JP2011134087A - Driving assist system - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To properly assist driving for avoiding collision or the like on the basis of prediction from a wider range of viewpoints. <P>SOLUTION: A driving assist system including a plurality of driving assist apparatus 700 mounted on vehicles to assist vehicle driving includes: a stereo camera unit 420 for acquiring image data on other vehicles around a vehicle; an ID information acquisition means for acquiring ID information of the driving assist apparatus 700 on the other vehicles; a collision possibility calculation means for calculating the possibility of collision of the other vehicles on the basis of the image data acquired by the stereo camera unit 420; an ID extraction means for extracting the ID information of the driving assist apparatus 700 mounted on vehicles whose collision possibility calculated by the collision possibility calculation means is not less than a predetermined value; and a transmission means for transmitting a driving-assist request to the driving assist apparatus 700 having the ID information extracted by the ID extraction means. <P>COPYRIGHT: (C)2011,JPO&INPIT

Description

  The present invention relates to a driving assist device that is mounted on a vehicle and assists a driver.

  Conventionally, inter-vehicle cruise control that adjusts the inter-vehicle distance to the preceding vehicle and follows the preceding vehicle has been developed. With this technology, an alarm or automatic brake is issued when the preceding vehicle approaches. Thus, collision can be prevented. In addition, a system has been proposed that recognizes a traveling lane and issues a warning or performs steering torque assist when the vehicle is about to deviate from the lane, thereby preventing deviation from the lane.

  These systems are generally called driving assistance control device systems, driving assist systems, etc., and by partially replacing the driving operation of the driver, driving load can be reduced and more comfortable driving becomes possible. In addition, it is expected to help reduce accidents to compensate for the forward unawareness that is a major cause of traffic accidents.

As an example of the driving assist system as described above, Patent Document 1 (Japanese Patent Laid-Open No. 2001-101582) discloses a measure for avoiding a collision with another moving body while being mounted on the own vehicle. In the vehicle collision prevention apparatus adapted to be adopted on the side, an imaging means for taking an image of a wide-angle visual field including at least an oblique front of the own vehicle, and the moving body that is moving is extracted from the image taken by the imaging means Extraction means, determination means for determining whether or not there is a risk of collision with the moving body when the host vehicle continues running as it is, and when the determination means determines that there is a risk of collision And a collision avoidance command means for automatically taking the above measures is disclosed.
JP 2001-101582 A

  In a conventional driving assist system, the determination means for determining whether or not there is a possibility of a collision is configured to make a determination based on an image photographed by an imaging means mounted on the host vehicle. However, the area that can be photographed from the own vehicle is limited, so it is difficult to predict all accidents, so it is said that it is not possible to accurately perform the assist operation for collision avoidance There was a problem.

  In order to solve the above problems, the invention according to claim 1 is a driving assist system including a driving assist device that is mounted on a vehicle and assists driving of the vehicle, and image data of other vehicles existing around the host vehicle. Determined by the image data acquisition means for acquiring the ID information, the ID information acquisition means for acquiring the ID information of the driving assist device of the other vehicle existing around the own vehicle, the image data acquired by the image data acquisition means, and the ID information Collision possibility calculation means for calculating the possibility that another vehicle will collide based on the position information of the other vehicle, and driving carried by a vehicle whose collision possibility calculated by the collision possibility calculation means is a predetermined value or more An ID extraction unit that extracts ID information of the assist device, and a driving assist for the ID information extracted by the ID extraction unit. And performing the door operation request.

  According to a second aspect of the present invention, in the driving assist system according to the first aspect, the transmission means is a driving assistance device for ID information extracted by the extracting means by means of vehicle-to-vehicle communication. It is characterized by transmitting directly.

  According to a third aspect of the present invention, in the driving assist system according to the first aspect, the transmitting means is a driving assist apparatus for ID information obtained by extracting the driving assist operation request by the extracting means via a server device. It is characterized by transmitting directly to.

  According to a fourth aspect of the present invention, in the driving assist system according to any one of the first to third aspects, the image data acquisition means is a stereo camera.

  According to a fifth aspect of the present invention, in the driving assist system according to any one of the first to fourth aspects, the driving assist operation performed by the driving assist device is a warning sound.

  According to a sixth aspect of the present invention, in the driving assist system according to any one of the first to fifth aspects, the driving assist operation by the driving assist device is a warning display.

  According to a seventh aspect of the present invention, in the driving assist system according to any one of the first to sixth aspects, the driving assist operation by the driving assist device is a brake control.

  According to the driving assist system of the present invention, the possibility of collision is calculated based on the image data acquired by the image data acquisition means mounted on a vehicle different from the own vehicle, and the assist operation is performed based on the calculation result. Therefore, an accurate driving assist operation for avoiding a collision can be performed based on prediction from a wider viewpoint.

It is a figure showing the outline of the in-vehicle system in the driving assistance system concerning a 1st embodiment of the present invention. It is a figure which shows the outline of the block configuration of the vehicle-mounted system in the driving assistance system which concerns on 1st Embodiment of this invention. It is a figure which shows an example of the packet data which the vehicle-to-vehicle communication unit 510 transmits / receives in the driving assistance system which concerns on 1st Embodiment of this invention. It is a figure explaining the concept of the operation | movement level in the driving assistance system which concerns on 1st Embodiment of this invention. It is a figure which shows the flowchart of the process by the driving assistance system which concerns on 1st Embodiment of this invention. It is a figure which shows the flowchart of the subroutine of the collision possibility calculation process in the driving assistance system which concerns on 1st Embodiment of this invention. It is a figure which shows the flowchart of the subroutine of the preservation | save request packet check process in the driving assistance system which concerns on 1st Embodiment of this invention. It is a figure which shows an example of the traffic condition on a road. It is a figure which shows an example of data transmission / reception in a driving assistance system which concerns on 2nd Embodiment of this invention, and an example of data processing. It is a figure which shows an example of the packet data used for transmission / reception between the vehicle and center server in the driving assistance system which concerns on 2nd Embodiment of this invention. It is a figure which shows the flowchart of the vehicle side mounting system in the driving assistance system which concerns on 2nd Embodiment of this invention. It is a figure which shows the flowchart by the side of the center server in the driving assistance system which concerns on 2nd Embodiment of this invention.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. FIG. 1 is a diagram showing an outline of an in-vehicle system in the driving assist system according to the first embodiment of the present invention, and FIG. 2 is an outline of a block configuration of the in-vehicle system in the driving assist system according to the first embodiment of the present invention. FIG. 1 and 2, 10 is a vehicle, 100 is an ECU, 120 is a timer, 200 is a travel information acquisition unit, 210 is a vehicle speed sensor, 220 is a steering sensor, 230 is an accelerator opening sensor, 240 is a brake pedal sensor, 400 is a vehicle periphery information acquisition unit, 420 is a stereo camera unit, 500 is a communication unit, 510 is an inter-vehicle communication unit, 511 is a vehicle ID storage unit, 512 is a communication management buffer, 700 is a driving assist device, and 710 is a main control unit. , 711 is a speaker, 712 is a warning light, 713 is a brake assist device, 720 is a driving assist device ID storage unit, 800 is a navigation system unit, 810 is a navigation system, 811 is a high-accuracy GPS position information acquisition unit, and 820 is a database. Each is shown.

  The in-vehicle system shown in FIGS. 1 and 2 shows what is mounted on one vehicle, but the in-vehicle system according to the present embodiment cooperates with individual devices mounted on a plurality of vehicles. By doing so, the function can be exhibited. Therefore, in the following description, a traffic environment is assumed in which the in-vehicle system mounted on the vehicle 10 shown in FIGS. 1 and 2 is mounted on each vehicle traveling on the road. The driving assist system of the present embodiment is equipped with an engine as a prime mover and travels with the driving force of the engine, or an electric vehicle with a motor as the prime mover and traveling only with the driving force of the motor, Alternatively, it is possible to mount both of the above as a prime mover and to mount the vehicle on a vehicle such as a hybrid vehicle that travels based on driving by a motor and / or an engine.

  In the in-vehicle system according to the present embodiment, the ECU 100 is an abbreviation for an electronic control unit, and is a general-purpose information processing mechanism including a CPU, a ROM that holds a program that operates on the CPU, and a RAM that is a work area of the CPU. The ECU 100 cooperates and operates with each component connected to the illustrated ECU 100. In addition, the ECU 100 executes various control processes in the driving assist system of the present invention based on programs and data stored and held in storage means such as a ROM in the ECU 100. The “calculation means” and “determination means” described in the claims express the operation of the ECU 100 conceptually. In the present embodiment, each of the above means is realized by the ECU 100 and a program executed on the ECU 100. However, these means are not limited to this, and hardware such as a logic circuit is used. It may be realized only by wear.

  The travel information acquisition unit 200 is configured to acquire information related to actual travel of the vehicle 10 or driving investigation information, for example, a vehicle speed sensor 210, a steering sensor 220, an accelerator opening sensor 230, a brake pedal sensor 240, and the like. Is included.

  The vehicle speed sensor 210 in the travel information acquisition unit 200 performs sensing (measurement) of the speed of the vehicle 10 (vehicle speed). In addition, you may make it provide other sensors as what acquires the driving | running | working condition of a vehicle.

  In the travel information acquisition unit 200, the steering sensor 220 detects a steering angle of the steering of the vehicle 10, and the accelerator opening sensor 230 detects the amount of depression of the accelerator pedal (accelerator opening) by the driver. The brake pedal sensor 240 detects the amount of depression of the brake pedal by the driver.

  The vehicle surrounding information acquisition unit 400 is configured to acquire information on the outside of the vehicle 10 and the like around the vehicle 10. In the present embodiment, the vehicle surrounding information acquisition unit 400 includes a stereo camera unit 420 that can image the front side of the vehicle 10. In the present embodiment, the stereo camera unit 420 is provided so as to photograph only the front of the vehicle 10. However, the stereo camera unit 420 is configured so that more camera units are mounted and the rear of the vehicle 10 is photographed in addition to the front. Alternatively, it may be provided on all four sides of the vehicle 10 so as to capture the entire field of view of the vehicle 10 in the horizontal direction. The stereo camera unit 420 is capable of shooting a stereo moving image, and further, the ECU 100 performs image analysis based on the shooting data acquired by the stereo camera unit 420, so that the shot object and the stereo camera are captured. The distance to the unit 420 can be calculated. In the driving assistance system according to the present embodiment, by analyzing the stereo moving image data acquired by the stereo camera unit 420, the possibility of collision between other vehicles different from the own vehicle is calculated, and the possibility of collision is predetermined. When the value is greater than or equal to the value, an operation request command is transmitted so that the driving assist device of the other vehicle operates. That is, the driving assist system according to the present embodiment calculates the collision possibility based on the image data acquired by the stereo camera unit 420 mounted on a vehicle different from its own vehicle, and based on this calculation result, Therefore, it is possible to perform an accurate driving assist operation for avoiding a collision based on prediction from a wider viewpoint.

  The vehicle-to-vehicle communication unit 510 in the communication unit 500 is a unit for performing communication between vehicles that are relatively close to each other by wireless packet communication. The inter-vehicle communication unit 510 is transmitted from a vehicle ID storage unit 511 that stores a vehicle ID used for specifying a transmission source when performing communication, and a vehicle that exists in the vicinity and has established a communication connection. And a communication management buffer 512 for temporarily pooling the packet data. The vehicle ID stored in the vehicle ID storage unit 511 is unique to each vehicle.

  FIG. 3 is a diagram showing an example of packet data transmitted and received by the inter-vehicle communication unit 510 in the driving assist system according to the first embodiment of the present invention. 3A is a packet used for periodic communication, and FIG. 3B is a packet used when the driving assist system transmits a driving assist operation request.

  The periodic communication packet includes, for example, data of items such as “packet number”, “source vehicle ID information”, “position information”, “speed information”, “vector information”, and “driving assist device ID information”. included.

  The “packet number” in the regular communication packet is data for specifying a packet used for specifying the continuity of the packet, and the “transmission source vehicle ID information” is the vehicle ID in the inter-vehicle communication unit 510 of the transmission source. ID data stored in the storage unit 511, “position information” is coordinate data related to the vehicle position acquired by the high-accuracy GPS position information acquisition unit 811, and “speed information” is acquired by the vehicle speed sensor 210. The “vector information” is data related to the traveling direction of the vehicle determined by the steering sensor 220 and the navigation system unit 800, and the “driving assist device ID information” is the driving mounted on the vehicle. Stored in the driving assist device ID storage unit 720 of the assist device 700 A D data.

Further, in the driving assistance operation request packet, for example, items such as “packet number”, “transmission source vehicle ID information”, “transmission destination vehicle ID”, “request destination driving assist device ID information”, “operation level”, etc. Data is included. The “packet number” in the driving assist operation request packet is data for specifying a packet used for specifying the continuity of the packet, and the “transmission source vehicle ID information” is the transmission source inter-vehicle communication unit 510. ID data stored in the vehicle ID storage unit 511, and “transmission destination vehicle ID information” is ID data stored in the vehicle ID storage unit 511 in the vehicle-to-vehicle communication unit 510 of the transmission destination. The “drive assist device ID information” is ID data stored in the drive assist device ID storage unit 720 of the previous drive assist device 700 that requests the assist operation, and the “operation level” is any level of drive assist. It is a parameter to specify whether to do.

FIG. 4 is a diagram for explaining the concept of the operation level in the driving assist system according to the first embodiment of the present invention. 4, collision probability P is larger the value, a value determined as a possibility of a collision between vehicles increases, the operation request of the driver assist its value is C ₁ or more Is configured to emit.

In the table of FIG. 4, there is a relationship of C ₁ <C ₂ <C ₃ , but when the collision possibility P satisfies C ₁ ≦ P <C ₂ , that is, there is a possibility of collision, but possibility of collision. Is defined as level 1, and the driving assist device 700 is requested to operate the warning lamp 712.

Further, when the collision possibility P satisfies C ₂ ≦ P <C ₃ , that is, when the collision possibility is medium, it is defined as level 2, and the driving assist device 700 turns on the warning lamp 712 and the speaker. From 711, an operation is requested so that a warning sound is generated.

Further, when the collision possibility P satisfies C ₃ ≦ P, that is, when the possibility of collision is very high, it is defined as level 3, and the driving assist device 700 turns on the warning light 712 and the warning sound from the speaker 711. And the brake assist device 713 is requested to operate.

  As described above, in the driving assist system according to the present embodiment, an operation request is made so that the driving assist device 700 operates appropriately in accordance with the possibility of a collision. It is possible to provide driving assistance.

  The driving assist device 700 provides driving assistance to the driving vehicle of the vehicle 10 as necessary, and a speaker 711 that informs the driver of the danger by sounding, and lighting the speaker 711 is dangerous for the driver. A warning light 712 that performs notification, a brake assist device 713 that performs an operation of depressing the brake pedal on behalf of the driver, and a main control unit 710 that controls the speaker 711, the warning light 712, and the brake assist device 713 are provided. . The driving assist device ID storage unit 720 of the driving assist device 700 is an identification ID for each driving assist device 700.

The navigation system unit 800 includes a navigation system 810 and a navigation system database 820 such as map information referred to by the navigation system 810. The navigation system 810 can acquire the current position information of the vehicle by using a high-accuracy GPS position information acquisition unit 811 that receives a GPS signal from a GPS satellite and calculates its own position coordinate data. In the driving assistance system of the present invention, it is preferable to use highly accurate GPS positioning in order to acquire position information. In the driving assistance system of the present invention, road information, facility information, and the like are stored in the navigation system database 820. Road type information (general roads, highways, etc.) is provided in the road information. It is preferable to keep it. Further, it is preferable that the map data of the navigation system database 820 includes in advance area division data indicating whether it is a suburb where speed can be obtained or a city center where speed is limited. This is because the range of the vehicle for which the operation request is made may be determined according to the road type information and the area division as described above.

  Next, processing and operations of the driving assist system according to the present embodiment configured as described above will be described with reference to flowcharts. FIG. 5 is a diagram showing a flowchart of processing by the driving assist system according to the first embodiment of the present invention. The flowchart shown in FIG. 5 is an individual process of the driving assist system mounted on each vehicle, and the process according to this flowchart is performed in each vehicle.

  In FIG. 5, when an engine and a motor (both not shown) of the vehicle 10 are activated, the process starts in step S100, and then the process proceeds to step S101. The packet data for periodic communication shown in FIG. 4 is generated, and processing for transmitting the generated periodic packet from the communication unit 500 is executed. In the next step S102, periodic communication packet data is received from vehicles in the vicinity. The packet data from vehicles in the vicinity that have established a communication connection are pooled in the communication management buffer 512. The pooled packet data corresponds to the vehicle ID. Extract and grasp the driving assistance device ID.

  In the next step S103, a subroutine for collision possibility calculation processing is executed. This subroutine will be described with reference to another drawing. FIG. 6 is a flowchart illustrating a subroutine of a collision possibility calculation process in the driving assist system according to the first embodiment of the present invention.

  In FIG. 6, in step S <b> 200, a collision possibility calculation process subroutine starts. The subsequent steps S201 through S203 are a loop for performing calculations for all vehicles photographed by the stereo camera unit 420.

  In step S202 in the loop, the position of the other vehicle after X seconds is calculated from the information about the vehicle obtained from the stereo camera unit 420 and the inter-vehicle communication unit 510. Here, it is possible to reduce the calculation load by limiting the calculation target vehicles to vehicles that are relatively close among the vehicles recognized by the stereo camera unit 420.

  When the loop is completed for all the photographing vehicles, the process goes through step S203 to step S204.

  In the next step S204, the possibility P of collision between any known vehicles is calculated. At this time, regarding the possibility P of collision between any vehicle A and vehicle B, (possibility of collision) = (reciprocal of the distance between the vehicle A calculation position after X seconds and the vehicle B calculation position after X seconds) Is used to calculate the index P of “possibility of collision”. The higher the value of the index P that indicates the possibility of collision, the greater the possibility of collision. In step S205, the process returns to the main routine.

Returning to the main routine, in step S104, the collision possibility P calculated in step S103 to extract the vehicle ID is C ₁ or more.

In step S105, it is determined whether C ₃ ≦ P is satisfied. Hereinafter, C ₁ , C ₂ , and C ₃ are the same as those related to the table of FIG. Step S10
If the determination in 5 is YES, the process proceeds to step S 109, and an operation request packet as shown in FIG. 3B whose parameter is level 3 is generated and transmitted from the communication unit 500. If the determination in step S105 is no, the process proceeds to step S106.

In step S106, it is determined whether or not C ₂ ≦ P <C ₃ is satisfied. If the determination in step S <b> 106 is YES, the process proceeds to step S <b> 109, and an operation request packet as shown in FIG. 3B whose parameter is level 2 is generated and transmitted from the communication unit 500. When the determination in step S106 is NO, the process proceeds to step S107, and an operation request packet as shown in FIG. 3B whose parameter is level 1 is generated and transmitted from the communication unit 500.

In step S110, whether the operation request packet to C ₁ or more of the total vehicle is transmitted is determined, this determination is returned to the step S104 again When is NO, processing continues in a vehicle is not already sending . On the other hand, if this determination is YES, the process proceeds to step S111 to execute a subroutine of operation request packet check processing. This subroutine will be described with reference to another drawing. FIG. 7 is a flowchart of a storage request packet check process subroutine in the driving assistance system according to the first embodiment of the present invention.

  In FIG. 7, when the operation request packet check process is started in step S300, in the next step S301, a packet (as shown in FIG. 3B) in which the own vehicle (ID) is designated as the transmission destination ID. ) Is received. When the determination in step S301 is YES, the process proceeds to step S302. When the determination is NO, the process proceeds to step S308 and returns.

  In step S302, it is determined whether or not there is a driving assist operation request for the ID of the driving assist device 700 mounted on the host vehicle in a packet (shown in FIG. 3B) destined for the host vehicle. When the determination is YES, the process proceeds to step S303, and when the determination is NO, the process proceeds to step S308 and returns.

  In step S303, it is determined whether the level parameter specification in the packet is level 3. When the determination in step S303 is YES, the process proceeds to step S307, and the driving assist device 700 performs control so that the warning light 712 is turned on, the warning sound is emitted from the speaker 711, and the brake assist device 713 is operated. If the determination in step S303 is no, the process proceeds to step S304.

  In step S304, it is determined whether the level parameter designation in the packet is level 2. When the determination in step S303 is YES, the process proceeds to step S306, and the driving assist device 700 performs control so that the warning light 712 is turned on and the warning sound is emitted from the speaker 711, and the determination in step S303 is NO. In some cases, the process proceeds to step S307, and the driving assist device 700 controls the warning lamp 712 to light up. In step S308, the process returns to the main routine.

  Returning to the main routine, in step S112, it is determined whether an unillustrated engine or motor has been stopped. When this determination is NO, the process returns to step S101. On the other hand, when the determination is YES, the process proceeds to step S113 and the process is terminated.

  A specific example of how the driving assist system according to the present embodiment as described above operates will be described. In the traffic situation as shown in FIG. 8, the driving assistance system according to the present embodiment is mounted on the vehicles 1 to 3, and the inter-vehicle communication unit 510 establishes a communication connection for inter-vehicle communication. It is assumed that it is established.

Here, a case where an accident between the vehicle 1 and the vehicle 2 is expected will be described. In such a case, since the possibility of collision in the driving assist system mounted on the vehicle 3 becomes a predetermined value or more, the vehicle 3 sends a driving assist operation request packet to the driving assist device 700 of the vehicle 1 and the vehicle 2. The driving assistance device 700 of the vehicle 1 and the vehicle 2 that has received this packet is processed so that the assist control from level 1 to level 3 as described above is performed.

  As described above, according to the driving assist system according to the embodiment of the present invention, the collision possibility P is calculated based on the image data acquired by the stereo camera unit 420 mounted on a vehicle different from the own vehicle. Since the assist operation is performed based on the calculation result, it is possible to perform an appropriate driving assist operation for collision avoidance based on prediction from a wider viewpoint.

  Next, another embodiment of the present invention will be described. In the previous second embodiment, the communication unit 500 uses a vehicle-to-vehicle communication system, and is configured to make a driving assistance operation request to the driving assistance device 700 through communication between vehicles. However, in the second embodiment, a communication unit 500 that communicates with the center server is used, and each vehicle transmits its vehicle data to the center server in a regular communication packet. This is received on the side, the collision possibility P is calculated based on this, and a driving assist operation request is transmitted to each vehicle (the driving assist device 700) as necessary. The following description will be made with reference to the drawings with a focus on differences from the previous embodiment.

  FIG. 9 shows an example of data transmission / reception and processing in the driving assist system according to the second embodiment for the vehicle and the center server. Here, the vehicles 1 to 3 shown in FIG. 9 are the same as those shown in FIG. 8, and a communication example is shown under the same situation as FIG. The center server receives periodic communication packet data from each vehicle and grasps the status of each vehicle, and transmits packet communication data such as a driving assist operation request to each vehicle as necessary. It is composed.

  As shown in FIG. 9, during normal times, (0) vehicles 1 to 3 transmit regular communication packets to the center server. Here, for example, when it is found from the packet data that the center server raises from the vehicle 3 that (1) the possibility of a collision between the vehicle 1 and the vehicle 2 exceeds a predetermined value, (3) the vehicle 1 A driving assist operation request packet is transmitted to the vehicle 2.

  FIG. 10 is a diagram showing an example of packet data used for transmission / reception between the vehicle and the center server in the driving assistance system according to the second embodiment of the present invention. FIG. 10A is a packet used for periodic communication, and FIG. 10B is a packet used when the driving assistance system transmits a driving assistance operation request.

  The periodic communication packet includes, for example, “packet number”, “source vehicle ID information”, “position information”, “speed information”, “vector information”, “imaging information”, “driving assist device ID information”, and the like. The data of the item is included.

The “packet number” in the regular communication packet is data for specifying a packet used for specifying the continuity of the packet, and the “transmission source vehicle ID information” is the vehicle ID in the inter-vehicle communication unit 510 of the transmission source. ID data stored in the storage unit 511, “position information” is coordinate data related to the vehicle position acquired by the high-accuracy GPS position information acquisition unit 811, and “speed information” is acquired by the vehicle speed sensor 210. The “vector information” is data related to the traveling direction of the vehicle obtained by the steering sensor 220 and the navigation system unit 800, and the “shooting information” is a stereo video acquired by the stereo camera unit 420. Image data, and “driving assist device ID information” is a vehicle The ID data stored in the operation-assisting device ID storage unit 720 of the driving assist apparatus 700 is mounted.

  The driving assist operation request packet includes data of items such as “packet number”, “transmission destination vehicle ID”, “request destination driving assist device ID information”, and “operation level”, for example. The “packet number” in the driving assist operation request packet is data for specifying a packet used for specifying the continuity of the packet, etc., and the “destination vehicle ID information” is in the destination vehicle-to-vehicle communication unit 510. This is ID data stored in the vehicle ID storage unit 511, and “requested driving assistance device ID information” is stored in the driving assistance device ID storage unit 720 of the previous driving assistance device 700 that requests the assist operation. It is ID data, and “operation level” is a parameter for designating at what level driving assistance is performed.

  Next, operations and processes on the vehicle side and operations and processes on the center server side in the driving assist system in the second embodiment will be described. FIG. 11 is a diagram showing a flowchart of the vehicle-side mounting system in the driving assist system according to the second embodiment of the present invention.

  In FIG. 11, when an engine and a motor (both not shown) of the vehicle 10 are activated, the process is started in step S500, and then the process proceeds to step S501. The packet data for periodic packet communication shown in FIG. 4 is generated, and processing for transmitting the generated periodic packet from the communication unit 500 is executed.

  In the next step S502, a storage request packet check processing subroutine is executed. Since the subroutine described in FIG. 7 can be used, detailed description thereof is omitted.

  In step S503, it is determined whether an unillustrated engine or motor has been stopped. When this determination is NO, the process returns to step S501. On the other hand, if the determination is YES, the process proceeds to step S504 and the process is terminated.

  Next, operations and processing on the center server side in the driving assist system in the second embodiment will be described. FIG. 12 is a view showing a flowchart on the center server side in the driving assist system according to the second embodiment of the present invention.

In FIG. 12, when the process on the center server side is started in step S500, the process proceeds to step S501, and the reception process of the packet data transmitted from the communication unit 500 of each vehicle is executed. Subsequently, in step S502, a subroutine for collision possibility P calculation processing is executed. About the subroutine of this collision possibility calculation process, the thing similar to what was demonstrated in FIG. 6 is used, and the calculation of the collision possibility P about each vehicle can be performed.
At step S503, the collision possibility P calculated in step S502 to extract the vehicle ID is C ₁ or more.

In step S504, it is determined whether C ₃ ≦ P is satisfied. Hereinafter, C ₁ , C ₂ , and C ₃ are the same as those related to the table of FIG. Step S50
When the determination in 4 is YES, the process proceeds to step S508, and an operation request packet as shown in FIG. 10B whose parameter is level 3 is generated and transmitted from the center server side to the vehicle. If the determination in step S504 is no, the process proceeds to step S505.

In step S505, it is determined whether C ₂ ≦ P <C ₃ is satisfied. When the determination in step S505 is YES, the process proceeds to step S507, where an operation request packet as shown in FIG. 10B with the parameter being level 2 is generated and transmitted from the center server side to the vehicle. If the determination in step S505 is NO, the process proceeds to step S506, where an operation request packet as shown in FIG. 10B whose parameter is level 1 is generated and transmitted from the center server side to the vehicle.

  In step S509, it is determined whether or not processing has been completed for all the extracted vehicle IDs. If this determination is NO, the process returns to step S501 to perform a loop, and if YES, the process returns to step S500 again to perform a series of processes. Try again.

  Also in the invention according to the second embodiment of the present invention as described above, it is possible to enjoy the same effect as the previous embodiment.

  As described above, according to the driving assist system of the present invention, the possibility of collision is calculated based on the image data acquired by the image data acquiring means mounted on a vehicle different from the own vehicle, and the assist is performed based on the calculation result. Since the operation is performed, it is possible to perform an accurate driving assist operation for collision avoidance based on prediction from a wider viewpoint.

DESCRIPTION OF SYMBOLS 10 ... Vehicle, 100 ... ECU, 200 ... Travel information acquisition part, 210 ... Vehicle speed sensor, 220 ... Steering sensor, 230 ... Accelerator opening sensor, 240 ... Brake pedal Sensor, 400 ... Vehicle peripheral information acquisition unit, 420 ... Stereo camera unit, 500 ... Communication unit, 510 ... Inter-vehicle communication unit, 511 ... Vehicle ID storage unit, 512 ... Communication Management buffer, 700 ... Driving assist device, 710 ... Main control unit, 711 ... Speaker, 712 ... Warning light, 713 ... Brake assist device, 720 ... Driving assist device ID storage unit , 800 ... Navigation system part, 810 ... Navigation system, 811 ... High-accuracy GPS position information acquisition part, 820 ... Data Over scan

Claims (7)

A driving assistance system including a driving assistance device mounted on a vehicle and assisting driving of the vehicle,
Image data acquisition means for acquiring image data of other vehicles existing around the own vehicle;
ID information acquisition means for acquiring ID information of driving assistance devices of other vehicles existing around the own vehicle;
The collision possibility calculation means for calculating the possibility of collision of another vehicle based on the image data acquired by the image data acquisition means and the position information of the other vehicle determined by the ID information, and the collision possibility calculation means ID extraction means for extracting ID information of a driving assist device mounted on a vehicle having a calculated collision possibility equal to or greater than a predetermined value;
A driving assistance system that makes a driving assistance operation request to the driving assistance device of the ID information extracted by the ID extraction means. The driving assist system according to claim 1, wherein the transmitting unit directly transmits a driving assist operation request to the driving assist device of the ID information extracted by the extracting unit by inter-vehicle communication. The driving assist system according to claim 1, wherein the transmitting unit directly transmits the driving assist operation request to the driving assist device of the ID information extracted by the extracting unit via the server device. The driving assist system according to any one of claims 1 to 3, wherein the image data acquisition means is a stereo camera. 5. The driving assist system according to claim 1, wherein the driving assist operation by the driving assist device is a warning sound. The driving assist system according to any one of claims 1 to 5, wherein the driving assist operation by the driving assist device is a warning display. The driving assist system according to any one of claims 1 to 6, wherein the driving assist operation by the driving assist device is a brake control.

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