JP2011197706A - Driving support method and driving support device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To calculate the appropriate time to collision and alleviate delay in providing services, in a driving support method and driving support device.SOLUTION: A distance (L) in a straight line between a position (Pa) of an own vehicle (1a) and a position (Pb) of another vehicle (1b), and an angle (γ) formed by a straight line (S) connecting the position (Pa) of the own vehicle (1a) with the position (Pb) of the another vehicle (1b) and a straight line (S2) extended in the traveling direction (Db) of the another vehicle (1b) from the position (Pb) of the another vehicle (1b) are used to obtain a point (C) located on the straight line (S2) extended in the traveling direction (Db) of the another vehicle (1b) from the position (Pb) of the another vehicle (1b) and located in the shortest distance from the position (Pa) of the own vehicle (1a); and a distance (L3) from the point (C) to the position (Pb) of the another vehicle (1b) and the speed (Vb) of the another vehicle (1b) are used to calculate the time (TTC) to collision of the another vehicle (1b) and the own vehicle (1a).

Description

  The present invention relates to a driving support method and a driving support device, and more particularly to a driving support method and a driving support device that reduce a delay in service provision in a system that does not include an electronic map.

Driving that alerts the driver and alerts the driver by providing the driver with information on the possibility of collision when there are other vehicles or pedestrians that are likely to collide with the vehicle. Some are equipped with support devices.
In this driving support device, in general, it is provided with a GPS module as own vehicle information acquisition means for detecting information on the position, traveling direction, and speed of the own vehicle, and the position of the own vehicle with other vehicles by inter-vehicle communication, Information on heading direction and speed is exchanged. In addition to the GPS module, some driving assistance devices include an electronic map in order to provide accurate driving assistance.

JP 2010-9232 A JP 2006-72617 A

The driving support device for a vehicle according to Patent Document 1 estimates a change in the traveling state of each object for each of a plurality of objects moving in a direction crossing the course of the own vehicle, thereby reducing the risk of a collision with the own vehicle. Set and arrange the objects in order from the highest to the lowest in order of the risk of each object, determine the possibility of collision between each object and the vehicle sequentially based on the information of each object attached sequentially, Driving assistance is provided by using a collision allowance time (an estimated collision time).
The vehicle driving support system according to Patent Document 2 determines the possibility of a collision between a vehicle that turns right in a map and a vehicle that travels straight on the information on the position of the host vehicle detected by the GPS module, and acquires information through inter-vehicle communication. Driving assistance.

By the way, in a conventional driving support device that does not have an electronic map, in order to provide application software that prevents a collision between a vehicle that turns right and a vehicle that goes straight ahead, in order to provide an appropriate service, It is necessary to calculate the estimated collision time (TTC: Time To Collation) with another vehicle as accurately as possible.
In general, the expected collision time (TTC) is
TTC (seconds) = L / Vb
It is calculated by.
Here, L is a linear distance between the host vehicle and another vehicle. Vb is the speed of the other vehicle.

However, for example, as shown in FIG. 4, when the other vehicle 1b approaches at a low speed at a wide intersection, the estimated collision time (TTC) does not decrease, and the service is provided in the vicinity of the intersection. Or there was a risk that the service could not be provided.
Here, in FIG.
1a is the own vehicle. L is a linear distance between the host vehicle 1a and the other vehicle 1b.
Da is the traveling direction of the host vehicle 1a.
Vb is the speed of the other vehicle 1b.
Db is the traveling direction of the other vehicle 1b.
L3 is a distance from the point C which is located on the straight line S2 extending from the position Pb of the other vehicle 1b to the traveling direction Db of the other vehicle 1b and is the shortest with the position Pa of the own vehicle 1a to the position Pb of the other vehicle 1b. is there.
L2 is the shortest distance from the position Pa of the host vehicle 1a to the point C on the straight line S2 extending in the traveling direction Db of the other vehicle 1b.
In other words, when the other vehicle 1b is approaching at a low speed at a wide intersection, the service is not provided unless the other vehicle 1b is closer to the intersection than in the case of a normal intersection. This is because the service provision timing is when the estimated collision time (TTC (seconds) = L / Vb) falls below the threshold value m (TTC <m) and the condition for the estimated collision time (TTC) is satisfied. When the speed Vb of the vehicle 1b is low or the width of the intersection is wide, the difference between L and L3 becomes large (L> L3), and the point where the condition of the expected collision time (TTC) is satisfied is that the other vehicle 1b This is because it is just before the intersection. Therefore, service provision tends to be delayed.

Further, assuming that the speed Vb of the other vehicle 1b is the same in the case of the wide intersection shown in FIG. 5 and the case of the narrow intersection shown in FIG. 6, in the case of the wide intersection shown in FIG. , The difference between L and L3 becomes large (L> L3), and the provision of services tends to be delayed.
Further, when the speed Vb of the other vehicle 1b shown in FIG. 7 is low and when the speed Vb of the other vehicle 1b shown in FIG. Since L satisfying the condition of (TTC) is increased and the difference between L and L3 is reduced, the estimated collision time (TTC) is not greatly affected, but the speed Vb of the other vehicle 1b shown in FIG. 7 is low. In such a case, L that satisfies the condition of the expected collision time (TTC) is reduced, and the difference between L and L3 is increased (L> L3). For this reason, service provision tends to be delayed.
Furthermore, when the GPS information reception state of the own vehicle 1a or the other vehicle 1b is poor, as shown in FIG. 9, the actual vehicle 1b is shown in FIG. 10 even though the position Pb of the other vehicle 1b is in the road. Thus, the vehicle 1a is displaced laterally within the road, or the position Pb of the other vehicle 1b is located outside the lateral road, so-called positional displacement occurs. For this reason, the width shown in FIG. 5 is wide. The same phenomenon as when traveling at an intersection occurs, and the position Pb of the host vehicle 1b or the position Pb of the other vehicle 1b may be erroneously recognized.

  Therefore, the object of the present invention is to make a right turn when the width of the intersection where the own vehicle is going to turn right is wide, or when another vehicle approaches at a low speed while the own vehicle is going to make a right turn. Even if the reception status of the GPS information of the own vehicle or other vehicle is bad and the position of the other vehicle is misrecognized as a position shifted in the lateral direction, an appropriate collision estimated time is calculated to reduce service provision delay A driving support method and a driving support device are provided.

  The present invention relates to a straight line distance between the position of the own vehicle and the position of the other vehicle, a straight line connecting the position of the own vehicle and the position of the other vehicle, and a straight line extending from the position of the other vehicle to the traveling direction of the other vehicle. Is used to determine a point that is located on a straight line extending from the position of the other vehicle to the traveling direction of the other vehicle and that is the shortest with the position of the own vehicle, and the distance from this point to the position of the other vehicle The estimated collision time until the other vehicle collides with the host vehicle is calculated using the speed of the other vehicle.

  The driving support method and the driving support device according to the present invention are further provided when the width of the intersection where the own vehicle is going to turn right is wide, or when another vehicle approaches at a low speed when the own vehicle is going to turn right. When the vehicle is about to turn to the right, even if the GPS information of the host vehicle or other vehicle is poor and the position of the other vehicle is misrecognized as a laterally shifted position, a service is provided by calculating the appropriate expected collision time. Can reduce the delay.

FIG. 1 is a flowchart of the driving support method. (Example) FIG. 2 is a system configuration diagram of the driving support apparatus. (Example) FIG. 3 is an explanatory diagram of the traveling direction of the target vehicle determination. (Example) FIG. 4 is an explanatory diagram of the traveling direction of the target vehicle determination when the other vehicle is at a low speed at a wide intersection. (Conventional example) FIG. 5 is an explanatory diagram of the positional relationship between the host vehicle and the other vehicle when the target vehicle determination is established at the intersection when the road is wide. (Conventional example) FIG. 6 is an explanatory diagram of the positional relationship between the host vehicle and the other vehicle when the target vehicle determination is established at the intersection when the road width is narrow. (Conventional example) FIG. 7 is an explanatory diagram of the positional relationship between the host vehicle and the other vehicle when the target vehicle determination is established at the intersection when the speed of the other vehicle is low. (Conventional example) FIG. 8 is an explanatory diagram of the positional relationship between the host vehicle and the other vehicle when the target vehicle determination is established at the intersection when the speed of the other vehicle is high. (Conventional example) FIG. 9 is an explanatory diagram of the traveling directions of the actual host vehicle and other vehicles. (Conventional example) FIG. 10 is an explanatory diagram when the lateral displacement occurs in the own vehicle or the other vehicle when the reception state of the GPS information of the own vehicle or the other vehicle is bad. (Conventional example)

  In the present invention, when the width of the intersection where the own vehicle is going to make a right turn is wide, when the other vehicle approaches at a low speed when the own vehicle is going to make a right turn, and when the own vehicle is going to make a right turn The purpose is to reduce the delay in service provision by calculating an appropriate estimated collision time even when the GPS information of the host vehicle or other vehicle is poor and the position of the other vehicle is misrecognized as a position shifted laterally. , Find a point that is on the straight line extending from the position of the other vehicle to the traveling direction of the other vehicle and that is the shortest with the position of the own vehicle, and use the distance from this point to the position of the other vehicle and the speed of the other vehicle This is realized by calculating the estimated collision time.

1 to 3 show an embodiment of the present invention.
In FIG. 2, reference numeral 1 denotes a vehicle, and 2 denotes a driving support device mounted on the vehicle 1.
As shown in FIG. 3, the vehicle 1 is composed of a host vehicle 1 a and another vehicle 1 b, and each is equipped with a driving support device 2.
The driving support device 2 is of a system that does not include an electronic map, and includes a GPS module 4 as own vehicle information acquisition means 3 that acquires the position of the own vehicle 1a, and other vehicle information that acquires the position of the other vehicle 1b. The communication module 6 as the acquisition means 5, the determination module 8 as the information determination means 7, and the information provision module 10 as the driver information provision means 9 are provided and receive power from the vehicle 1.

  The GPS module 4 is connected to a GPS antenna 11 provided in the vehicle 1 so as to receive GPS information from GPS satellites, and measures the current position of the host vehicle 1a from the GPS information, thereby determining the position and traveling direction of the host vehicle 1a. The speed is detected, and the detected vehicle information is transmitted to the determination module 8.

  The communication module 6 includes a receiving unit 12 and a transmitting unit 13, and is connected to a communication antenna 14 provided in the vehicle 1 so as to transmit and receive data to and from the other vehicle 1b, and between the own vehicle 1a and the other vehicle 1b. The vehicle information and other vehicle information (position of other vehicle, traveling direction, speed) are transmitted and received. Therefore, this communication module 6 functions as other vehicle information acquisition means 5 that acquires the position, traveling direction, and speed of the other vehicle 1b by inter-vehicle communication. As a means for acquiring the position and traveling direction of the other vehicle 1b, road-to-vehicle communication, camera image communication, radar communication, and the like can be used in addition to vehicle-to-vehicle communication.

As shown in FIG. 3, the determination module 8 includes the own vehicle information of the position Pa and the traveling direction Da of the own vehicle 1a acquired by the GPS module 4, and the position Pb and the traveling direction Db of the other vehicle 1b acquired by the communication module 6. A collision possibility determination means 15 for determining the possibility of collision between the own vehicle 1a and the other vehicle 1b based on the other vehicle information, a right turn determination means 16 for determining whether or not the own vehicle 1a makes a right turn, A predicted collision time calculation means 17 is provided for calculating a predicted collision time (TTC: Time To Collation) until the other vehicle 1b and the host vehicle 1a collide.
The estimated collision time calculation means 17 is configured to calculate a straight line distance L between the position Pa of the host vehicle 1a and the position Pb of the other vehicle 1b, a straight line S connecting the position Pa of the host vehicle 1a and the position Pb of the other vehicle 1b, and the like. Positioned on a straight line S2 extending from the position Pb of the other vehicle 1b to the traveling direction Db of the other vehicle 1b using an angle γ formed by the straight line S2 extending from the position Pb of the vehicle 1b to the traveling direction Db of the other vehicle 1a. In addition, the point C that is the shortest with the position Pa of the host vehicle 1a is obtained, and the other vehicle 1b and the host vehicle 1a The estimated collision time (TTC) until the collision occurs.

In FIG. 3,
α is an angle formed by the traveling direction Da of the own vehicle 1a and the traveling direction Db of the other vehicle 1b (information on the traveling direction Da and position Pa obtained from the GPS module of the own vehicle 1a and the GPS module of the other vehicle 1b. Angle calculated based on the traveling direction Db and the information on the position Pb).
β is an angle formed by the traveling direction Da of the host vehicle 1a and the straight line S connecting the host vehicle 1a and the other vehicle 1b (information of the traveling direction Da and position Pa obtained from the GPS module of the host vehicle 1a and the other vehicle 1b. Angle calculated based on the traveling direction Db and the position Pb information obtained from the GPS module.
L2 is the shortest distance from the position Pa of the own vehicle 1a to the traveling direction Db of the other vehicle 1b and on the straight line S3 orthogonal to the traveling direction Db to the point C of the straight line S2 of the traveling direction Db. And
L2 = L * sinγ
Is calculated by
The angle γ formed by the straight line S connecting the position Pa of the host vehicle 1a and the position Pb of the other vehicle 1b and the straight line S2 extending from the position Pb of the other vehicle 1b to the traveling direction Db of the other vehicle 1a is
γ = 180− (α + (360−β))
Is calculated by
A distance L3 from the point C to the position Pb of the other vehicle 1b is located on a straight line S2 extending from the position of the other vehicle 1b to the traveling direction Db of the other vehicle 1b and is the shortest point with the position Pa of the own vehicle 1a. To the position Pb of the other vehicle 1b, that is, the distance from the position Pb of the other vehicle 1b to the point C where the traveling direction vector of the other vehicle 1b is closest to the host vehicle 1a,
L3 = L * cosγ
Is calculated by

In this example, the expected collision time (TTC) is
TTC (seconds) = L3 / Vb (seconds)
Is calculated by
The service provision timing is when the estimated collision time (TTC) (seconds) is less than the prescribed threshold value (m) (seconds) (TTC <m).
The speed Vb of the other vehicle 1b can be a relative speed between the host vehicle 1a and the other vehicle 1b.

  In response to an HMI (Human Machine Interface) request input from the determination module 8, the information providing module 10 causes the driver's own vehicle 1 a to collide with the other vehicle 1 b due to speaker sound, buzzer warning sound, LED flashing, or the like. Provide information that there is a possibility.

Next, driving assistance according to this embodiment will be described based on the flowchart of FIG.
As shown in FIG. 1, when the program is started in the driving support device 2 (step A01), it is first determined whether or not the host vehicle 1a is going to turn right (step A02).
If this step A02 is YES, it is determined whether or not there is one or more other vehicles 1b that may collide (step A03). This means target vehicle determination.
If this step A03 is YES, a predicted collision time (TTC) is calculated (step A04).
The expected collision time (TTC) is
TTC (seconds) = L3 / Vb (seconds)
Is calculated by
Then, it is determined whether or not the shortest expected collision time (TTC) is less than the threshold value (m) (step A05).
When step A05 is YES, the program is ended (step A06).
Further, when the step A02 is NO, the step A03 is NO, or the step A05 is NO, the program is ended (step A06).

As a result, in this embodiment, in order to calculate the estimated collision time (TTC), the vehicle is positioned on the straight line S2 extending from the position Pb of the other vehicle 1b to the traveling direction Db of the other vehicle 1b and the position Pa of the host vehicle 1a. The distance L3 from the point C that is the shortest to the position Pb of the other vehicle 1b is used.
Thereby, even when the width of the intersection where the host vehicle 1a is going to make a right turn is wide and the speed of the other vehicle 1b is low, it is possible to calculate an appropriate expected collision time (TTC). Therefore, it is possible to provide information services to the driver at an appropriate timing.
Further, when the host vehicle 1a is about to turn right, even if the other vehicle 1b approaches at a low speed, an appropriate expected collision time can be calculated. Therefore, approach information of other vehicles can be provided to the driver at an appropriate timing.
Further, when the host vehicle 1a is about to turn right, the GPS information reception status of the host vehicle 1a or the other vehicle 1b is poor, and the position Pa of the host vehicle 1a or the position Pb of the other vehicle 1b is misaligned with the lateral position. Even if the recognition is performed, the estimated collision time (TTC) can be calculated. Therefore, when the reception status of the GPS information of the own vehicle 1a or the other vehicle 1b is bad, the position is shifted in the horizontal direction, and the vehicle is in a state similar to driving on a wide road, the service is provided. Thus, it is possible to avoid the situation where the vehicle is close to the intersection or the service is not provided, and to provide the driver with the approach information of other vehicles to the driver at an appropriate timing. Therefore, since the effect of alleviating the delay in service provision can be expected, the effect can be expected even on a road where GPS information is not received well, such as in urban areas.
Moreover, the communication module 6 as the other vehicle information acquisition means 5 acquires the position Pb, the traveling direction Db, and the speed Vb of the other vehicle 1b by inter-vehicle communication. Thereby, the exact position Pb, traveling direction Db, and speed Vb of the other vehicle 1b can be acquired.

  The driving support method and the driving support device of the present invention provide appropriate services to the driver and can be applied to various vehicles.

DESCRIPTION OF SYMBOLS 1 Vehicle 1a Own vehicle 1b Other vehicle 2 Driving support device 3 Own vehicle information acquisition means 4 GPS module 5 Other vehicle information acquisition means 6 Communication module 7 Information determination means 8 Judgment module 9 Driver information provision means 10 Information provision module 11 GPS antenna DESCRIPTION OF SYMBOLS 12 Reception means 13 Transmission means 14 Communication antenna 15 Collision possibility determination means 16 Right turn determination means 17 Collision expected time calculation means

Claims (3)

  An angle formed by a straight line distance between the position of the own vehicle and the position of the other vehicle, a straight line connecting the position of the own vehicle and the position of the other vehicle, and a straight line extending from the position of the other vehicle to the traveling direction of the other vehicle; Is used to find the point that is on the straight line extending from the position of the other vehicle to the traveling direction of the other vehicle and that is the shortest with the position of the own vehicle, and the distance from this point to the position of the other vehicle and the speed of the other vehicle And calculating a predicted collision time until another vehicle and the host vehicle collide with each other.   In a driving support device including a predicted collision time calculation unit that calculates a predicted collision time until another vehicle and the host vehicle collide with each other, the host vehicle information acquisition unit that acquires the position of the host vehicle, and the position and traveling direction of the other vehicle The vehicle information acquisition means for acquiring the vehicle speed and the speed, and the expected collision time calculation means includes a linear distance between the position of the host vehicle and the position of the other vehicle, the position of the host vehicle, and the position of the other vehicle. And the position of the host vehicle on the straight line extending from the position of the other vehicle to the traveling direction of the other vehicle using the angle formed by the straight line extending from the position of the other vehicle to the traveling direction of the other vehicle. And calculating the estimated collision time until the other vehicle and the host vehicle collide using the distance from this point to the position of the other vehicle and the speed of the other vehicle. Support device.   The driving support apparatus according to claim 2, wherein the other vehicle information acquisition unit acquires a position, a traveling direction, and a traveling speed of the other vehicle by inter-vehicle communication.

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