applied.

  As shown in FIG. 1, the driving support device 1 includes a car navigation ECU 2 (Electronic Control Unit) and an inter-vehicle communication device 3. Connected to the car navigation ECU 2 are a GPS antenna 4 (Global Positioning System), a yaw rate sensor 5, a receiver 6, a database 7, a display 8, a speaker 9, and a touch panel 10. The car navigation ECU 2, the inter-vehicle communication device 3, the brake ECU 11, the EPS ECU 12, and the body ECU 13 are connected to each other by a CAN.

  The car navigation ECU 2 includes, for example, a CPU, a ROM, a RAM, a data bus that connects them to each other, and an input / output interface. The car navigation ECU 2 includes a search unit 2a that performs each control described below in accordance with a program stored in the ROM, a display It functions as means 2b, stop determination means 2c, existence determination means 2d, possibility determination means 2e, notification means 2f, and warning means 2g.

  The inter-vehicle communication device 3 includes a transmitter and a receiver (not shown) and a microcomputer that controls them, and an intersection including a vehicle and another vehicle positioned in front of the vehicle and before the temporary stop line shown in FIG. It is mounted on a crossing vehicle that is proceeding toward the vehicle, and realizes vehicle-to-vehicle communication using a spread spectrum method.

  The inter-vehicle communication device 3 of another vehicle includes a type information signal including a type indicating whether the other vehicle is a mini vehicle or a motorcycle, and a direction information indicating whether the traveling direction is left turn, straight ahead, or right turn. Send information signals. The inter-vehicle communication device 3 of the crossing vehicle transmits vehicle information signals such as the position of the crossing vehicle, the vehicle speed, and the traveling direction to the target area. The inter-vehicle communication device 3 of the other vehicle receives a vehicle information signal transmitted by the inter-vehicle communication device 3 of the crossing vehicle located in the other vehicle target area within the other vehicle target area distance L from the intersection.

  The inter-vehicle communication device 3 of the vehicle uses L + L1 obtained by adding a travel distance L1 corresponding to the time that the vehicle reaches the temporary stop line after the other vehicle starts from the temporary stop line to the other vehicle target area distance L. As described above, the type information signal and the vehicle information signal transmitted by the inter-vehicle communication device 3 of the crossing vehicle and the other vehicle located in the vehicle target area within the vehicle target area distance L + L1 are received. In the following description, what is simply described as a vehicle refers to the host vehicle and is distinguished from other vehicles and crossing vehicles.

  The GPS antenna 4 receives radio waves from three of a plurality of satellites over the earth, and based on these radio waves, the search means 2a of the car navigation ECU 2 uses, for example, the principle of triangulation to detect the current vehicle Measure the position of, ie longitude and latitude.

  Here, the yaw rate sensor 5 detects the yaw rate of the vehicle, the touch panel 10 is an input device for a driver to input search conditions such as a destination, and the database 7 is a storage such as a CD-ROM or a DVD-ROM. It is composed of a medium and stores and stores map information for display and map information for search.

  The display 8 displays the route searched by the search means 2a of the car navigation ECU 2 based on the input destination together with map information for display based on a command from the display means 2b of the car navigation ECU 2.

  The brake ECU 11 includes, for example, a CPU, a ROM, a RAM, a data bus that interconnects them, and an input / output interface, and controls a brake device (not shown) of the vehicle according to a program stored in the ROM to brake the vehicle. It is a device, and the vehicle speed used for the control is calculated from the wheel speed acquired from a wheel speed sensor (not shown) and transmitted on CAN, and the car navigation ECU 2 acquires the vehicle speed by transmission by CAN. .

  The EPS ECU 12 is composed of, for example, a CPU, a ROM, a RAM, a data bus that connects them to each other, and an input / output interface, and is based on a steering angle input by a driver via a steering wheel (not shown) according to a program stored in the ROM. Thus, the steering force for steering the wheel is assisted, the steering angle is detected by a steering sensor (not shown), the steering angle is transmitted to the car navigation ECU 2 by CAN, and the car navigation ECU 2 acquires the steering angle.

  The body ECU 13 is composed of, for example, a CPU, a ROM, a RAM, a data bus for connecting them, and an input / output interface. The body ECU 13 mainly controls flashing lights of various lamps according to a program stored in the ROM. Here, when the driver operates a blinker switch (not shown) in either the left or right direction, the blinker lamp on the left side or the right side of the vehicle blinks, and the traveling direction of the vehicle is perceived to the surroundings, and the blinker switch A winker signal is transmitted on the CAN, and the car navigation ECU 2 acquires the winker signal.

  Furthermore, the receiver 7 is compliant with light or radio wave beacons, and receives traffic information from the VICS (Vehicle Information & Communication System), that is, traffic jam information, road width information, disaster and accident occurrence information. Receive.

  The search means 2a of the car navigation ECU 2 calculates the moving distance and direction of the vehicle based on the vehicle speed acquired from the brake ECU 11, the yaw rate detected by the yaw rate sensor 5, and the steering angle acquired from the EPS ECU 12, and calculates the current vehicle position. The position is also measured by autonomous navigation.

  In the measurement based on the principle of triangulation using the GPS antenna 4 described above, when the vehicle is located in a valley of a high-rise building or when the vehicle is traveling in a tunnel, When a vehicle is traveling under a viaduct, the GPS antenna 4 cannot receive radio waves from the satellite, which causes a problem that the position of the vehicle cannot be measured. Complementing the measurement of the current position of the vehicle by the principle of triangulation, the accuracy of the measurement of the total vehicle position is increased.

  And the display means 2b of the car navigation ECU 2 is searched by the search means 2a, the map information for display in the database 7, the position of the vehicle detected by the above-described method, the destination input by the touch panel 10, and the search means 2a. The route is also displayed on the display 8.

  The stop determination means 2c of the car navigation ECU 2 compares the current position of the vehicle detected by the search means 2a with the position information of the temporary stop line included in the search map information link in the database 7, and If the position is within L2 = 10 m from the position of the stop line, for example, it is determined that the vehicle has stopped before the stop line at the intersection, and the position of the vehicle is more than 10 m away from the stop line. It is determined that the vehicle has not stopped before the temporary stop line.

  The presence / absence determining means 2d of the car navigation ECU 2 determines that there is another vehicle between the temporary stop line and the vehicle when the vehicle is stopped at a position of about 5 m from the temporary stop line, for example. When the vehicle is stopped at a position of about 4 m or less obtained by subtracting the predetermined margin 1 m from 5 m as a reference, it is determined that there is no other vehicle between the temporary stop line and the vehicle.

  When the stop determination unit 2c determines affirmative, i.e., when the vehicle is stopped before the temporary stop line, and when the existence determination unit 2d determines affirmative, i.e., between the temporary stop line and the vehicle. When another vehicle is present, the possibility determination means 2e of the car navigation ECU 2 determines whether or not the occupied area of the other vehicle in the field of view as viewed from the vehicle is within a predetermined area. 3 is determined based on whether the type information signal received from 3 indicates a light vehicle, or all indicate a motorcycle, and if this determination is affirmative, the vehicle temporarily stops on the temporary stop line. It is determined that there is a high possibility that a temporary stoppage approach that enters the intersection without stopping will occur.

  The fact that the other vehicle is a mini vehicle or one or more motorcycles is established that the second vehicle is stopped with respect to the other vehicle of the leading vehicle, or there are a plurality of other vehicles. However, it means that it is all a motorcycle, and it can be considered that the vehicle is actually located at the second from the top, and the occupied area occupied by the other vehicle in the driver's field of view is small, This refers to a situation where the intersection is easy to see from the driver of the vehicle.

  When it is determined by the possibility determination means 2e that there is a high possibility that a temporary stop frail approach will occur, the notification means 2f of the car navigation ECU 2 is an intersection vehicle other than another vehicle at the intersection as shown in FIG. The situation of the intersection including the possibility of crossing between the vehicle and the intersecting vehicle is acquired from the blinker signal of the body ECU 13, and the traveling direction of the intersecting vehicle in the target area is It calculates after acquiring from the vehicle information signal acquired by communication.

  That is, the notification means 2f refers to the traveling direction including the left turn, straight travel, and right turn of the vehicle, the left turn, straight travel, right turn travel direction of the crossing vehicle, and the individual cases with reference to the maps as shown in FIGS. By calculating the possibility of crossing and expressing the calculated possibility of crossing, for example, “There is a possibility of crossing with a vehicle traveling from the front.” Is appropriately notified. In addition, the warning means 2g of the car navigation ECU 2 generates, for example, a sound such as “Please make a temporary stop at the temporary stop line” by the speaker 9, and warns that the vehicle is temporarily stopped at the temporary stop line. Do.

  3 to 5, a circle indicates a situation where there is a possibility of crossing, and a cross indicates a situation where there is no possibility of crossing. 3 shows a case where the crossing vehicle is traveling in the right turn lane when viewed from the vehicle, and FIG. 4 is a case where the crossing vehicle is traveling in the straight lane ahead as viewed from the vehicle. FIG. 5 shows a case where the crossing vehicle is traveling in the left turn lane as viewed from the vehicle.

  Even when the vehicle is the leading vehicle, the notifying means 2f notifies the situation of the intersection, and the warning means 2g gives a warning prompting the temporary stop, but the vehicle is located at the third and subsequent vehicles from the leading vehicle. If the vehicle is or is substantially located after the third vehicle, that is, if the possibility determination means 2e does not determine affirmative, the need for notification and warning is low, and the driver feels annoyed. In order to avoid this, the notifying unit 2f does not notify the situation of the intersection, and the warning unit 2g does not issue a warning for prompting a temporary stop.

  The control contents of the car navigation ECU 2 described above will be described with reference to flowcharts. FIG. 6 is a flowchart showing the control contents of the car navigation ECU 2 constituting a part of the driving support apparatus 1 according to the present invention.

  In step S1 of FIG. 2, the search means 2a of the car navigation ECU 2 detects the current position of the vehicle, and in step S2, the car navigation ECU 2 detects the above-described front, left, and right of the intersection including the temporary stop line. A vehicle information signal is acquired from the crossing vehicle located in the vehicle target area via the inter-vehicle communication device 3.

  In step S3, the car navigation ECU 2 determines that the type information signal is transmitted from the other vehicle via the inter-vehicle communication device 3 when there is another vehicle located between the temporary stop line and the vehicle. Get an information signal.

  In step S4, the stop determination means 2c of the car navigation ECU 2 determines whether the vehicle is based on whether the distance between the position of the vehicle detected in step S1 and the position of the temporary stop line is within L2 = 10 m or not. It is determined whether or not the vehicle is stopped within L2m from the temporary stop line at the intersection shown in FIG. 4. If affirmative, the process proceeds to step S5, and if negative, the process proceeds to END.

  In step S5, the presence / absence determining means 2d of the car navigation ECU 2 makes a positive determination that there is another vehicle between the temporary stop line and the vehicle when the position of the vehicle is, for example, about 5 m from the temporary stop line. When the position of the vehicle is, for example, about 4 m or less from the temporary stop line, a negative determination is made if there is no other vehicle between the temporary stop line and the vehicle.

  In step S6, the possibility determination means 2e of the car navigation ECU 2 determines that the type information signal acquired from the other vehicle via inter-vehicle communication indicates a light vehicle, or the type information signal all indicates a motorcycle. If it is, the other vehicle is determined to be a light vehicle or one or more motorcycles.

  If it is determined as affirmative in step S6, the process proceeds to step S7. In step S7, the possibility determination means 2e determines that there is a high possibility that the driver of the vehicle will fail the safety check in the paused and stopped state. Then, the process proceeds to step S8.

  In step S8, the notification means 2f of the car navigation ECU 2 indicates the possibility of crossing in the intersection, the traveling direction of the crossing vehicle acquired in step S2, the traveling direction of the vehicle acquired from the body ECU 13, and the maps of FIGS. Based on the above, information including the possibility of crossing is notified to the driver by voice from the speaker 9, and in step S9, the warning means 2g of the car navigation ECU 2 issues a warning prompting the temporary stop by voice from the speaker 9. .

  If it is determined negative in step S5 and no other vehicle exists, the process proceeds to step S10, and whether or not the vehicle is stopped as a leading vehicle from the current position of the vehicle and the position of the temporary stop line to the temporary stop line. If the result is affirmative, the process proceeds to step S11. If the result is negative, the process proceeds to step S12.

  Subsequently, in step S11, the notification unit 2f of the car navigation ECU 2 indicates the crossing possibility in the intersection, as in step S8, and the traveling direction of the crossing vehicle acquired in step S2 and the vehicle progress acquired from the body ECU 13. Information based on the direction and the map shown in FIGS. 3 to 5 is calculated to notify the driver of information including the possibility of crossing by voice from the speaker 9, and in step S12, the warning means 2g of the car navigation ECU 2 temporarily stops. An urging warning is given by sound from the speaker 9.

  According to the driving support apparatus 1 of the present embodiment realized by these control contents, the following operational effects can be obtained. That is, according to the driving support device 1 of the present embodiment, is it likely that the driver of the vehicle will enter the intersection without temporarily stopping the vehicle on the temporary stop line, that is, whether there is a possibility of a temporary stoppage approach occurring? Since the possibility determination means 2e can reliably determine whether or not it is highly likely that a temporary stoppage approach will occur, alert the situation of the intersection and call attention It is possible to assist the driver and appropriately issue a warning for suspending the vehicle, thereby urging the driver of the vehicle to comply with the suspension, thereby ensuring safety more reliably.

  Although the preferred embodiments of the present invention have been described in detail above, the present invention is not limited to the above-described embodiments, and various modifications and substitutions are made to the above-described embodiments without departing from the scope of the present invention. be able to.

  For example, the determination as to whether or not the occupation area of the other vehicle is within a predetermined area is that the type information signal received from the inter-vehicle communication device 3 of the other vehicle indicates a light vehicle as described above, or type information Although it may be performed based on the fact that all of the signals indicate motorcycles, for example, binarization processing, shading processing, luminance difference processing, etc. are performed on the image information captured by the object recognition camera sensor Thus, after obtaining the outer dimensions, shapes, and number of other vehicles, the occupied area may be obtained directly to determine the threshold with a predetermined area.

  Furthermore, the possibility determination means 2e acquires the traveling direction of the other vehicle from the vehicle information signal received from the other vehicle via inter-vehicle communication, and the traveling direction is the same in comparison with the traveling direction of the vehicle. May be added as a determination condition, and it may be determined whether or not the vehicle is likely to make a temporary stop and enter an intersection.

  The determination as to whether the other vehicle is a mini vehicle or one or more motorcycles may be made based on the type information signal of the other vehicle, but is simply the distance between the position of the temporary stop line and the position of the vehicle. It may be performed based on the threshold determination.

  In addition, the information including the possibility of crossing the intersection including the temporary stop line is calculated by the car navigation ECU 2 in the vehicle by comparing the vehicle information signal including the traveling information of the intersecting vehicle and the blinker signal of the vehicle as described above. Alternatively, it may be configured such that the vehicle navigation ECU 2 of the vehicle obtains the data by way of road-to-vehicle communication by calculating and calculating at a roadside center or the like.

  Furthermore, the fact that the type information signal used in this embodiment indicates a light vehicle can of course be replaced with that indicating a normal vehicle. In the above-described embodiment, L2 = 10 m indicates the first predetermined distance, and 5 m indicates the second predetermined distance, but these are merely exemplary numerical values.

  The present invention relates to a driving support device that is effective in ensuring that a driver observes a vehicle on a temporary stop line at an intersection where no traffic signal is maintained, and is a parameter that is relatively easy to acquire. Since a desired effect can be obtained based on minor control changes, it is particularly useful when applied to vehicles such as passenger cars, trucks, and buses.

1 Driving support device 2 Car navigation ECU
2a Search means 2b Display means 2c Stop determination means 2d Existence determination means 2e Possibility determination means 2f Notification means 2g Warning means 3 Inter-vehicle communication device 4 GPS antenna 5 Yaw rate sensor 6 Receiver 7 Database 8 Display 9 Speaker 10 Touch panel 11 Brake ECU
12 EPSECU
13 Body ECU

Claims (1)

  Stop determination means for determining whether or not the vehicle has stopped before the temporary stop line at the intersection; presence determination means for determining whether or not another vehicle exists between the temporary stop line and the vehicle; When the stop determination means determines affirmative and the presence / absence determination means determines affirmation, and the occupied area of the other vehicle in the field of view viewed from the vehicle is within a predetermined area, the vehicle A driving support device, comprising: a possibility determination unit that determines that there is a high possibility that the vehicle enters the intersection without temporarily stopping on the temporary stop line.

Images