JP2011180683A - Safe driving support system, in-vehicle device, and program used for the in-vehicle device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To reduce the possibility that a driver is unable to receive notification for calling attention necessary for the driver, in a safe driving support system for finishing (conducting service-out) processing for calling attention to intersection entering, when a vehicle passes a specified stop line on a road before an intersection. <P>SOLUTION: A vehicle navigation device identifies a closest stop line position, located closest from light beacon and a farthest stop line position, located farthest away from light beacon based on stop line position information included in received safe driving support information; issues notification to warn of a red traffic signal (step 220) to a driver of a vehicle 4, based on the fact that required travel time from a current position of the vehicle to a closest stop line position is within a specified period, and the like; performs processing for displaying wait time (step 230); and conducts service-out and finishes the processing for displaying wait time, based on the fact that the vehicle has passed the farthest stop line. <P>COPYRIGHT: (C)2011,JPO&INPIT

Description

  The present invention relates to a safe driving support system, an in-vehicle device, and a program used for the in-vehicle device.

  Conventionally, in order to support safe driving of vehicles in front of an intersection, based on the fact that the distance from the stop line before the intersection to the vehicle is within the reference distance, a warning notification to the intersection approach is given to the driver. A safe driving support system to perform is known.

  For example, in DSSS (Driving Safety Support Systems), which is a safe driving support system of the National Police Agency that will be put into practical use from 2010, when a vehicle passes near a roadside transmitter installed on a road, the roadside transmitter is The position information of the stop line is transmitted to the vehicle, and the in-vehicle device mounted on the vehicle acquires the position information of the transmitted stop line and calculates the distance from the vehicle to the stop line based on the acquired position information. Then, based on the calculated distance being equal to or less than the predetermined distance, a warning alert (for example, a red signal oversight warning) is given to the driver.

  Here, the stop line position information transmitted from the roadside transmitter is the stop line position information for each lane. This is because the position of the stop line may be different for each lane. The in-vehicle device can identify the traveling lane of the host vehicle based on the lane position information separately transmitted from the roadside transmitter, but the roadside transmitter is in front of the stop line (for example, 300 meters before). Therefore, there is a possibility that the travel lane may change from passing through the roadside transmitter to reaching the stop line.

  Therefore, when the road lane at the time of passing the roadside transmitter is identified and the warning is issued at the timing based on the position information of the stop line on the lane, the driving lane changes after that, and the timing of the warning is actually There is a possibility that it will be later than the necessary timing.

  As a countermeasure to this problem, based on the stop line closest to the roadside transmitter (that is, the furthest away from the intersection) among the stop lines of a plurality of lanes, regardless of the driving lane of the vehicle. In-vehicle devices that call attention are proposed (for example, see Patent Document 1).

JP 2001-188991 A

  However, according to the inventor's investigation, as described above, when alerting is performed based on the stop line closest to the installation position of the roadside transmitter, a problem may occur.

  This is because in the safe driving support system, even after the distance from the vehicle to the stop line is within the reference distance, until the vehicle crosses the stop line, a warning alert (e.g. This is because there is also a safe driving support system that terminates (services out) processing for alerting an approach to an intersection when a vehicle crosses a stop line when a red light waiting time is displayed.

  In such a safe driving support system that services out when the vehicle crosses the stop line closest to the installation position of the roadside transmitter, the vehicle travels when the vehicle is not actually traveling in the lane with the stop line. There is a possibility that service out will occur before the lane stop line is crossed, and the driver will not be able to receive the necessary alert.

  In view of the above points, in the safe driving support system, when the vehicle crosses a specific stop line on the road before the intersection, the process for alerting the intersection approach is terminated (service out) for the driver. The purpose is to reduce the possibility of not being able to receive necessary alerts.

  In order to achieve the above object, the invention according to claim 1 is provided on a road (2) in front of an intersection (1) and provides safe driving support information to a vehicle (4) traveling on the road (2). A roadside transmitter (3a-3c) for transmitting, and an in-vehicle device (5) mounted on the vehicle (4) for receiving the safe driving support information transmitted from the roadside transmitter (3a-3c), The roadside transmitters (3a to 3c) include a driving lane (2a to 2c) on the road (2) in the safe driving support information to be transmitted to the vehicle (4). Including stop line position information indicating the position of the stop line (6a to 6c) with respect to the intersection (1) and traffic signal display information indicating the display contents of the traffic signal installed at the intersection (1), The in-vehicle device (5) is included in the received safe driving support information. Based on the stop line position information, the position of the nearest stop line located closest to the roadside transmitters (3a to 3c) and the farthest stop line located farthest from the roadside transmitters (3a to 3c) Based on the latest and farthest stop line position specifying means (145) for specifying the position of the vehicle and the travel time from the current position of the vehicle (4) to the position of the latest stop line is within a specified time First notifying means (220) for notifying the driver of the vehicle (4) for alerting to an intersection approach, and the first notifying means (220) for alerting the intersection approach, The second notification means (230) that performs processing for performing different notifications, and the processing of the second notification means (230) based on the fact that the vehicle (4) has crossed the farthest stop line End service out hand And (240), a safe driving support system characterized by having.

  In this way, the in-vehicle device (5) can prevent the vehicle (4) from entering the intersection at the timing when the vehicle (4) has recently reached a position below the specified time from the stop line (in other words, the stop line farthest from the intersection). Since the notification for alerting is performed, the alert for alerting is not delayed no matter which lane the vehicle (4) is traveling. Moreover, since the vehicle (4) is serviced out at a timing beyond the farthest stop line (in other words, the stop line closest to the intersection), no matter what lane the vehicle (4) is driving, As a result of the out timing being too early, it is no longer possible to receive a notice of alerting necessary for the driver.

  Further, the invention according to claim 2 provides the safe driving support information from a roadside transmitter (3a-3c) installed on the road (2) before the intersection (1) and transmitting the safe driving support information. In the vehicle-mounted device to receive, the safe driving support information indicates the position of the stop line (6a to 6c) with respect to the intersection (1) for each traveling lane (2a to 2c) on the road (2). Stop line position information and signal display information indicating the display contents of the traffic signal installed at the intersection (1) are included, and the vehicle-mounted device includes the stop line included in the received safe driving support information. Based on the position information, the position of the nearest stop line located closest to the roadside transmitters (3a to 3c) and the position of the farthest stop line located farthest from the roadside transmitters (3a to 3c) Recent / farst stop line position identification means to identify (1 5) and the driver of the vehicle (4) is alerted to the approach to the intersection based on the fact that the time required for traveling from the current position of the vehicle (4) to the position of the nearest stop line is within a specified time. First informing means (220) for informing the user and second informing means for performing processing for informing different from the first informing means (220) for alerting the intersection approach (230) and service out means (240) for terminating the processing of the second notification means (230) based on the fact that the vehicle (4) has crossed the farthest stop line. This is an in-vehicle device. Thus, the feature of the invention according to claim 1 can also be understood as an invention of an in-vehicle device.

In addition, the invention according to claim 3 is configured to obtain the safe driving support information from a roadside transmitter (3a to 3c) installed on the road (2) before the intersection (1) and transmitting the safe driving support information. It is a program used for the in-vehicle device (5) to receive, and the safe driving support information includes a stop line (6a to 6) for the intersection (1) for each traveling lane (2a to 2c) on the road (2). 6c) including stop line position information and traffic signal display information indicating the display contents of the traffic signal installed at the intersection (1). The program is included in the received safe driving support information. Based on the stop line position information included, the position of the nearest stop line located closest to the roadside transmitters (3a to 3c) and the farthest position located farthest from the roadside transmitters (3a to 3c) Recent to locate stop line The farthest stop line position specifying means (145), the driver of the vehicle (4) based on that the required travel time from the current position of the vehicle (4) to the position of the latest stop line is within a specified time In addition, a first notification means (220) for notifying the intersection approach, and a process for performing notification different from the first notification means (220) for alerting the intersection approach. Second notification means (230) for performing, and service-out means (240) for terminating the processing of the second notification means (230) based on the fact that the vehicle (4) has crossed the farthest stop line As a program, the control circuit (17) included in the in-vehicle device (5) is caused to function. Thus, the feature of the invention according to claim 1 can also be understood as an invention of a program used for the vehicle-mounted device (5).

  According to a fourth aspect of the present invention, there is provided a roadside transmitter that is installed on the road (2) before the intersection (1) and transmits safe driving support information to the vehicle (4) traveling on the road (2). (3a-3c) and a vehicle-mounted device (5) mounted on the vehicle (4) and receiving the safe driving support information transmitted from the roadside transmitters (3a-3c). In the system, the roadside transmitters (3a to 3c) include the intersection for each traveling lane (2a to 2c) on the road (2) in the safe driving support information transmitted to the vehicle (4). Stop line position information indicating the position of the stop lines (6a to 6c) with respect to (1), traffic signal display information indicating display contents of traffic lights installed at the intersection (1), and the vehicle (4) traveling In-vehicle device (5) including lane notification information indicating a lane that is present, The initial stage for identifying the lane indicated in the lane notification information included in the received safe driving support information as the driving lane of the vehicle (4) at the time of receiving the safe driving support information (hereinafter referred to as the initial driving lane) After the travel lane identification means (150) and the initial travel lane identification means (150) identify the initial travel lane, the vehicle (4) is based on the lane change history from the initial travel lane of the vehicle (4). 4) from the current position of the vehicle (4) to the position of the stop line on the latest travel lane identified by the travel lane update means (215). And the first notification means (220 ′) for notifying the driver of the vehicle (4) for alerting the approach to the intersection based on the fact that the required travel time of the vehicle is within the specified time. The second notification means (230) for performing a process for performing notification different from the first notification means (220 ′) for alerting the point approach is specified by the lane update means (215). Service out means (240 ′) for terminating the processing of the second notification means (230) based on the fact that the vehicle (4) has crossed the stop line on the latest travel lane. It is a safe driving support system.

  In this way, the in-vehicle device (5) is used for alerting the intersection approach at the timing when the vehicle (4) that is sequentially updated reaches the position below the reference distance from the stop line on the traveling lane. Since the notification is performed, the notification for alerting is not delayed no matter which lane the vehicle (4) is traveling. In addition, since the vehicle (4) is serviced out at the timing when the vehicle (4) exceeds the stop line on the traveling lane of the vehicle (4) that is sequentially updated, the service out is possible regardless of which lane the vehicle (4) is traveling. As a result of the timing being too early, it is no longer possible to receive a notice of alerting necessary for the driver.

  Further, the invention according to claim 5 provides the safe driving support information from a roadside transmitter (3a-3c) installed on the road (2) before the intersection (1) and transmitting the safe driving support information. In the vehicle-mounted device to receive, the safe driving support information indicates the position of the stop line (6a to 6c) with respect to the intersection (1) for each traveling lane (2a to 2c) on the road (2). Stop line position information, traffic signal display information indicating the display contents of the traffic signal installed at the intersection (1), and lane notification information indicating the lane in which the vehicle (4) is traveling, The in-vehicle device uses the lane indicated in the lane notification information included in the received safe driving support information as a travel lane of the vehicle (4) at the time of receiving the safe drive support information (hereinafter referred to as an initial travel lane). ) As the initial driving lane (150) and after the initial travel lane identifying means (150) identifies the initial travel lane, the vehicle (4) travels based on the lane change history of the vehicle (4) from the initial travel lane. Travel lane update means (215) for sequentially specifying the lane, and travel time from the current position of the vehicle (4) to the position of the stop line on the latest travel lane specified by the travel lane update means (215) However, the first notification means (220 ′) for notifying the driver of the vehicle (4) to alert the intersection approach based on the fact that the time is within the specified time, and alerting the intersection approach Therefore, on the latest traveling lane specified by the second notifying means (230) for performing processing for notifying different from the first notifying means (220 ′) and the lane updating means (215). Before the stop line Vehicle (4) based on that exceeds a vehicle device, characterized in that it comprises a service-out means (240 ') for processing to end of the second notification means (230). Thus, the characteristic of the invention which concerns on Claim 4 can also be caught as invention of a vehicle equipment.

  Further, the invention according to claim 6 provides the safe driving support information from a roadside transmitter (3a-3c) installed on the road (2) before the intersection (1) and transmitting the safe driving support information. It is a program used for the in-vehicle device (5) to receive, and the safe driving support information includes a stop line (6a to 6) for the intersection (1) for each traveling lane (2a to 2c) on the road (2). 6c) stop line position information indicating the position, traffic signal display information indicating the display contents of the traffic lights installed at the intersection (1), lane notification information indicating the lane in which the vehicle (4) is traveling, The program includes the lane indicated in the lane notification information included in the received safe driving support information as the travel lane of the vehicle (4) at the time of receiving the safe driving support information (hereinafter referred to as the lane notification information). Called the initial lane) After the initial travel lane identifying means (150) and the initial travel lane identifying means (150) identify the initial travel lane, the vehicle (4) based on the lane change history from the initial travel lane, Travel lane update means (215) for sequentially specifying the travel lane of the vehicle (4), and the position of the stop line on the latest travel lane identified by the travel lane update means (215) from the current position of the vehicle (4) The first notification means (220 ′) for notifying the driver of the vehicle (4) for alerting to the approach of the intersection based on the travel time required until the time is within the specified time; The second informing means (230) for performing a process for informing different from the first informing means (220 ′) for calling attention to the vehicle and the lane updating means (215) have been identified. Based on the fact that the vehicle (4) has crossed the stop line on the traveling lane of the vehicle, the vehicle-mounted device (5) serves as a service-out means (240 ′) that terminates the processing of the second notification means (230). Is a program for causing the control circuit (17) of the computer to function. Thus, the characteristic of the invention which concerns on Claim 4 can also be grasped | ascertained as invention of the program used for vehicle equipment.

  In addition, the code | symbol in the bracket | parenthesis in the said and the claim shows the correspondence of the term described in the claim, and the concrete thing etc. which illustrate the said term described in embodiment mentioned later. .

It is a mimetic diagram showing the composition of the safe driving support system concerning the embodiment of the present invention. 1 is a configuration diagram of a vehicle navigation device 5. FIG. It is a flowchart of the nearest and farthest stop line position specifying process in the first embodiment. It is a flowchart of the service process in 1st Embodiment. It is a flowchart of the initial travel lane specifying process in the second embodiment. It is a flowchart of the service process in 2nd Embodiment.

(First embodiment)
The first embodiment of the present invention will be described below. In FIG. 1, the schematic diagram of the safe driving assistance system which concerns on this embodiment is shown. In this figure, there is an approach road 2 for entering the intersection 1 before the intersection 1, and the approach road 2 is composed of a plurality of approach lanes 2a to 2c.

  On each approach lane 2a-2c, optical beacons 3a-3c (each on the roadside) are located at a position a certain distance from intersection 1 (for example, a specific distance between 200m and 500m, typically 300m). Which corresponds to an example of a transmitter). The optical beacons 3a to 3c and the approach lanes 2a to 2c have a one-to-one correspondence, and the distance along the alignment of the road 2 from the optical beacons 3a to 3c to the intersection 1 is the same. As a more specific installation position of the optical beacons 3a to 3c, for example, each of the optical beacons 3a to 3c may be directly above the corresponding approach lane of the approach lanes 2a to 2c.

  These optical beacons 3 a to 3 c perform two-way communication with a vehicle navigation device 5 (corresponding to an example of an in-vehicle device) mounted on the vehicle 4 in the communication area using near infrared rays. The communication areas of these optical beacons 3a to 3c are limited only to the approach lane corresponding to the optical beacon, and also in the vicinity of the optical beacon (for example, within 5 meters) in the approach lane. Limited. Therefore, for example, the optical beacon 3b can communicate with the vehicle navigation device 5 mounted on the vehicle 4 only when the vehicle 4 passes through the approach lane 2b and passes the vicinity of the optical beacon 3b.

  As such optical beacons 3a-3c, for example, optical beacon projectors used in DSSS (Driving Safety Support Systems) can be used.

  The safe driving support system of the present embodiment includes a vehicle navigation device 5 that communicates with any of these optical beacons 3a to 3c and optical beacons 3a to 3c.

  FIG. 2 shows a hardware configuration of the vehicle navigation device 5. The vehicle navigation device 5 is mounted on a vehicle and includes a vehicle-mounted camera 10, a position detector 11, an image display device 12, an operation unit 13, a speaker 14, an optical beacon receiver 15, a map data acquisition unit 16, and a control circuit 17. have.

  The in-vehicle camera 10 is a device that is attached to the vehicle 4, images the road ahead of the vehicle 4 at a predetermined cycle (for example, 60 times per second), and outputs a captured image of the imaging result to the control circuit 17.

  The position detector 11 has a well-known autonomous navigation sensor (acceleration sensor, geomagnetic sensor, gyro sensor, vehicle speed sensor, etc.) and satellite navigation sensor (GPS receiver, etc.) not shown. Information for specifying the current position, orientation, and speed of the vehicle based on the characteristics of each sensor is output to the control circuit 17. The image display device 12 displays a video based on the video signal output from the control circuit 17 to the user. The operation unit 13 is a member such as a button that receives a user operation.

  The optical beacon receiver 15 is a well-known device for communicating with the optical beacons 3a to 3c, and includes a transmission processing unit including an LED which is a light emitting element for transmission, and a reception processing unit including a photodiode. Yes. The optical beacon receiver 15 may be installed at a position where it can easily communicate with the optical beacons 3a to 3c, for example, on a dashboard of a normal vehicle.

  The map data acquisition unit 16 includes a nonvolatile storage medium such as a DVD, a CD, and an HDD, and a device that reads data (and writes data if possible) to the storage medium. The storage medium stores a program executed by the control circuit 17, map data for route guidance, and the like.

  A control circuit (corresponding to a computer) 17 is a microcomputer having a CPU, RAM, ROM, I / O and the like. The CPU executes a program for the operation of the vehicle navigation device 5 read from the ROM or the map data acquisition unit 16, reads information from the RAM, the ROM, and the map data acquisition unit 16 when executing the program. And, if possible, the information is written to the storage medium of the map data acquisition unit 16, and the position detector 11, the image display device 12, the operation unit 13, the speaker 14, and the optical beacon receiver 15 Give and receive.

  Specific processing performed by executing a program by the control circuit 17 includes current position specifying processing, map display processing, navigation processing, safe driving support processing, and the like.

  The current position specifying process is a process for specifying the current position and direction of the vehicle based on a signal from the position detector 11 using a known technique such as map matching. The map display process is a process for causing the image display device 12 to display a map of a specific area such as the vicinity of the current position of the vehicle. At this time, information used for map display is acquired from the map data. The navigation process is a process for receiving an input of a destination by the user from the operation unit 13, calculating an optimum guide route from the current position to the destination, and performing travel guidance along the calculated guide route.

  The safe driving support process is a process for notifying the driver of a warning for approaching an intersection in order to support safe driving of a vehicle in front of the intersection.

  3 and 4 are flowcharts of the safe driving support process. The safe driving support process includes the latest and farthest stop line position specifying process shown in FIG. 3 and the service process shown in FIG.

  The control circuit 17 starts the safe driving support process when the vehicle 4 starts to travel, first executes the nearest / farthest stop line position specifying process of FIG. 3, and executes the service process of FIG. 4 after the end of the execution. .

  First, in the latest and farthest stop line position specifying process, the control circuit 17 communicates with any of the optical beacons 3a to 3c in step 110 and waits until receiving safety support information.

  The communication procedure between the vehicle navigation device 5 and the optical beacons 3a to 3c is as follows. First, when the vehicle navigation device 5 enters one of the communication areas of the optical beacons 3a to 3c, the control circuit 17 receives normal predetermined information that is always transmitted from the optical beacon via the optical beacon receiver 15. And based on having received, the uplink containing ID (for example, recorded on ROM of the control circuit 17) of the own vehicle is transmitted to the said optical beacon with respect to the said optical beacon. Then, the optical beacon transmits safety support information destined for the ID as an uplink response. Then, the control circuit 17 receives the safety support information whose destination is the ID through the optical beacon receiver 15.

  Each of the optical beacons 3a to 3c includes service information, road alignment information, stop line position information, traffic signal display information, lane notification information, and the like in the safe driving support information to be transmitted.

  The service information is information indicating what service the optical beacons 3a to 3c provide. In this embodiment, since the optical beacons 3a to 3c provide a red signal warning service and a waiting time display service, the service information includes information indicating that the red signal warning service and the waiting time display service are provided. include. This service information is recorded in advance in a storage medium included in each of the optical beacons 3a to 3c.

  The road alignment information is data representing the alignment of the road 2 (the shape of the center line of the road). This road alignment information is recorded in advance in a storage medium included in each of the optical beacons 3a to 3c.

  Stop line position information is information which shows the position of the stop lines 6a-6c (refer FIG. 1) with respect to the intersection 1 just before approaching to the intersection 1 for every approach lane 2a-2c on the approach road 2. As shown in FIG. These stop lines 6a to 6c are displayed as white lines or the like on the respective approach lanes 2a to 2c.

  The distance along the alignment of the road 2 from the light beacon corresponding to a certain approach lane to the position of the stop line displayed on the approach lane may or may not be the same as shown in FIG. In some cases. Typically, the position of the stop line 6c of the rightmost lane 2c is farther from the intersection 1 than the other stop lines 6a, 6b, so the distance along the alignment of the road 2 from the optical beacon 3c to the stop line 6c. But the longest.

  More specifically, the stop line position information is composed of a plurality of records corresponding to the approach lanes 2a to 2c on a one-to-one basis, and each record is an approach lane 2x corresponding to the record (x is one of a to c). The distance information along the alignment of the road 2 from the optical beacon 3x corresponding to to the stop line 6x displayed in the approach lane 2x is included. This stop line position information is recorded in advance in a storage medium included in each of the optical beacons 3a to 3c.

  The traffic signal information is information indicating display contents of a traffic signal that is installed at the intersection 1 and displays whether or not the vehicle enters the intersection 1 from the approach road 2. Here, as the display contents of the traffic light, in addition to the display contents of the current traffic light (red signal, green signal, yellow signal), the time until the next display content switching timing, and the subsequent display content (red signal, green signal) , Yellow signal). This traffic light information may be calculated by the optical beacons 3a to 3c based on the display content change schedule of the traffic light stored in advance in the storage medium of each of the optical beacons 3a to 3c. The signal may be transmitted to the optical beacons 3a to 3c.

  The lane notification information is information indicating the lane in which the vehicle is traveling. Specifically, the optical beacon 3x corresponding to a certain approach lane 2x (x is any one of a to c) transmits information indicating the approach lane 2x as lane notification information. Since the safe driving support information transmitted by the optical beacon 3x can be received only by vehicles passing through the approach lane 2x, the lane notification information is information indicating the lane in which the destination vehicle is traveling.

  As such safe driving support information, DSSS information transmitted by a DSSS optical beacon projector may be employed.

  Upon receiving the safe driving support information, the control circuit 17 reads out the stop line position information from the received safe driving support information in step 120, and then in step 130, the number of records in the read stop line position information. Based on the above, it is determined whether the approach road 2 on which the vehicle 4 is traveling has a plurality of approach lanes.

  If there are a plurality of approach lanes, then in step 140, from the read stop line position information, the nearest stop line located along the alignment of the road 2 from the corresponding light beacon and the corresponding light The farthest stop line located farthest along the alignment of the road 2 is extracted from the beacon. In the example of FIG. 1, the latest stop line is the stop line 6c, and the farthest stop lines are the stop lines 6a and 6b.

  In step 145, the latest stop line position and the farthest stop line position are specified. When step 145 is executed subsequent to step 140, the position of the latest stop line extracted in step 140 is set as the latest stop line position, and the position of the farthest stop line extracted in step 140 is set as the farthest stop line position. If it is determined in step 130 that there is only one lane, in step 145 without passing through step 140, the position of the stop line in the one lane is determined based on the stop line position information. And the farthest stop line position. After the step 145, the latest / farst stop line position specifying process of FIG. 3 is terminated, and the service process of FIG. 4 is immediately started.

  In the service process, first, in step 210, it is determined whether or not to service in. If it is determined that the service is not in, the service process is ended, and after waiting for a predetermined time (for example, 5 seconds), the nearest / farthest stop line position specifying process in FIG. Wait for safe driving assistance.

  The determination as to whether or not to service in is made based on the service information in the safe driving support information received in step 110 of FIG. Specifically, if the service information includes information indicating that the red light warning service and the waiting time display service are provided, it is determined that the service is in and the information is not included. (For example, when other information such as information indicating that the overtaking warning service is provided is included), it is determined that the service-in is not performed.

  Even if the service information includes information indicating that the red light warning service and the waiting time display service are provided, the vehicle speed of the vehicle 4 deviates from the reference range (for example, 30 km to 80 km / h). If so, it may be determined that the service is not in. Similarly, when the distance along the alignment of the road 2 from the own vehicle position to the latest stop line is very large (for example, 1 km or more), it may be determined that the service-in is not performed.

  If it is determined that the service is in, step 220 and subsequent steps are executed. Specifically, the processing in steps 220, 230, and 240 is repeated at a predetermined cycle (for example, once every 0.1 seconds) until it is determined in step 240 that the service is out.

  In step 220, processing for a red light warning service is performed. Specifically, it is determined whether or not the following conditions 1 to 3 are satisfied, and if all of the conditions 1 to 3 are satisfied, the image display device 12 and the speaker 14 are controlled, If the warning notification that the vehicle cannot enter the intersection 1 (corresponding to an example of the alert notification for approaching the intersection) is performed, and if one of the conditions 1 to 3 is not satisfied, the step 220 is terminated.

Conditions 1 to 3 are as follows.
(Condition 1) The vehicle 4 is not decelerating.
(Condition 2) The required travel time from the current position of the vehicle 4 to the latest stop line position is a specified time T (for example, 5 seconds) or less.
(Condition 3) At the time when the vehicle 4 is scheduled to reach the stop line recently, the display content of the traffic light indicating whether or not the vehicle entering the intersection 1 from the approach road 2 indicates whether or not entry is possible (red signal or yellow signal) ).

  Here, whether or not the vehicle 4 is decelerating is determined based on the current rate of change of the vehicle speed. The travel time from the current position of the vehicle 4 to the latest stop line is calculated using the current vehicle speed, the current position of the vehicle 4, and the position information of the latest stop line. The condition 3 is determined based on the current time, the required travel time described above, and the traffic signal display information in the safe driving support information received in step 110 of FIG. 3 just before.

  Subsequently, in step 230, processing for a waiting time display service is performed. Specifically, if the current display content of the traffic light that displays whether or not the vehicle enters the intersection 1 from the approach road 2 is not accessible (red signal or yellow signal), then This is a process of causing the image display device 12 to display a waiting time until the display content becomes possible to enter (green light). By displaying the waiting time to the driver in advance, it is possible to reduce the possibility that the driver will be impatient or not notice that the light has turned green. It corresponds to an example. This waiting time can be calculated based on the traffic signal display information in the safe driving support information received in step 110 of FIG.

  Subsequently, in step 240, it is determined whether or not to service out. Whether or not to service out depends on whether or not the current position of the vehicle 4 has exceeded the farthest stop line position specified in the previous step 145 of FIG. 3 (that is, the vehicle 4 has moved from the position of the optical beacon to the farthest stop line). Whether or not the vehicle has traveled a distance along the alignment of the road 2 to the position). That is, the service is not performed until the vehicle 4 exceeds the farthest stop line position, and the service is performed when the vehicle 4 is exceeded.

  In the case of service-out, the repetition process of steps 220, 230, and 240 is terminated, the service process is terminated, and after waiting for a predetermined time (for example, 5 seconds), the latest / farthest stop line position specifying process of FIG. To wait for safe driving support at the next intersection.

  Typical operations by such service processing include the following. When the control circuit 17 is in service, the vehicle 4 approaches the intersection 1 after the determination in step 210.

  At this time, it is assumed that the display content of the traffic light is a red signal and does not switch to a green signal for more than one minute. In that case, the control circuit 17 repeats Step 230 to sequentially update the display of the waiting time until switching to the green light in the image display device 12.

  In the same case, if the driver of the vehicle 4 is not aware of the red light and keeps the vehicle 4 from decelerating, when the vehicle 4 approaches the stop line to the extent that the above condition 2 is satisfied, step 220 is performed. The warning notification that the vehicle cannot enter the intersection 1 is issued.

  The warning notification is performed regardless of which approach lane 2a to 2c the vehicle 4 passes through and which optical beacon 3a to 3c communicates with. Therefore, it communicates with the optical beacon 3b through the approach lane 2b, and then communicates with the optical beacon 3b through the approach lane 2b as well as after continuing to travel on the approach lane 2b. Even if the lane is changed, the warning notification is not delayed.

  It is assumed that the driver who notices a red signal by this warning notification has safely stopped the vehicle 4 by aligning the tip of the vehicle 4 with any one of the stop lines 6a to 6c. In this case, since the display of the traffic light remains red, the display of the waiting time is continued by the repeated processing of step 230.

  The service out in step 240 is when the vehicle 4 has crossed the farthest stop line. Therefore, even if the vehicle 4 stops the vehicle 4 according to any stop line among the stop lines 6a to 6c, the service out is performed. The display of the waiting time required for the driver is continued. And when the display of the said signal turns into a blue signal, the vehicle 4 will restart driving | running | working and it will be determined that it is a service out by step 240 because the vehicle 4 crosses the farthest stop line.

  As described above, the control circuit 17 of the vehicle navigation device 5 uses the stop line position information that is closest to the optical beacons 3a to 3c based on the stop line position information included in the received safe driving support information, the light The farthest stop line position located farthest from the beacons 3a to 3c is specified (step 145), and the travel time from the current position of the vehicle 4 to the latest stop line position is within a specified time. The driver of the vehicle 4 is notified for a red light warning (step 220), and a process for displaying a waiting time as an alert different from the above alert for alerting an intersection approach is performed. Perform (step 230). Then, based on the fact that the vehicle 4 has crossed the farthest stop line, the process for performing service out and displaying the waiting time is ended.

  Thus, since the vehicle navigation apparatus 5 performs the notification for the red signal warning at the timing when the vehicle 4 has reached the position below the specified time until the latest stop line (in other words, the stop line farthest from the intersection). No matter which lane the vehicle 4 is traveling in, the alert for alerting will not be delayed. In addition, since the vehicle 4 is serviced out at a timing beyond the farthest stop line (in other words, the stop line closest to the intersection), the service out timing is no matter which lane the vehicle 4 is traveling. As a result of being too early, the driver can no longer receive the necessary waiting time display.

  In this embodiment, the control circuit 17 functions as an example of the nearest / farthest stop line position specifying unit by executing step 145, and as an example of the first notifying unit by executing step 220. It functions as an example of the second notification means by executing step 230, and functions as an example of the service-out means by executing step 240.

(Second Embodiment)
Next, a second embodiment of the present invention will be described. The present embodiment is different from the first embodiment in the present embodiment in which the latest stop line and the farthest stop line of the first embodiment are updated sequentially after passing through the optical beacons 3a to 3c. This is a point that is replaced with the position of the stop line on the travel lane. Hereinafter, the difference between the present embodiment and the first embodiment will be mainly described.

  The configuration of the safe driving support system of the present embodiment is the same as that of the first embodiment. The operation of the present embodiment is different from that of the first embodiment in that the control circuit 17 of the vehicle navigation device 5 specifies the initial travel lane shown in FIG. 5 instead of the nearest / farthest stop line location specifying process shown in FIG. The point which performs a process, and the point which performs the service process of FIG. 6 instead of the service process of FIG.

  Hereinafter, the initial travel lane identification process of FIG. 5 and the service process of FIG. 6 will be described. However, the steps denoted by the same step numbers in FIG. 3 and FIG. 5 have the same processing contents, and thus detailed description thereof is omitted. Similarly, the steps denoted by the same step numbers in FIG. 4 and FIG. 6 have the same processing contents, and thus detailed description thereof will be omitted.

  First, in the initial travel lane identification process of FIG. 5, the safe driving support information is received from any of the optical beacons 3a to 3c in step 110, and the stop line position information is read from the safe driving support information in step 120.

  Subsequently, at step 150, the initial travel lane is specified. Specifically, the lane indicated in the lane notification information included in the received safe driving support information, that is, the driving lane of the vehicle 4 at the time when the safe driving support information is received from the optical beacons 3a to 3c, the initial driving Identify as a lane. Immediately following step 150, the service processing of FIG. 6 is executed.

  In the service processing of FIG. 6, if it is determined that service in is performed in step 210, then the processing of steps 215 to 240 ′ is performed periodically (for example, 0.1 second) until it is determined that service is out in step 240 ′. Repeat once).

  First, at step 215, the information on the travel lane of the vehicle 4 is updated to the latest. Specifically, the current travel lane of the vehicle 4 is specified based on the lane change history from the initial travel lane of the vehicle 4. The history of how the vehicle 4 has changed its lane (that is, the lane change history) is obtained by extracting a white line that delimits the lane from the captured image obtained from the in-vehicle camera 10 using a known white line detection technique. Based on the details of the movement, the direction and the number of lane changes can be recorded in the RAM of the control circuit 17 to create the lane change.

  For example, when the white line moves from the center left to the center right of the photographed image, it is determined that the vehicle 4 has moved one lane to the left, and when the white line moves from the center right to the center left of the photographed image, It is determined that 4 has moved one lane to the right.

  For example, if a lane change history is recorded in which the initial travel lane is the approach lane 2a, and then the vehicle 4 has moved two lanes to the right and one lane to the left, the current travel lane of the vehicle 4 is the approach lane 2b.

  Subsequently, in step 220 ', processing for a red light warning service is performed. The contents of this process are the same as step 220 in FIG. 4 except for one point. The one point is that the position of the latest stop line in step 220 in FIG. 4 is replaced with the position of the stop line on the latest travel lane of the vehicle 4 (updated in the immediately preceding step 215).

  Subsequently, in step 230, after processing for the waiting time display service is performed, in step 240 ', it is determined whether or not to service out. This process is the same as step 240 in FIG. 4 except for one point. The one point is that the farthest stop line position in step 240 of FIG. 4 is replaced with the position of the stop line on the latest travel lane of the vehicle 4 (updated in the immediately preceding step 215).

  Typical operations by such service processing include the following. When the control circuit 17 is in service, the vehicle 4 approaches the intersection 1 after the determination in step 210. At this time, the control circuit 17 creates a lane change history from the initial travel lane of the vehicle 4 by repeatedly executing step 215 until it is determined to service out in step 240 ′, and based on the history, the vehicle The four lanes are sequentially identified.

  At this time, it is assumed that the display content of the traffic light is a red signal and does not switch to a green signal for more than one minute. In that case, the control circuit 17 repeats Step 230 to sequentially update the display of the waiting time until switching to the green light in the image display device 12.

  In the same case, if the driver of the vehicle 4 is not aware of the red light and keeps the vehicle 4 from decelerating, when the vehicle 4 approaches the stop line to the extent that the above condition 2 is satisfied, step 220 is performed. At ', a warning notification that the vehicle cannot enter intersection 1 is issued.

  The timing at which the warning notification is performed differs depending on which approach lane the vehicle 4 is in at the time of the determination in step 220 '. For example, if other conditions are the same, the warning notification timing is delayed in the case where the vehicle 4 is traveling on the approach lane 2c than in the other cases.

  Therefore, the warning notification timing is determined by using the position of the stop line corresponding to the current travel lane of the vehicle 4 regardless of which optical beacon 3a to 3c the vehicle communicates with. Can be. For example, the warning notification is too early and does not give the driver a sense of incongruity, and conversely the warning notification is not too late.

  It is assumed that the driver who notices a red signal by this warning notification has safely stopped the vehicle 4 by aligning the tip of the vehicle 4 with any one of the stop lines 6a to 6c. In this case, since the display of the traffic light remains red, the display of the waiting time is continued by the repeated processing of step 230.

  The service out at step 240 ′ is when the vehicle 4 has crossed the stop line of the lane where the vehicle 4 is actually stopped. Therefore, the vehicle 4 stops the vehicle 4 according to which stop line of the stop lines 6a to 6c. Even if this is the case, the service is not out, and the display of the waiting time necessary for the driver is continued. And when the display of the said signal turns into a blue signal, the vehicle 4 will restart driving | running | working and it will be determined that it is a service out by step 240 because the vehicle 4 crosses the farthest stop line.

  As described above, the control circuit 17 of the vehicle navigation device 5 identifies the lane indicated in the lane notification information included in the received safe driving support information as the initial travel lane (step 150), and identifies the initial travel lane. Then, based on the lane change history from the initial travel lane of the vehicle 4, the travel lane of the vehicle 4 is sequentially identified (step 215), and the latest travel lane identified in step 215 is determined from the current position of the vehicle 4. Based on the fact that the required travel time to the position of the stop line is within the specified time, the driver of the vehicle 4 is notified for a red signal warning (step 220 ′), and a warning is given to approach the intersection. Therefore, a process for displaying the waiting time is performed (step 230). Then, based on the fact that the vehicle 4 has exceeded the stop line on the latest travel lane identified in step 215, the processing for displaying the waiting time is terminated (step 240 ').

  In this way, the vehicle navigation device 5 performs a notification for a red signal warning at the timing when the vehicle 4 reaches the position below the reference distance from the stop line on the traveling lane of the vehicle 4 that is sequentially updated. No matter what lane the vehicle 4 is traveling on, the notification will not be delayed. In addition, since the vehicle 4 is serviced out at the timing when the vehicle 4 exceeds the stop line on the traveling lane of the vehicle 4 that is sequentially updated, the service out timing is too early no matter which lane the vehicle 4 is traveling. As a result, the waiting time display necessary for the driver cannot be received.

  In the present embodiment, the control circuit 17 functions as an example of the nearest / farthest stop line position specifying unit by executing step 145, and the first notification is performed by executing step 220 or step 220 ′. It functions as an example of a means, functions as an example of a second notification means by executing step 230, and functions as an example of a service-out means by executing step 240 or step 240 ′.

(Other embodiments)
As mentioned above, although embodiment of this invention was described, the scope of the present invention is not limited only to the said embodiment, The various form which can implement | achieve the function of each invention specific matter of this invention is included. It is.

  For example, in the above embodiment, the description has been given using an optical beacon as an example of a roadside transmitter, but the roadside transmitter is not limited to an optical beacon, and is installed on a road before an intersection, and the road is Any device may be used as long as it transmits safe driving support information to a traveling vehicle.

  Moreover, in the said embodiment, although demonstrated using the vehicle navigation apparatus 5 as an example of a vehicle-mounted apparatus, as a vehicle-mounted apparatus, it is mounted in the vehicle 4 not only in the vehicle navigation apparatus 5, but a roadside transmitter. Any device may be used as long as it receives the safe driving support information transmitted from the vehicle.

  Moreover, in the said embodiment, although the control circuit 17 which performs step 220,220 'is illustrated as a 1st alerting | reporting means, as a process for implement | achieving a 1st alerting | reporting means, a red signal warning is shown. In addition to the processing for the vehicle 4, the travel time from the current position of the vehicle to the position of the latest stop line (or the stop line on the travel lane of the latest vehicle) is within the specified time. Any process may be used as long as it is a process for notifying the driver of the warning for approaching the intersection.

  Moreover, in the said embodiment, although the control circuit 17 which performs step 230 is illustrated as a 2nd alerting | reporting means, as a process for implement | achieving a 2nd alerting | reporting means, it is not restricted to a waiting time display process. This is a process for performing a notification different from the first notification means for calling attention to the intersection approach, and any process may be used as long as it is terminated by the service-out process.

  In the above embodiment, each function realized by the control circuit 17 executing the program is realized by using hardware having those functions (for example, an FPGA capable of programming the circuit configuration). You may come to do.

DESCRIPTION OF SYMBOLS 1 Intersection 2 Approach road 2a-2c Approach lane 3a-3c Optical beacon 4 Vehicle 5 Vehicle navigation apparatus 6a-6c Stop line 10 Car-mounted camera 11 Position detector 12 Image display apparatus 15 Optical beacon transmitter 17 Control circuit

Claims (6)

Roadside transmitters (3a-3c) installed on the road (2) in front of the intersection (1) and transmitting safe driving support information to the vehicle (4) traveling on the road (2);
An in-vehicle device (5) mounted on the vehicle (4) and receiving the safe driving support information transmitted from the roadside transmitters (3a to 3c), and a safe driving support system comprising:
The roadside transmitters (3a to 3c) stop for the intersection (1) for each lane (2a to 2c) on the road (2) in the safe driving support information transmitted to the vehicle (4). Including stop line position information indicating the position of the lines (6a to 6c), and traffic signal display information indicating the display contents of the traffic signals installed at the intersection (1),
The in-vehicle device (5)
Based on the stop line position information included in the received safe driving support information, the position of the nearest stop line located closest to the roadside transmitters (3a to 3c) and the roadside transmitters (3a to 3c) The latest and farthest stop line position specifying means (145) for specifying the position of the farthest stop line located farthest from
Notification for alerting the driver of the vehicle (4) to approaching an intersection based on the fact that the travel time from the current position of the vehicle (4) to the position of the latest stop line is within a specified time. First notification means (220) for performing
Second alerting means (230) for performing a process for alerting different from the first alerting means (220) for alerting an intersection approach;
And a service-out means (240) for ending the processing of the second notification means (230) when the vehicle (4) has crossed the farthest stop line. Support system. An in-vehicle device that receives the safe driving support information from a roadside transmitter (3a to 3c) that is installed on the road (2) in front of the intersection (1) and transmits the safe driving support information,
The safe driving support information includes stop line position information indicating the position of the stop line (6a to 6c) with respect to the intersection (1) for each traveling lane (2a to 2c) on the road (2), and the intersection. And traffic signal display information indicating the display content of the traffic signal installed in (1).
The in-vehicle device
Based on the stop line position information included in the received safe driving support information, the position of the nearest stop line located closest to the roadside transmitters (3a to 3c) and the roadside transmitters (3a to 3c) The latest and farthest stop line position specifying means (145) for specifying the position of the farthest stop line located farthest from
Notification for alerting the driver of the vehicle (4) to approaching an intersection based on the fact that the travel time from the current position of the vehicle (4) to the position of the latest stop line is within a specified time. First notification means (220) for performing
Second alerting means (230) for performing a process for alerting different from the first alerting means (220) for alerting an intersection approach;
An in-vehicle device comprising service out means (240) for terminating the processing of the second notification means (230) when the vehicle (4) crosses the farthest stop line. . It is a program used for the vehicle-mounted device (5) that receives the safe driving support information from the roadside transmitters (3a to 3c) that are installed on the road (2) before the intersection (1) and transmits the safe driving support information. There,
The safe driving support information includes stop line position information indicating the position of the stop line (6a to 6c) with respect to the intersection (1) for each traveling lane (2a to 2c) on the road (2), and the intersection. And traffic signal display information indicating the display content of the traffic signal installed in (1).
The program is
Based on the stop line position information included in the received safe driving support information, the position of the nearest stop line located closest to the roadside transmitters (3a to 3c) and the roadside transmitters (3a to 3c) Latest / farst stop line position specifying means (145) for specifying the position of the farthest stop line located farthest from
Notification for alerting the driver of the vehicle (4) to approaching an intersection based on the fact that the travel time from the current position of the vehicle (4) to the position of the latest stop line is within a specified time. First notification means (220) for performing
Second alerting means (230) for performing a process for performing alerting different from the first alerting means (220) for alerting an intersection approach, and the vehicle (4) is the farthest stop line The control circuit (17) of the in-vehicle device (5) is caused to function as service-out means (240) for terminating the processing of the second notification means (230) based on exceeding Program. Roadside transmitters (3a-3c) installed on the road (2) in front of the intersection (1) and transmitting safe driving support information to the vehicle (4) traveling on the road (2);
An in-vehicle device (5) mounted on the vehicle (4) and receiving the safe driving support information transmitted from the roadside transmitters (3a to 3c), and a safe driving support system comprising:
The roadside transmitters (3a to 3c) stop for the intersection (1) for each lane (2a to 2c) on the road (2) in the safe driving support information transmitted to the vehicle (4). Stop line position information indicating the position of the lines (6a to 6c), traffic signal display information indicating the display contents of the traffic lights installed at the intersection (1), and a lane indicating the lane in which the vehicle (4) is traveling Including notification information,
The in-vehicle device (5)
An initial stage for identifying the lane indicated in the lane notification information included in the received safe driving support information as a driving lane of the vehicle (4) at the time of receiving the safe driving support information (hereinafter referred to as an initial driving lane) Traveling lane identification means (150);
After the initial travel lane identifying means (150) identifies the initial travel lane, the travel lane of the vehicle (4) is sequentially identified based on the lane change history from the initial travel lane of the vehicle (4). Traveling lane update means (215);
Based on the travel time from the current position of the vehicle (4) to the position of the stop line on the latest travel lane identified by the travel lane update means (215) is within a specified time, First informing means (220 ′) for informing the driver of the vehicle (4) for alerting the intersection approach;
Second alerting means (230) for performing processing for alerting different from the first alerting means (220 ′) for alerting an intersection approach;
Service out means for ending the processing of the second notification means (230) based on the fact that the vehicle (4) has exceeded the stop line on the latest travel lane specified by the lane update means (215). 240 ′), and a safe driving support system. An in-vehicle device that receives the safe driving support information from a roadside transmitter (3a to 3c) that is installed on the road (2) in front of the intersection (1) and transmits the safe driving support information,
The safe driving support information includes stop line position information indicating the position of the stop line (6a to 6c) with respect to the intersection (1) for each traveling lane (2a to 2c) on the road (2), and the intersection. (1) includes traffic signal display information indicating the display content of the traffic signal installed in the vehicle, and lane notification information indicating a lane in which the vehicle (4) is traveling,
The in-vehicle device is
An initial stage for identifying the lane indicated in the lane notification information included in the received safe driving support information as a driving lane of the vehicle (4) at the time of receiving the safe driving support information (hereinafter referred to as an initial driving lane) Traveling lane identification means (150);
After the initial travel lane identifying means (150) identifies the initial travel lane, the travel lane of the vehicle (4) is sequentially identified based on the lane change history from the initial travel lane of the vehicle (4). Traveling lane update means (215);
Based on the travel time from the current position of the vehicle (4) to the position of the stop line on the latest travel lane identified by the travel lane update means (215) is within a specified time, First informing means (220 ′) for informing the driver of the vehicle (4) for alerting the intersection approach;
Second alerting means (230) for performing processing for alerting different from the first alerting means (220 ′) for alerting an intersection approach;
Service out means for ending the processing of the second notification means (230) based on the fact that the vehicle (4) has exceeded the stop line on the latest travel lane specified by the lane update means (215). 240 '). It is a program used for the vehicle-mounted device (5) that receives the safe driving support information from the roadside transmitters (3a to 3c) that are installed on the road (2) before the intersection (1) and transmits the safe driving support information. There,
The safe driving support information includes stop line position information indicating the position of the stop line (6a to 6c) with respect to the intersection (1) for each traveling lane (2a to 2c) on the road (2), and the intersection. (1) includes traffic signal display information indicating the display content of the traffic signal installed in the vehicle, and lane notification information indicating a lane in which the vehicle (4) is traveling,
The program is
An initial stage for identifying the lane indicated in the lane notification information included in the received safe driving support information as a driving lane of the vehicle (4) at the time of receiving the safe driving support information (hereinafter referred to as an initial driving lane) Driving lane identification means (150),
After the initial travel lane identifying means (150) identifies the initial travel lane, the travel lane of the vehicle (4) is sequentially identified based on the lane change history from the initial travel lane of the vehicle (4). Traveling lane updating means (215),
Based on the travel time from the current position of the vehicle (4) to the position of the stop line on the latest travel lane identified by the travel lane update means (215) is within a specified time, First informing means (220 ′) for informing the driver of the vehicle (4) for alerting the intersection approach;
Second alerting means (230) for performing processing for alerting different from the first alerting means (220 ′) for alerting an intersection approach, and the lane updating means (215) are specified. Based on the fact that the vehicle (4) has crossed the stop line on the latest travel lane, the vehicle-mounted device (5) is used as service-out means (240 ′) for ending the processing of the second notification means (230). The program which makes the control circuit (17) which) has function.

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