JP2010271844A - Driving support controller and program - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To properly perform driving support. <P>SOLUTION: A GPS sensor 12 detects a position of one's own vehicle. A regulation kind acquisition part 24 obtains the regulation kind of an intersection entry port on each of the own vehicle side and a crossing vehicle side from intersection entry port regulation kind data stored in an information storage part 22 about an intersection to be entered by the own vehicle, predetermined based on the detected position of the own vehicle. An attention obligation degree setting part 26 sets an attention obligation degree corresponding to a rating blame in time of an accident encounter to a combination the regulation kind on the own vehicle side and the regulation kind on the crossing vehicle side obtained by the regulation kind acquisition part 24. A control part 28 controls a driving support device 16 such that the driving support device 16 performs the driving support corresponding to the set attention obligation degree. <P>COPYRIGHT: (C)2011,JPO&INPIT

Description

  The present invention relates to a driving support control device and a program, and more particularly, to a driving support control device and a program for performing control to perform driving support.

  Conventionally, at an intersection with no signal, it is estimated from the width and type of the road that one of the intersecting roads has priority, and the estimation result and the temporary stop line detection result of the own vehicle traveling road are obtained. In addition, a vehicle driving assistance device that performs driving assistance is known (Patent Document 1).

JP 2004-86363 A

  However, in the technique described in Patent Document 1, the priority of the road is determined based on the width and type of the intersecting road, but there is an intersection where it is not possible to determine which road is the priority. For example, intersections in a residential area where roads of the same scale intersect have almost the same width and type, so the priority relationship cannot be uniquely determined. In addition, when there is no temporary stop or both at the entrance to the intersection, the priority relationship cannot be uniquely determined. When priority relationships cannot be uniquely determined in this way, there is a problem that driving assistance cannot be performed appropriately.

  The present invention has been made to solve the above-described problems, and an object thereof is to provide a driving support control device and a program that can appropriately perform driving support.

  In order to achieve the above object, the driving support control device according to the present invention obtains a restriction type for obtaining a restriction type of each intersection entrance on the own vehicle side and the intersecting vehicle side for an intersection where the own vehicle is about to enter. And a duty of caution corresponding to the negligence ratio at the time of an accident, which is predetermined for each combination of the restriction type on the vehicle side and the crossing vehicle side acquired by the restriction type acquisition means. And a control means for controlling a driving support device that performs driving support so as to perform driving support in accordance with the duty of caution set by the setting means.

  The program according to the present invention includes a restriction type acquisition unit that acquires a restriction type of each intersection entrance on the own vehicle side and the intersection vehicle side for the intersection where the own vehicle is about to enter, and the restriction type acquisition unit. A setting means for setting a duty of attention corresponding to a negligence ratio at the time of an accident, which is predetermined for each combination of the restriction types on the acquired vehicle side and the crossing vehicle side, and the setting means It is a program for functioning as a control means for controlling a driving support device that performs driving support so as to perform driving support in accordance with the set degree of attention duty.

  According to the present invention, the restriction type acquisition means acquires the restriction type of each intersection entrance on the own vehicle side and the intersection vehicle side for the intersection where the own vehicle is about to enter. The setting means sets a duty of attention corresponding to the negligence ratio at the time of an accident, which is predetermined for each combination of restriction types on the own vehicle side and the crossing vehicle side acquired by the restriction type acquisition means. .

  Then, the driving support device that performs driving support is controlled by the control means so as to perform driving support according to the duty of attention set by the setting means.

  In this way, for each combination of restriction types on the own vehicle side and the crossing vehicle side, a duty level of caution corresponding to the negligence ratio at the time of an accident is set, and driving support according to the level of duty of caution is performed. By controlling, driving support can be performed appropriately.

  The driving support control device according to the present invention further includes speed detecting means for detecting the speed of the own vehicle, and the control means is configured to reduce the speed as the set duty degree of attention is higher based on the detected speed of the own vehicle. The driving support by the driving support device can be controlled so that the vehicle enters the intersection. Accordingly, it is possible to appropriately control the deceleration.

  The restriction types described above may include no restriction, suspension obligation, and priority.

  The driving support control device according to the present invention further includes position detecting means for detecting the position of the host vehicle, and storage means for storing the restriction type of each intersection entrance of the intersecting road for each intersection. The acquisition means is specified based on the detected position of the own vehicle, and from the restriction type stored in the storage means, the intersection approach on each of the own vehicle side and the intersecting vehicle side is determined for the intersection that the own vehicle is about to enter. The restriction type of the mouth can be acquired.

  Note that the program of the present invention can also be provided by being stored in a recording medium.

  As described above, according to the driving support control device and program of the present invention, the duty of caution corresponding to the negligence rate at the time of an accident is obtained for each combination of restriction types on the own vehicle side and the crossing vehicle side. By setting and controlling to perform driving support according to the duty of attention, an effect that driving support can be performed appropriately can be obtained.

It is a block diagram which shows the structure of the driving assistance system which concerns on this Embodiment of this invention. It is a table | surface which shows the example of a caution duty degree table. It is an image figure which shows the intersection where one intersection entrance is "with the obligation to stop temporarily", and the other intersection entrance is "no restriction". It is an image figure which shows the intersection where one intersection entrance is "no restriction" and the other intersection entrance is "with priority". It is an image figure which shows the intersection whose both intersection entrances are "no restrictions." It is a figure for demonstrating deceleration control. It is a flowchart which shows the content of the driving assistance process routine in the computer which concerns on this Embodiment of this invention.

  Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. In this embodiment, a case where the present invention is applied to a driving support system that is mounted on a vehicle equipped with an alarm device and a braking intervention system and performs driving support will be described as an example.

  As shown in FIG. 1, a driving support system 10 according to the present embodiment is provided in a navigation system (not shown) mounted on a host vehicle, and includes a GPS sensor 12 that detects the position of the host vehicle, Based on the vehicle speed sensor 14 for detecting the vehicle speed, the driving support device 16 including an alarm device and a braking intervention system, the position information of the own vehicle detected by the GPS sensor 12 and the own vehicle speed detected by the vehicle speed sensor 14. And a computer 18 that controls driving support by the support device 16. The computer 18 is an example of a driving support control device.

  The GPS sensor 12 detects position information composed of longitude and latitude. The alarm device of the driving support device 16 includes an in-vehicle speaker, and outputs an alarm sound according to control by the computer 18. The braking intervention system of the driving assistance device 16 operates according to control by the computer 18 and applies braking force to the wheels of the host vehicle.

  The computer 18 includes a CPU, a RAM, and a ROM that stores a program for executing a driving support processing routine to be described later, and is functionally configured as follows. The computer 18 includes an own vehicle information acquisition unit 20 that acquires an output from the GPS sensor 12 and an output from the vehicle speed sensor 14, and an information storage unit 22 that stores map data, intersection position data, and intersection entrance restriction type data. From the information storage unit 22, the restriction type acquisition unit 24 that acquires the restriction type at the entrance of the intersection where the host vehicle is about to enter, and the degree of attention duty that sets the degree of attention duty described later from the combination of the acquired restriction types A setting unit 26 and a control unit 28 that controls driving support by the driving support device 16 according to the set duty of attention and the acquired own vehicle speed are provided.

  The host vehicle information acquisition unit 20 acquires the position information of the host vehicle from the GPS sensor 12 and acquires the vehicle speed of the host vehicle from the vehicle speed sensor 14.

  The information storage unit 22 stores map data indicating road map information, intersection position data indicating position information of each intersection, and intersection entrance restriction type data indicating a restriction type at the entrance of each intersection. In the intersection entry restriction type data, for each intersection, the restriction type at each entry point of all intersecting roads is stored, and the restriction types are “no restriction”, “pause obligation”, and One of “with priority” is stored.

  Here, “with suspension obligation” indicates a case where there is a stop sign. “With priority” means that the road is designated as a priority road by a road sign, etc., or that there is a center line or vehicle lane with a road sign that regulates traffic on the road at the intersection. Show. Specifically, the following three cases are shown.

  First, in the case of a road designated as a “priority road” by a road sign, “with priority” is stored as the restriction type. For example, an instruction sign “priority road” is installed in front of a section of a road designated as a priority road, and a restriction sign “front priority road” or “front priority road / pause” is placed in front of a road that intersects the priority road. This is the case.

  Second, in the case of a road designated as a “priority road” by a road marking (center line), “with priority” is stored as the restriction type. For example, this is a case where the center line is continuously provided up to the intersection. Note that, even if the center line is a solid line or a broken line, it is designated as a “priority road”.

  Third, in the case of a road designated as a “priority road” by a road marking (vehicle lane), “with priority” is stored as the restriction type. For example, this is the case where the vehicle lane is continuously provided up to the intersection. It should be noted that the vehicle priority zone boundary line is designated as a “priority road” regardless of whether it is a solid line or a broken line.

  Based on the position information of the host vehicle acquired by the host vehicle information acquiring unit 20 and the traveling direction obtained from the change in the position information, the restriction type acquiring unit 24 determines the intersection where the host vehicle is about to enter soon from the intersection position data. Identify. The restriction type acquisition unit 24 acquires the restriction types of the entrances of all roads that intersect at the intersection from the intersection entrance restriction type data for the specified intersection.

  The duty-of-attention setting unit 26 shows the degree of attention-duty indicating the correspondence between the combination of restriction types at both the entrance and exit of the intersection as shown in FIG. 2 and the degree of attention-attention indicating the degree of attention-attention required when entering the intersection. A table is stored in advance. In this duty-of-attention table, a value (10 to 90%) corresponding to the negligence ratio (basic value) of the vehicle at the time of encountering an accident in a situation that is a combination of the regulation types is set as the duty of attention. ing.

  For example, as shown in FIG. 3, when the restriction type of the intersection entrance on the own vehicle side is “Obligation to pause” and the restriction type of the intersection entry on the intersection vehicle side is “no restriction”. Is set to 80% as the duty of attention. Further, when the restriction type of the intersection entrance on the own vehicle side is “no restriction” and the restriction type of the intersection entry on the intersection vehicle side is “obligation to temporarily stop”, the duty of attention is 20 % Is set.

  In addition, as shown in FIG. 4, when the restriction type of the intersection entrance on the own vehicle side is “no restriction” and the restriction type of the intersection entry on the intersection vehicle side is “with priority” 90% is set as the duty of attention. Further, when the restriction type of the intersection entrance on the own vehicle side is “with priority” and the restriction type of the intersection entry on the intersection vehicle side is “no restriction”, the duty of attention is 10%. Is set.

  In addition, as shown in FIG. 5, when the restriction type of the intersection entrance on the own vehicle side is “no restriction” and the restriction type of the intersection entrance on the intersection vehicle side is also “no restriction”, The duty of attention is set to 50%.

  The duty-of-attention setting unit 26 sets the duty-of-attention corresponding to the combination of the restriction types acquired by the restriction-type acquiring unit 24 based on the above-mentioned duty-of-attention table. In the present embodiment, when there is a signal display restriction on the own vehicle side, it is determined that it is not necessary to provide driving assistance, and is not subject to driving assistance.

  As shown in FIG. 2, the control unit 28 sets five levels of support levels according to the set duty of attention, and sets an intersection approach speed Ve corresponding to the support level. The control unit 28 controls the braking intervention system of the driving assistance device 16 so as to decelerate the host vehicle speed Vm to the set intersection approach speed Ve, and informs the driver that the braking control is being performed by an alarm sound output. The alarm device of the driving support device 16 is controlled. As shown in FIG. 2, the higher the level of duty of attention, the higher the support level is set. As a result, the higher the level of duty of attention, the lower the intersection approach speed Ve.

  As shown in FIG. 6, the deceleration control is performed such that the vehicle speed becomes an intersection approach speed Ve (a set value corresponding to the support level) at the intersection entrance point (a point Te seconds before entering the intersection). . Hereinafter, the deceleration control will be described.

  First, the deceleration used in the braking control is set as the upper limit deceleration αupper, and the vehicle speed at the current position when the vehicle is decelerated by the upper limit deceleration αupper and becomes the intersection approach speed Ve at the intersection entrance is calculated as the upper limit vehicle speed Vupper. To do. The upper limit vehicle speed Vupper is compared with the current host vehicle speed detected by the vehicle speed sensor 14, and if the host vehicle speed is higher, the braking intervention system is controlled so as to decelerate with the upper limit deceleration αupper, and an alarm device alerts Driving assistance is performed by controlling to output sound.

  In addition, what is necessary is just to output the sound of a small continuous sound "beep beep ..." from the alarm device comprised with a speaker installed in a vehicle as an alarm sound to be sounded together during deceleration control. The upper limit vehicle speed Vupper is calculated from the following equation (1).

  However, Lm is the distance of the own vehicle to the intersection entry point, and is calculated by the difference between the distance Lc from the own vehicle to the intersection and the distance Le from the intersection entry point to the intersection. Note that the distance Le from the intersection entrance point to the intersection is a value calculated from Te set in time and the intersection approach speed Ve, and thus cannot be calculated when Ve = 0. Therefore, when Ve = 0, the fixed value L0 (set value) is used.

  In addition, when the driver decelerates by brake operation before entering the intersection, the upper limit vehicle speed calculated as described above is compared with the current own vehicle speed detected by the vehicle speed sensor 14, and the own vehicle speed is higher. For example, in the same manner as described above, the braking control by the braking intervention system is activated, and an alarm sound is output by the alarm device.

  Next, the operation of the driving support system 10 according to the present embodiment will be described.

  A driving support processing routine shown in FIG. 7 is executed by the computer 18 when the vehicle equipped with the driving support system 10 is traveling.

  First, in step 100, an upper limit deceleration αupper is set as an initial setting. In step 102, the position of the host vehicle detected by the GPS sensor 12 is acquired, and the vehicle speed Vm of the host vehicle detected by the vehicle speed sensor 14 is acquired. To get. Further, the traveling direction of the host vehicle is acquired from the acquired change in the position of the host vehicle.

  In step 104, the intersection where the host vehicle is about to enter is specified based on the position and traveling direction of the host vehicle acquired in step 102 and the intersection position data stored in the information storage unit 22. In the next step 106, it is determined whether or not the intersection specified by the above-mentioned step 104, on which the host vehicle is going to enter, has been updated from the previously specified intersection. If it is the same as the intersection specified last time, the process returns to step 102. On the other hand, if the processing in step 104 is the first time, or if it is different from the previously identified intersection, it is determined that the intersection has been updated from the previously identified intersection, and the process proceeds to step 108.

  In step 108, the intersection entrances of all the roads (the own vehicle side and the intersecting vehicle side) intersecting at the intersection specified in step 104 from the intersection entrance restriction type data stored in the information storage unit 22. Get the restriction type. In step 110, the duty of attention corresponding to the combination of the restriction types on the own vehicle side and the crossing vehicle side acquired in step 108 is set. In the next step 112, the duty of attention set in step 110 is set. A support level corresponding to the degree is set, and an intersection approach speed Ve corresponding to the support level is set.

  In step 114, it is determined whether or not the support level is greater than 0. If the support level is 0, the process returns to step 102. On the other hand, if the support level is greater than 0, the process proceeds to step 116.

  In step 116, the distance Lm to the intersection entrance is calculated based on the position of the host vehicle acquired in step 102 or step 126 described later and the position of the intersection specified in step 104. In the next step 118, based on the distance Lm to the intersection entrance calculated in step 116, the intersection approach speed Ve set in step 112, and the upper limit deceleration αupper set in step 100, the upper limit is set. The vehicle speed Vupper is calculated.

  In step 120, the vehicle speed Vm of the host vehicle acquired in step 102 or step 126 described later is compared with the upper limit vehicle speed Vupper calculated in step 118, and the vehicle speed Vm of the host vehicle is determined from the upper limit vehicle speed Vupper. Determine whether it is larger. If it is determined that the vehicle speed Vm of the host vehicle is equal to or lower than the upper limit vehicle speed Vupper, the routine proceeds to step 124 without performing driving assistance. On the other hand, if it is determined that the vehicle speed Vm of the host vehicle is higher than the upper limit vehicle speed Vupper, in step 122, the braking control by the braking intervention system is activated, and the driving support device 16 is controlled to output an alarm sound by the warning device. Then, the process proceeds to step 124.

  In step 124, it is determined whether or not the vehicle has entered the intersection based on the position of the own vehicle acquired in step 102 or step 126 described later. If the position of the own vehicle is still before the intersection, step 124 is performed. In 126, the position of the host vehicle detected by the GPS sensor 12 is acquired, and the vehicle speed Vm of the host vehicle detected by the vehicle speed sensor 14 is acquired. Further, the traveling direction of the host vehicle is acquired from the acquired change in the position of the host vehicle. Then, the process returns to step 116.

  On the other hand, if the position of the host vehicle exceeds a predetermined position before the intersection (a position corresponding to the position of the stop line) in step 124, it is determined that the vehicle has entered the intersection, and the process returns to step 102.

  By executing the driving support processing routine as described above, the braking control by the braking intervention system and the alarm sound by the warning device are made so that the host vehicle enters the intersection at a speed corresponding to the degree of caution required when entering the intersection. Output is performed and driving support for the driver is performed.

  As described above, according to the driving support system according to the present embodiment, the negligence rate at the time of encountering an accident corresponding to the combination of the restriction types of the own vehicle side and the intersecting vehicle side at the intersection to be entered. Appropriate driving assistance can be performed by setting a duty of attention corresponding to 、 and performing control so that driving assistance corresponding to the duty of attention is performed.

  In addition, an intersection where traffic is not organized (an intersection without a signal) is not necessarily in a relationship in which one of the intersection roads is a priority road and the other is a non-priority road, and when entering such an intersection, , More or less duty of care is required. Moreover, the basic value of the negligence ratio at the time of an accident encounter is estimated by the regulation information of both the entrance and exit of the intersection, and the degree of duty of caution required when entering the intersection can be set according to the basic value. By providing detailed driving support according to the level of duty of caution and providing driving support, it is possible to provide detailed driving support corresponding to the level of caution required when entering an intersection.

  In addition, at any intersection, it is possible to define a certain upper limit speed to enter a no-signal intersection at the highest speed. Needless to say, if there is a duty to stop at the intersection entrance on the own vehicle side, it is necessary to voluntarily reduce the vehicle speed to 0 km / h before the stop line.

  In the above embodiment, the case where the combination of the braking control and the warning sound output is performed as an example of driving assistance has been described as an example. However, the present invention is not limited to this, and other types of driving assistance or those Combinations may be performed. For example, driving assistance may be performed by notifying a driver of an alarm message (for example, “Please drive slowly ahead at the intersection!”) On a display device or the like.

  Moreover, although the case where the restriction type is acquired from the intersection entry restriction type data stored in advance has been described as an example, the invention is not limited to this, and the forward image from the front camera or the roadside communication terminal is not limited thereto. Based on the transmission information, both restriction types at the intersection may be acquired.

DESCRIPTION OF SYMBOLS 10 Driving assistance system 12 GPS sensor 14 Vehicle speed sensor 16 Driving assistance apparatus 18 Computer 20 Own vehicle information acquisition part 22 Information storage part 24 Restriction classification acquisition part 26 Attention duty setting part 28 Control part

Claims (5)

Restriction type acquisition means for acquiring the restriction type of each intersection entrance on the own vehicle side and the intersection vehicle side for the intersection where the own vehicle is about to enter,
Setting means for setting a duty of attention corresponding to the negligence ratio at the time of an accident, which is predetermined for each combination of the restriction types on the own vehicle side and the crossing vehicle side acquired by the restriction type acquisition means When,
Control means for controlling a driving support device that performs driving support so as to perform driving support according to the degree of duty of caution set by the setting means;
A driving support control device including: It further includes speed detecting means for detecting the speed of the host vehicle,
The said control means controls the driving assistance by the said driving assistance apparatus so that it may approach to the said intersection at low speed, so that the set said duty degree of attention is high based on the detected speed of the own vehicle. The driving support control device according to 1.   The driving support control device according to claim 1, wherein the restriction type includes no restriction, a duty to pause, and a priority. Position detecting means for detecting the position of the host vehicle;
Storage means for storing a restriction type of each intersection entrance of each intersecting road for each intersection;
The restriction type acquisition means is determined based on the restriction type stored in the storage means for the intersection where the own vehicle is going to enter, which is specified based on the detected position of the own vehicle. The driving support control device according to any one of claims 1 to 3, wherein the restriction type of each intersection entrance is acquired. Computer
Restriction type acquisition means for acquiring the restriction type of each intersection entrance on the own vehicle side and the intersection vehicle side for the intersection where the own vehicle is about to enter,
Setting means for setting a duty of attention corresponding to the negligence ratio at the time of an accident, which is predetermined for each combination of the restriction types on the own vehicle side and the crossing vehicle side acquired by the restriction type acquisition means And the program for functioning as a control means which controls the driving assistance apparatus which performs driving assistance so that the driving assistance according to the said duty of caution set by the said setting means may be performed.

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