JP2012018505A - Right-turn driving support system and right-turn driving support method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a driving support system capable of giving a warning at more suitable timing and at more fitted level for feeling of a driver when the driver makes a right turn.SOLUTION: A driving support system does not warn a driver when the own car, on which the system is set, makes a right turn (in the case of a "Yes" determination at step S102), if no straightly oncoming vehicle exists (in the case of a "No" determination at step S103). On the other hand, if any straightly oncoming vehicle exists (in the case of a "Yes" determination at the step S103), the driving support system calculates duration time Tr required for completion of right-turning of the own car (step S104), then warns the driver (step S109) to avoid a possible collision with the straightly oncoming vehicle, if the time Tr is longer than time Tg distributed from a DSRC beacon 15, the time required for the oncoming vehicle to reach an intersection (in the case of a "Yes" determination at step S107). In the case when a warning is made, the timing and the level of the warning to a driver is set corresponding to a vehicle type of an oncoming vehicle (steps S105, S106).

Description

  The present invention relates to a right turn travel support device and a right turn travel support method.

  When road traffic information is obtained via road-to-vehicle communication and the host vehicle is waiting for a right turn, it is determined whether or not a right turn is possible before the oncoming straight vehicle reaches the intersection. When it is determined that this is possible, there is one that outputs warning information for an oncoming vehicle (see Patent Document 1).

JP 2008-198162 A

However, in the case of a configuration that determines whether a right turn is possible without considering the vehicle type of the oncoming straight vehicle, the timing of warning information output and the degree of alerting do not match the driver's senses, The driver may feel uncomfortable.
The subject of this invention is making the timing of alerting at the time of a right turn, and the degree of alerting approach a driver | operator's sense.

  The right turn driving support device according to the present invention determines the possibility of interference with the oncoming straight vehicle when the own vehicle makes a right turn at the intersection, and informs the driver based on the possibility that the own vehicle interferes with the oncoming straight vehicle. Call attention. At this time, the vehicle type information of the oncoming straight vehicle is acquired by road-to-vehicle communication, and the timing for alerting the driver or the degree of alerting is set based on the vehicle type information of the oncoming straight vehicle.

  According to the right turn driving support device according to the present invention, the timing of alerting the driver or the degree of alerting is set based on the vehicle type information of the oncoming straight vehicle. The degree of alerting can be brought close to the driver's feeling.

It is a schematic block diagram of a right turn driving assistance system. It is a schematic block diagram of an infrastructure system. It is a flowchart which shows the driving assistance process at the time of a right turn. It is a figure which shows the calculation method of the right turn required time Tr. It is a table used for calculation of the correction amount α. It is a conceptual diagram of arrival required time Tg. This is a scene in which the preceding vehicle is a normal vehicle and the next succeeding vehicle is a two-wheeled vehicle. This is a scene in which the preceding vehicle is a large vehicle and the next succeeding vehicle is a normal vehicle.

Hereinafter, embodiments of the present invention will be described with reference to the drawings.
<< first embodiment >>
"Constitution"
FIG. 1 is a schematic configuration diagram of a right turn traveling support system.
FIG. 2 is a schematic configuration diagram of the infrastructure system.

The infrastructure system 10 includes a DSSS sensor 11, a signal controller 12, an information relay / determination device 13, an optical beacon 14, and a DSRC beacon 15. On the other hand, the in-vehicle navigation system 20 includes an optical beacon antenna 21, a DSRC antenna 22, a CAN 23, a controller 24, a monitor 25, and a speaker 26.
Here, DSSS (driving safety support systems) is a safe driving support system, and DSRC (Dedicated Short Range Communication) is dedicated narrow area communication which is one of two-way wireless communication technologies.

The DSSS sensor 11 detects an oncoming vehicle entering the intersection and transmits the detection result to the information relay / determination device 13.
The signal controller 12 displays the scheduled signal time information of the range determined at the time when the signal level is determined by the specified period, the sensitive control at the time of the first rise, and at the time of the operation mode transition. Output to the information relay / determination device.

  The information relay / determination device 13 instructs the optical beacon 14 and the DSRC beacon 15 to determine whether or not the service can be provided based on a command from the lower device. Further, when an abnormality is detected in the own device or a connected roadside device, the optical beacon 14 and the DSRC beacon 15 are instructed to be unable to provide a service. In addition, static information such as road alignment information received from the lower device is registered in the optical beacon 14 and the DSRC beacon 15. Further, signal information for the route to be provided is extracted from the signal information received from the signal controller 12 and registered in the optical beacon 14 and the DSRC beacon 15. Also, obstacle detection event expression information is generated from the output information of the DSSS sensor 11 and registered in the optical beacon 14 and the DSRC beacon 15. Here, the obstacle detection event expression information includes an arrival required time Tg until the oncoming straight vehicle reaches the intersection. This required time Tg will be described later. Further, the obstacle detection event expression information includes the type (vehicle type) information of the oncoming vehicle.

  The optical beacon 14 determines whether or not the service can be provided based on the command from the information relay / determination device 13 and the presence or absence of registration information. In addition, if an abnormality of the own device is detected, the service cannot be provided. Further, during service operation, downlink information is generated based on registration information from the information relay / determination device 13, and downlink information is provided in response to an uplink request for a vehicle. Further, the elapsed time from the time when the signal information is registered is measured, and the signal information is counted down every 100 ms. Moreover, the elapsed time from the time when the obstacle detection event expression information is registered is measured, and the information acquisition elapsed time is counted up every 100 ms. In addition, position location support for detecting the vehicle position (distance to the stop line) is performed.

  The DSRC beacon 15 determines whether or not the service can be provided based on the command from the information relay / determination device 13 and the presence / absence of registration information. In addition, if an abnormality of the own device is detected, the service cannot be provided. Further, during service operation, downlink information is generated based on the registration information from the information relay / determination device 13 and the downlink information is provided. Further, the elapsed time from the time when the signal information is registered is measured, and the signal information is counted down every 100 ms. Moreover, the elapsed time from the time when the obstacle detection event expression information is registered is measured, and the information acquisition elapsed time is counted up every 100 ms.

  The optical beacon antenna 21 transmits uplink information requesting DSSS information to the optical beacon 14 when passing through the optical beacon 14, and DSSS information (system information, road alignment information, signal information) through road-to-vehicle communication with the optical beacon 14. , Signal event expression information, obstacle detection information, obstacle detection event expression information) and the received DSSS information is transmitted to the controller 24.

  The DSRC antenna 22 performs DSSS information (system information, signal information, signal event expression information, obstacle detection information, obstacle detection event expression information) by road-to-vehicle communication with the DSRC beacon 15 within the communication area of the DSRC beacon 15. Are continuously received, and the received DSSS information is transmitted to the controller 24.

  The CAN 23 is a driver's brake operation information (master cylinder pressure information, wheel cylinder pressure information, brake pedal stroke amount information, braking force command value information in brake-by-wire), or driver's steering operation information (steering). Angle information, steering torque information, etc.), and winker operation information is output to the controller.

  Based on the system information received from the optical beacon 14, the controller 24 determines the provision state of the right turn driving support service and performs service-in. Further, the position of the host vehicle is determined from the system information received from the optical beacon 14 and the road alignment information, and the travel distance after the position determination is calculated. In addition, a departure from the service target road is detected from the road alignment information and the traveling direction of the host vehicle, and a service out determination is performed when the departure is in the middle. Further, the signal remaining number is counted down from the time when the signal information is received. Further, it is determined from the logical area information of the system information received from the DSRC beacon 15 whether or not the vehicle is a logical area in which the information of the DSRC beacon 15 is valid. In addition, the necessity of driving support at the time of right turn is determined from the signal state, the detection information of the oncoming vehicle, the distance from the intersection to the right turn destination, the speed of the host vehicle, the deceleration, and the like. And when driving assistance is required when turning right, the driver is alerted via the monitor 25 and the speaker 26.

Next, a description will be given of a right turn driving support process executed by the controller 24 every predetermined time (for example, 10 msec).
FIG. 3 is a flowchart showing a right turn travel support process.
First, in step S101, distribution data from the optical beacon 14 and the DSRC beacon 15 is received.

  In a succeeding step S102, it is determined whether or not the host vehicle is traveling in a right turn exclusive lane or the right turn signal is ON. Here, if the travel lane is not dedicated to the right turn and the right turn signal is OFF, the host vehicle determines that the vehicle will not turn right and returns to a predetermined main program. On the other hand, if the host vehicle is traveling on the right turn lane or if the right turn signal is ON, it is determined that the host vehicle desires a right turn, and the process proceeds to step S103.

In step S103, it is determined whether there is an oncoming straight-ahead vehicle. Here, if there is no opposite straight vehicle, it is determined that the vehicle can turn right as it is, and the process returns to a predetermined main program. On the other hand, if the on-coming vehicle is present, it is determined that it is necessary to determine right-right interference, and the process proceeds to step S104.
In step S104, a right turn required time Tr until the right turn of the host vehicle is completed is calculated.

FIG. 4 is a diagram illustrating a method of calculating the right turn required time Tr.
First, on the map coordinates, the node point indicating the current position of the host vehicle is P1, the node point indicating the outflow position to the right turn destination route is P2, and the distance Lr between P1 and P2 is calculated. The distance Lr may be a linear distance between P1 and P2 or a curved distance when passing through the reference route. Also, the longer straight line distance and curved distance may be selected (select high). Then, as shown in the following formula (1), a right turn required time Tr is calculated. Here, ar is a general acceleration when the host vehicle starts from a stopped state or an extremely low speed state for a right turn, and a value of about 0.18 to 0.22 G, for example, is substituted.

In the subsequent step S105, the correction amount α for the right turn required time Tr is calculated in accordance with the vehicle type of the oncoming vehicle.
Here, after one oncoming straight vehicle (preceding vehicle) enters the intersection, it is determined whether or not the oncoming straight vehicle (following vehicle) that enters the next intersection has interference with the host vehicle. Target vehicle.

FIG. 5 is a table used for calculating the correction amount α.
Here, there are three types of oncoming straight-ahead vehicles: “normal vehicles”, “large vehicles”, and “motorcycles”.
First, when the preceding vehicle and the following vehicle are the same, the correction amount α is always set to 0, and when the preceding vehicle and the following vehicle are different, the correction amount α is large. Further, when the succeeding vehicle is a “two-wheeled vehicle” or “large-sized vehicle”, the correction amount α is larger than that of the “normal vehicle”. (When the following vehicle is a motorcycle, the correction amount α = 1.5 to 3.0, and when the following vehicle is a large vehicle, the correction amount α = 2.0 to 4.0)

  When the preceding vehicle is a “two-wheeled vehicle”, the following vehicle is a “normal vehicle” (correction amount α = 0.3), and the following vehicle is a “large vehicle” (correction amount α = 2.0). Thus, the correction amount α is larger than when the following vehicle is a “two-wheeled vehicle” (correction amount α = 0).

  Moreover, the correction amount α is set based on the combination of the preceding vehicle and the following vehicle. Specifically, first, when the following vehicle is a “normal vehicle”, when the preceding vehicle is a “large vehicle” (correction amount α = 1.0), when the preceding vehicle is a “two-wheeled vehicle” (correction amount α = 0.3), the correction amount α is increased. When the following vehicle is a “two-wheeled vehicle”, when the preceding vehicle is a “large vehicle” (correction amount α = 3.0), when the preceding vehicle is a “normal vehicle” (correction amount α = 1.5), In comparison, the correction amount α increases. Further, when the following vehicle is a “large vehicle”, when the preceding vehicle is a “normal vehicle” (correction amount α = 4.0), the preceding vehicle is a “two-wheeled vehicle” (correction amount α = 2.0). In comparison, the correction amount α increases.

Note that when there is only one counter-straight vehicle, the correction amount α is set to 0 regardless of the vehicle type.
In subsequent step S106, as will be described below, the right turn required time Tr corrected by adding the correction amount α is set as a new right turn required time Tr.
Tr ← Tr + α

  In the subsequent step S105, it is determined whether the right turn required time Tr is equal to or longer than the required arrival time Tg. Here, if the determination result is “Tr <Tg”, it is determined that interference with the oncoming vehicle (right-handed interference) can be avoided, and the process directly returns to the predetermined main program. On the other hand, if the determination result is “Tr ≧ Tg”, it is determined that there is a possibility of causing interference (straight right contact) with the oncoming vehicle, and the process proceeds to step S106.

Here, the required travel time Tg will be described.
FIG. 6 is a conceptual diagram of the required arrival time Tg.
The required travel time Tg is the time until the oncoming straight vehicle reaches the intersection, but when a plurality of oncoming straight vehicles are running continuously, after one oncoming straight vehicle passes the intersection, The time (gap time) until the next oncoming straight vehicle reaches the intersection. The information relay / determination device 13 calculates the time required for arrival Tg based on the speed and position of each oncoming vehicle, generates obstacle detection event expression information, and transmits it via the optical beacon 14 and the DSRC beacon 15. To do.

  In step S106, it is determined whether or not the brake of the host vehicle is OFF. Specifically, it is determined that the brake is OFF when the amount of brake operation is smaller than a predetermined threshold th. Here, if the brake is ON, it is determined that the host vehicle has not started a right turn, and the process directly returns to the predetermined main program. On the other hand, if the brake is OFF, it is determined that the host vehicle has started a right turn, and the process proceeds to step S107.

In step S107, the driver is alerted via the monitor 25 and the speaker 26, and then the process returns to the predetermined main program. That is, by notifying that attention should be paid to the oncoming vehicle, the vehicle waits for a right turn.
Although the alerting is completely stopped when the brake is on, the present invention is not limited to this. For example, the alerting may be limited by reducing the display content of the alerting on the monitor 25 or lowering the degree of emphasis, or reducing the alerting notification volume on the speaker 26.

<Action>
First, when the host vehicle makes a right turn (the determination in S102 is “Yes”), if there is no oncoming vehicle (the determination in S103 is “No”), the vehicle can turn right as it is. Do not do. On the other hand, when there is an oncoming vehicle (S103: “Yes”), a right turn required time Tr until the right turn of the host vehicle is completed is calculated (S104).

  When the required turn time Tr is shorter than the required arrival time Tg of the oncoming vehicle delivered from the DSRC beacon 15 (determination in S107 is “No”), the driver is not alerted. On the other hand, when the right turn required time Tr is equal to or longer than the required arrival time Tg (the determination in S107 is “Yes”), it is determined that attention should be paid to the oncoming vehicle, and the driver is alerted (S109). Thereby, the driver can step on the start of the right turn.

  Moreover, if the driver is paying attention to the oncoming vehicle, the driver may be bothered. Therefore, it is determined whether or not the own vehicle starts a right turn according to the brake operation state of the driver. If it is determined that the own vehicle has not started a right turn, the alerting is restricted (stopped). Specifically, if the driver's brake is ON (determination in S108 is “No”), it is determined that the vehicle has not started a right turn, and the alerting is restricted. Can be suppressed. However, if the driver's brake is OFF (the determination in S108 is “Yes”), it is determined that the host vehicle has started a right turn, and a warning is issued (S109). Can stay.

  By the way, when it is judged whether there is a possibility of interference with the oncoming straight vehicle without considering the vehicle type of the oncoming straight vehicle, the timing of alerting and the degree of alerting do not match the sense of the driver The driver may feel uncomfortable. Therefore, the vehicle type information of the oncoming straight vehicle is acquired by road-to-vehicle communication, and the timing of alerting the driver and the degree of alerting are set based on the vehicle type information of the oncoming straight vehicle.

Specifically, the vehicle type information of a vehicle to be determined (referred to as a following vehicle for convenience) among a plurality of oncoming straight vehicles approaching the intersection continuously and a preceding vehicle approaching the intersection before that Based on this, a correction amount α for the right turn required time Tr is calculated (S105). Then, an increase correction is made by adding the correction amount α to the right turn required time Tr (S106). Accordingly, the larger the correction amount α, the earlier the timing for alerting the following vehicle.
Further, in order to increase the degree of alerting, the display content of the alerting is increased on the monitor 25 or the emphasis degree is increased, or the alerting notification volume is increased by the speaker 26.

Here, calculation of the correction amount α will be described.
First, when the preceding vehicle and the following vehicle are the same, the correction amount α is always set to 0, and when the preceding vehicle and the following vehicle are different, the correction amount α is increased. This is because ergonomically, after seeing off the first oncoming straight vehicle, the memory of the first oncoming straight vehicle remains as an afterimage in the driver's mind, and if the model of the next oncoming straight vehicle is different, There may be a momentary delay in recognizing it. In particular, when the preceding vehicle is a two-wheeled vehicle, the memory passed by the two-wheeled vehicle remains in the driver's brain as an afterimage. When the following vehicle is a two-wheeled vehicle, it takes time for the driver to recognize the presence of the two-wheeled vehicle after a preceding vehicle of a different vehicle type passes. In addition, it becomes cautious as a driver's psychology. Therefore, the correction amount α is increased and the right turn required time Tr is increased and corrected, thereby making it easier to alert the following vehicle. Thereby, the timing of alerting and the degree of alerting can be brought close to the driver's feeling.

  Further, when the following vehicle is a “two-wheeled vehicle” or “large vehicle”, the correction amount α is made larger than when the following vehicle is a “normal vehicle”. In general, if the oncoming straight vehicle is a two-wheeled vehicle or a large vehicle, there is a difference in size compared to a normal vehicle, and it is difficult for the driver to recognize the sense of distance and speed. In addition, motorcycles are hidden in ordinary cars and large cars, and are easy to enter blind spots from vehicles waiting for a right turn (not easy to find). Furthermore, large vehicles are difficult to slow down. Because of these various factors, it is easy to be cautious about the driver's psychology. Therefore, the correction amount α is increased and the right turn required time Tr is increased and corrected, thereby making it easier to alert the following vehicle. Thereby, the timing of alerting and the degree of alerting can be brought close to the driver's feeling.

Further, the correction amount α is set based on the combination of the preceding vehicle and the following vehicle. Thereby, detailed judgment criteria can be set, and the timing of alerting and the degree of alerting can be made closer to the driver's feeling.
Further, the correction amount α is set based on the vehicle type of the preceding vehicle. This is because the larger the preceding vehicle, the more difficult it is for the following vehicle to enter the blind spot of the preceding vehicle and to recognize it. Therefore, the correction amount α is increased as the width and height of the preceding vehicle are increased. In this way, by considering the visibility of the succeeding vehicle according to the preceding vehicle, the timing of alerting and the degree of alerting can be brought close to the driver's feeling.

  First, when the following vehicle (determination target) is a “normal vehicle”, when the preceding vehicle is a “large vehicle”, the correction amount α is increased compared to when the preceding vehicle is a “two-wheeled vehicle”. This is because if the oncoming straight vehicle that approaches the intersection in advance is a two-wheeled vehicle, it is easy to recognize the next vehicle following it from the vehicle waiting for a right turn, but if the oncoming straight vehicle that approaches the intersection in advance is a large vehicle, This is because a vehicle waiting for a right turn is difficult to recognize because the next vehicle following it is blocked from view by the preceding large vehicle. Therefore, the correction amount α is increased and the right turn required time Tr is corrected to be increased, thereby making it easy to alert the following vehicle. Thereby, the timing of alerting and the degree of alerting can be brought close to the driver's feeling.

FIG. 7 is a scene in which the preceding vehicle is a normal vehicle and the next succeeding vehicle is a two-wheeled vehicle.
When the following vehicle (determination target) is a “two-wheeled vehicle”, when the preceding vehicle is a “large vehicle”, the correction amount α is increased compared to when the preceding vehicle is a “normal vehicle”. This is because if the oncoming straight vehicle that approaches the intersection in advance is a normal vehicle, it is easy to recognize the next vehicle following it from the vehicle waiting for a right turn, but if the oncoming straight vehicle that approaches the intersection in advance is a large vehicle This is because, from a vehicle waiting for a right turn, the next succeeding vehicle is obstructed by a large vehicle preceding it and is difficult to recognize. Therefore, the correction amount α is increased and the right turn required time Tr is increased and corrected, thereby making it easier to alert the following vehicle. Thereby, the timing of alerting and the degree of alerting can be brought close to the driver's feeling.

Further, when the subsequent vehicle (determination target) is a “large vehicle”, when the preceding vehicle is a “normal vehicle”, the correction amount α is increased compared to when the preceding vehicle is a “two-wheeled vehicle”. This is because if the oncoming straight vehicle that approaches the intersection in advance is a two-wheeled vehicle, it is easy to recognize the next vehicle on the right, but if the oncoming straight vehicle that approaches the intersection in advance is a normal vehicle, This is because it is difficult to recognize the next succeeding vehicle from a vehicle waiting for a right turn. Therefore, the correction amount α is increased and the right turn required time Tr is increased and corrected, thereby making it easier to alert the following vehicle. Thereby, the timing of alerting and the degree of alerting can be brought close to the driver's feeling.
FIG. 8 is a scene in which the preceding vehicle is a large vehicle and the next succeeding vehicle is a normal vehicle.

<Modification>
In order to make it easier to determine that the host vehicle may interfere with the oncoming vehicle, the right turn required time Tr is corrected to be increased. However, the present invention is not limited to this, and the correction is based on the required arrival time Tg. The decrease may be corrected by subtracting the amount α. That is, whether or not the own vehicle may interfere with the oncoming straight vehicle is determined by comparing the right turn required time Tr and the required arrival time Tg. This can be realized by at least one of Tg reduction corrections.

"effect"
As described above, the processing in step S107 corresponds to “right direct interference determination means”, the processing in steps S105, S106, and S109, and the monitor 25 and speaker 26 correspond to “attention calling means”. In addition, the process of step S101, the optical beacon antenna 21 and the DSRC beacon antenna 22 correspond to “vehicle type information acquisition unit”, the process of step S104 corresponds to “right turn required time calculation unit”, the process of step S101, The optical beacon antenna 21 and the DSRC beacon antenna 22 correspond to “required arrival time acquisition means”.

(1) When the host vehicle makes a right turn at an intersection, a right straight interference determining unit that determines the possibility of interference with the opposite straight vehicle and a possibility that the host vehicle interferes with the opposite straight vehicle by the right straight interference determining unit. And a vehicle type information acquisition unit that acquires vehicle type information of the oncoming vehicle by road-to-vehicle communication, and the warning unit is a timing for calling the driver Alternatively, the degree of alerting is set based on the vehicle type information of the oncoming straight vehicle acquired by the vehicle type information acquisition unit.

  In this way, by setting the timing of alerting the driver or the degree of alerting based on the vehicle type information of the oncoming vehicle, the timing of alerting and the degree of alerting at the time of the right turn Can be close to the senses.

(2) The alerting means, when the vehicle type information of the preceding vehicle and the vehicle type information of the subsequent vehicle following the preceding vehicle are different from each other among a plurality of oncoming straight vehicles approaching the intersection continuously, Advance the timing of alerting the vehicle or increase the degree of alerting.
Thereby, when the vehicle type information of a preceding vehicle and a succeeding vehicle differs, the timing which alerts and the degree of alerting can be brought close to a driver's sense.

(3) When the following vehicle is a two-wheeled vehicle or a large vehicle, the alerting means advances the timing for alerting the succeeding vehicle or the degree of alerting when compared to a normal vehicle. To be larger.
Thereby, when a succeeding vehicle is a two-wheeled vehicle or a large vehicle, the timing of alerting and the degree of alerting can be brought close to the driver's feeling.

(4) When the preceding vehicle is a two-wheeled vehicle, the alerting means advances the timing for alerting the succeeding vehicle compared to when the preceding vehicle is a large vehicle or the degree of alerting. To be larger.
Thereby, when a preceding vehicle is a two-wheeled vehicle, the timing of alerting and the degree of alerting can be brought close to the driver's feeling.

(5) The alerting means causes the own vehicle to interfere with the succeeding vehicle so that the larger the preceding vehicle is, the earlier the timing of alerting the succeeding vehicle or the greater the degree of alerting. Make it easier to judge that there is a possibility.
Thus, by considering the visibility of the following vehicle according to the preceding vehicle, the timing at which the preceding vehicle alerts and the degree of alerting can be brought close to the driver's feeling.

(6) When the preceding vehicle is a large vehicle, the alerting means advances the timing of alerting the succeeding vehicle compared to when the preceding vehicle is a two-wheeled vehicle, or Try to increase the degree.
Thus, by considering the visibility of the following vehicle according to the preceding vehicle, the timing at which the preceding vehicle alerts and the degree of alerting can be brought close to the driver's feeling.

(7) When the preceding vehicle is a large vehicle, the alerting means advances the timing for alerting the succeeding vehicle compared to when the preceding vehicle is a normal vehicle, or alerts Increase the degree of.
Thus, by considering the visibility of the following vehicle according to the preceding vehicle, it is possible to bring the timing of alerting and the degree of alerting closer to the driver's feeling.

(8) When the preceding vehicle is an ordinary vehicle, the alerting means advances the timing for alerting the succeeding vehicle compared to when the preceding vehicle is a two-wheeled vehicle, or Try to increase the degree.
Thus, by considering the visibility of the following vehicle according to the preceding vehicle, it is possible to bring the timing of alerting and the degree of alerting closer to the driver's feeling.

(9) A right turn required time calculating means for calculating a right turn required time required until the right turn of the host vehicle is completed, and an arrival required to obtain an arrival required time until the oncoming straight vehicle reaches the intersection by road-to-vehicle communication. Time acquisition means, and when the right turn required time calculated by the right turn required time calculation means is equal to or longer than the required travel time acquired by the required travel time acquisition means, the host vehicle Is determined to possibly interfere with the oncoming vehicle, the alerting means corrects the right turn required time calculated by the right turn required time calculating means and corrects the arrival time acquired by the required arrival time acquiring means. By at least one of correcting the required time to decrease, the timing for alerting the following vehicle is advanced or the degree of alert is increased.

  In this way, by comparing the required time for the right turn and the required time for arrival, it is possible to easily and reliably determine the possibility that the host vehicle will interfere with the oncoming vehicle. In addition, by increasing the right turn required time or correcting the arrival required time, it is possible to easily and arbitrarily set the timing for calling the driver or the degree of the warning.

(10) When the host vehicle makes a right turn at the intersection, the possibility of interference with the oncoming straight vehicle is judged, and the driver is alerted based on the possibility of the own vehicle interfering with the oncoming straight vehicle. The vehicle type information of the oncoming straight vehicle is acquired by road-to-vehicle communication, and the timing for alerting the driver or the degree of alerting is set based on the vehicle type information of the oncoming straight vehicle.

  In this way, by setting the timing of alerting the driver or the degree of alerting based on the vehicle type information of the oncoming vehicle, the timing of alerting and the degree of alerting at the time of the right turn Can be close to the senses.

DESCRIPTION OF SYMBOLS 10 Infrastructure system 11 Sensor 12 Signal controller 13 Information relay / determination apparatus 14 Optical beacon 15 Beacon 20 Car-mounted navigation system 21 Optical beacon antenna 22 Antenna 22 Beacon antenna 24 Controller 25 Monitor 26 Speaker Tg Arrival time th Threshold value Tr Right turn time

Claims (10)

A right-straight interference judging means for judging the possibility of interference with the oncoming straight vehicle when the host vehicle turns right at the intersection;
Attention means for alerting the driver based on a possibility that the own vehicle interferes with the oncoming straight vehicle in the right-straight-interference determining means;
Vehicle type information acquisition means for acquiring vehicle type information of the oncoming vehicle by road-to-vehicle communication,
The right alert driving means sets the timing of alerting the driver or the degree of alerting based on the vehicle type information of the oncoming straight vehicle acquired by the vehicle type information acquiring means. .   When the vehicle type information of the preceding vehicle is different from the vehicle type information of the subsequent vehicle next to the preceding vehicle among a plurality of oncoming straight vehicles approaching the intersection continuously, the alerting means 2. The right turn driving support device according to claim 1, wherein the timing of performing all the alerts is advanced or the degree of the alert is increased.   When the following vehicle is a two-wheeled vehicle or a large vehicle, the alerting means advances the timing of alerting the succeeding vehicle or increases the degree of alerting when compared with a normal vehicle. The right turn travel support device according to claim 2, wherein:   When the preceding vehicle is a two-wheeled vehicle, the alerting means advances the timing for alerting the succeeding vehicle or increases the degree of alerting compared to a normal vehicle or a large vehicle. The right turn travel support device according to claim 2, wherein:   The alerting means may cause the own vehicle to interfere with the succeeding vehicle so that the larger the preceding vehicle is, the earlier the timing of alerting the succeeding vehicle or the greater the degree of alerting. It becomes easy to judge that it exists, The driving assistance apparatus at the time of the right turn as described in any one of Claims 2-4 characterized by the above-mentioned.   When the preceding vehicle is a large vehicle, the alerting means advances the timing of alerting the succeeding vehicle or increases the degree of alerting when compared to when the preceding vehicle is a motorcycle. It is made to become, The driving assistance apparatus at the time of the right turn of Claim 5 characterized by the above-mentioned.   When the preceding vehicle is a large vehicle, the alerting means advances the timing for alerting the succeeding vehicle compared to when the preceding vehicle is a normal vehicle, or determines the degree of alerting. It is made to become large, The driving assistance apparatus at the time of the right turn as described in any one of Claims 4-6 characterized by the above-mentioned.   When the preceding vehicle is a normal vehicle, the alerting means advances the timing of alerting the succeeding vehicle or increases the degree of alerting when compared to when the preceding vehicle is a two-wheeled vehicle. It is made to become, The driving assistance apparatus at the time of the right turn as described in any one of Claims 4-7 characterized by the above-mentioned. A right turn required time calculating means for calculating a right turn required time required for completing a right turn of the host vehicle;
A required travel time acquisition means for acquiring the required travel time until the oncoming straight vehicle reaches the intersection by road-to-vehicle communication, and
The right-straight-interference determining means may cause the host vehicle to interfere with the oncoming straight-ahead vehicle when the right turn required time calculated by the right turn required time calculating means is equal to or longer than the required travel time acquired by the required travel time acquiring means Judging that
The warning means is configured to increase and correct the right turn required time calculated by the right turn required time calculating means and to decrease and correct the required travel time acquired by the required travel time acquiring means. 9. The right-turn driving support apparatus according to claim 1, wherein the timing of calling attention to the vehicle is advanced or the degree of warning is increased.   When the host vehicle makes a right turn at the intersection, it judges the possibility of interference with the oncoming straight vehicle and alerts the driver based on the possibility that the own vehicle will interfere with the oncoming straight vehicle. A right-turn driving support method, wherein vehicle type information of a vehicle is acquired by road-to-vehicle communication, and a timing for alerting a driver or a degree of alerting is set based on vehicle type information of an oncoming vehicle.

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