JP2012226624A - Driving support system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a driving support system which is advantageous in improving reliability by accurately determining the presence/absence of a possibility for user's own vehicle to collide with another vehicle at a crossing.SOLUTION: User's own vehicle information acquisition means 34 acquires a position and a traveling direction of user's own vehicle. Other vehicle information acquisition means 35 acquires a position and a traveling direction of another vehicle. Lane identification node setting means 36 sets a lane identification node for identifying dedicated lanes in association with a node of a specific crossing where two or more kinds of dedicated lanes are formed. Approach direction determination means 38 determines, in the case where the user's own vehicle or the other vehicle approaches the specific crossing, whether its traveling direction is a first direction for traveling on a portion of a road that is not the dedicated lane or a second direction for traveling on the dedicated lane. Mapping means 40 maps the positions of the user's own vehicle and the other vehicle on a link connecting nodes on map data.

Description

  The present invention relates to a driving support device that supports driving of a vehicle.

There is provided a driving support device that determines the possibility of a collision between another vehicle and the host vehicle, and provides the driver with information that warns the possibility of a collision based on the determination result.
The following is proposed as a driving support device that determines the possibility of a collision between another vehicle and the host vehicle (see Patent Document 1).
That is, the intersection ahead of the course of the own vehicle is extracted based on the position and traveling direction of the own vehicle mapped on the map data.
Next, an intersection in the forward direction of the other vehicle is extracted based on the position and the traveling direction of the other vehicle mapped on the map data based on the other vehicle information obtained from the other vehicle obtained by the inter-vehicle communication.
The intersection where the extracted intersection in front of the own vehicle and the intersection in front of the other vehicle coincide with each other is considered as a collision possibility intersection, and based on the calculation result of the arrival time to the collision intersection of the other vehicle Provide information to the driver.

JP 2008-65480 A

However, the above prior art has the following disadvantages.
Consider a case where two or more types of dedicated lanes that define the direction of travel in the intersection are formed on the road connected to the intersection.
For example, at an intersection where a first road extending east and west intersects with a second road extending north and south, a straight and left turn lane and a right turn lane are connected to the first road connected to the east side of the intersection. It is assumed that straight and right turn lanes are provided on the first road connected to the west side of the intersection. In this case, the following cases (1) and (2) can be considered.
(1) When the host vehicle travels on the right turn lane from the east side of the intersection toward the intersection, and the other vehicle travels on the right turn lane from the west side of the intersection toward the intersection, the host vehicle and the other vehicle can collide. There is no sex.
(2) When the host vehicle travels on the right turn lane from the east side of the intersection toward the intersection, and the other vehicle travels on the straight lane from the west side of the intersection toward the intersection, the host vehicle and the other vehicle may collide. There is sex.
In the prior art, in both cases (1) and (2), the intersections of the host vehicle and the other vehicle coincide with each other, so it is determined that there is a possibility of collision, and information provision (alarm) is provided. Will be made.
Therefore, as in the case of (1), since information is provided even though there is no possibility of a collision, a false alarm occurs, which is disadvantageous in ensuring the reliability of the driving support device.
Such inconvenience is that even if the intersection is a small one that does not have a dedicated lane, or as described above, even if the intersection is a large one that has a plurality of dedicated lanes, information for identifying the intersection This is caused by a single (node).
Also, if there is a single piece of information (node) that identifies a large-scale intersection, there is a difference between the actual intersection structure and the positional relationship between the node mapped on the map data and the host vehicle (other vehicle). As a result, the timing of providing information may be delayed or information may not be provided, which is disadvantageous in ensuring the reliability of the driving support device.
The present invention has been made in view of such circumstances, and an object of the present invention is to improve reliability by accurately determining whether or not there is a possibility of collision between the host vehicle and another vehicle at an intersection. It is an object to provide an advantageous driving support apparatus.

  In order to achieve the above object, the present invention provides map data in which a link connecting a node set at an interval along a road and an adjacent node among nodes set for each intersection is set. Map data storage means for storing; own vehicle information acquiring means for acquiring own vehicle information including the position and traveling direction of the own vehicle; and other vehicle information acquiring means for acquiring other vehicle information including the position and traveling direction of the other vehicle. Mapping means for mapping the position of the host vehicle included in the host vehicle information and the position of the other vehicle acquired by the inter-vehicle communication unit to the link on the map data, and mapping on the map data Based on the determined positions of the host vehicle and the other vehicle, and the traveling directions of the host vehicle and the other vehicle, the collision with the other vehicle at an intersection existing ahead of the traveling direction of the host vehicle. A collision possibility determination unit that determines whether or not there is a possibility of collision, and an information provision unit that identifies the other vehicle determined to have the possibility of a collision as a driving support target vehicle of the host vehicle and provides information The driving support device, when a specific intersection is defined as an intersection in which two or more types of dedicated lanes in which a direction of traveling in the intersection is defined are formed in a portion of a road connected to the intersection Lane identification node setting means for setting a lane identification node for identifying each dedicated lane in association with an intersection node, and the own vehicle or the other vehicle is identified based on the result of mapping by the mapping means If it is determined that the vehicle has approached an intersection, the first direction of traveling in the portion of the road whose traveling direction is connected to the specific intersection and is not the dedicated lane Or an approach direction determining means for determining whether the traveling direction is a second direction traveling in the dedicated lane, and when the first determining means determines that the traveling direction is the first direction, the mapping means includes: When the node of the specific intersection is used to map the position of the host vehicle and the other vehicle, and when it is determined to be the second direction, the mapping means uses the lane identification node to Mapping of the positions of the host vehicle and the other vehicle is performed.

According to the first aspect of the present invention, for a specific intersection in which two or more types of dedicated lanes are provided at the intersection, in addition to a node at the specific intersection, a lane identification node for identifying each dedicated lane is set. Since the position of the host vehicle and the other vehicle is mapped, it is possible to accurately determine the possibility of a collision between the host vehicle and the other vehicle at the intersection, and to ensure the reliability of the driving support device. be able to.
According to the second aspect of the present invention, the lane identification node is set based on the map data, the position of the own vehicle, the traveling direction of the own vehicle, the position of the other vehicle, and the traveling direction of the other vehicle. Only the necessary lane identification nodes can be set accurately.
According to the invention described in claim 3, since the node number for the lane identification node is generated by adding the identifier to the node number of the specific intersection, the setting process of the lane identification node is simplified. Can do.
According to the fourth aspect of the present invention, the traveling direction of the host vehicle and the other vehicle is determined based on the approach direction determination data indicating the first direction and the second direction associated with the specific intersection. Can be simplified.

It is a block diagram which shows the structure of the driving assistance apparatus 10 which concerns on embodiment. 2 is a functional block diagram of an ECU 28. FIG. It is explanatory drawing of the map matching point of the position of the node on a map data, a link, and a vehicle. It is explanatory drawing which shows the specific intersection on a map data, a road, a vehicle, a node, and a link. 4 is a flowchart showing the operation of the driving support device 10. It is a correspondence table | surface which shows a response | compatibility with the node number of the own vehicle and other vehicles, and the presence or absence of the possibility of a collision.

Next, embodiments of the present invention will be described with reference to the drawings.
FIG. 1 is a block diagram showing a configuration of a driving support apparatus 10 according to an embodiment of the present invention.
The driving assistance device 10 is mounted on each of the host vehicle and other vehicles.
In addition, when distinguishing and explaining a driving assistance apparatus with the own vehicle and another vehicle, it attaches | subjects and demonstrates the code | symbol 10A to the driving assistance apparatus mounted in the own vehicle, and is code | symbol to the driving assistance apparatus mounted in the other vehicle. 10B is attached and demonstrated.
The driving support apparatus 10 includes a vehicle-to-vehicle communication unit 12, a road-to-vehicle communication unit 14, a GPS communication unit 16, a database 18, a display unit 20, a voice output unit 22, an operation unit 24, and a travel state detection unit. 26, an in-vehicle sensor 28, and an ECU 30.

The inter-vehicle communication unit 12 transmits / receives information to / from the inter-vehicle communication unit 12 of another vehicle within a range of several hundred meters around the position of the host vehicle via the antenna 1202. 12 is configured.
The vehicle-to-vehicle communication unit 12 of the host vehicle transmits host vehicle information including the position and traveling direction of the host vehicle to the vehicle-to-vehicle communication unit 12 of the driving support device 10B of the other vehicle. The host vehicle information includes the position of the host vehicle supplied from the GPS communication unit 16 and the traveling direction of the host vehicle.
The inter-vehicle communication unit 12 of the other vehicle also performs the same operation as the inter-vehicle communication unit 12 of the own vehicle.
Therefore, the inter-vehicle communication unit 12 of the own vehicle receives the other vehicle information including the position and traveling direction of the other vehicle from the inter-vehicle communication unit 12 of the other vehicle, and the inter-vehicle communication unit 12 of the other vehicle Other vehicle information including the position of the host vehicle and the traveling direction is received from the inter-vehicle communication unit 12.

The road-vehicle communication unit 14 transmits and receives information to and from a roadside communication device (not shown) provided near the road via the antenna 1404. Note that transmission / reception of information between the road-to-vehicle communication unit 14 and the roadside communication device may be performed via radio waves or may be performed via optical signals.
The information includes information for correcting the position of the host vehicle measured by the GPS communication unit 16.

  The GPS communication unit 16 detects positioning data indicating the position of the host vehicle by receiving radio waves transmitted from a plurality of GPS satellites, and supplies the data to the ECU 30.

The database 18 stores map data, and the map data includes position information on the earth, roads and intersection information associated with the position information, and the like.
As shown in FIG. 1, the database 18 may be composed of a hard disk or semiconductor memory configured separately from the ECU 30, or may be composed of a recording medium included in the ECU 30.
As shown in FIG. 3, the map data is set by a link LK that connects between a node NL set at intervals along the road L and an adjacent node among the nodes NC set for each intersection C. Has been.
The position of the vehicle CA measured by the GPS communication unit 16 is mapped to the link LK by the mapping means 40 described later. In the figure, symbol MP indicates a map matching point that is a point where the position of the vehicle C is mapped to a link.
In the present embodiment, the database 18 constitutes the map data storage means in the claims.

The display unit 20 displays the map data read from the database 18 and the guidance route to the destination under the control of the navigation means described later.
The display unit 20 displays information necessary for avoiding a collision between the other vehicle and the host vehicle by the information providing unit 44 described later.

The voice output unit 22 guides the guidance route to the destination by voice under the control of navigation means described later.
The voice output unit 22 notifies information necessary for avoiding a collision between the other vehicle and the host vehicle by a voice or a warning sound by an information providing unit, which will be described later, and outputs a control signal supplied from the ECU 30. A signal generation unit that generates an audio signal based on the audio signal and a speaker that is driven and sounded by the audio signal are configured.
The operation unit 24 is used to input an operation to the ECU 30 and is operated, for example, when setting a destination for a navigation unit described later.

The traveling state detection unit 26 detects own vehicle traveling information related to the traveling state of the own vehicle.
Various types of sensors such as a vehicle speed sensor that detects a vehicle speed, an acceleration sensor that detects acceleration, a steering angle sensor that detects a steering angle of a steering wheel, a winker operation switch that is operated by a driver, and automatic traveling Examples include switches such as switches. Therefore, the own vehicle travel information includes speed, acceleration, steering angle, and presence / absence of right or left turn. These own vehicle travel information is used by the navigation means 32, for example.

The in-vehicle sensor 28 includes a camera that captures the surroundings of the host vehicle, a camera that captures a white line on the road, or a radar that detects an interval from the preceding vehicle.
The image captured by these cameras or the distance from the preceding vehicle detected by the radar is supplied to the own vehicle information acquisition means 34.

The ECU 30 includes a CPU, a ROM that stores and stores a control program, a RAM as an operation area of the control program, an EEPROM that holds various data in a rewritable manner, an interface unit that interfaces with peripheral circuits, and the like. The
The ECU 30 is connected to the inter-vehicle communication unit 12, the road-to-vehicle communication unit 14, the GPS communication unit 16, the database 18, the display unit 20, the voice output unit 22, the traveling state detection unit 26, and the interface unit. It exchanges information between them and controls each part.
Further, the ECU 30 executes the control program by the CPU, as shown in FIG. 2, the navigation means 32, the own vehicle information acquisition means 34, the other vehicle information acquisition means 35, and the lane identification node. A setting unit 36, an approach direction determining unit 38, a mapping unit 40, a collision possibility determining unit 42, and an information providing unit 44 are realized.

When the destination is set by the operation of the operation unit 24, the navigation means 32 determines the vehicle's own vehicle based on the vehicle position information acquired by the GPS communication unit 16 and the map data read from the database 18. A guidance route is calculated, this guidance route is displayed on the display unit 20, and a guidance voice is output from the voice output unit 22 based on the guidance route.
In addition, the driving assistance apparatus 10 does not need to be provided with a navigation function, and in that case, the navigation means 32 can be omitted.

The own vehicle information acquisition means 34 obtains own vehicle information including the position of the own vehicle and the traveling direction of the own vehicle based on the positioning data of the own vehicle supplied from the GPS communication unit 16 and the temporal change of the positioning data. To get.
The own vehicle information acquisition unit 34 corrects the position of the own vehicle based on the image supplied from the in-vehicle sensor 28 or the distance from the preceding vehicle.
Specifically, when a target building is obtained as the image, the position of the host vehicle is corrected using the position of the building as a reference position. Alternatively, when a white line is obtained as the image, the position of the host vehicle is corrected using the white line as a reference position.
Further, when an interval from the preceding vehicle is obtained, the position of the host vehicle is corrected based on the interval.
If there is such a correction function by the own vehicle information acquisition means 34, the position of the own vehicle can be specified more accurately, which is advantageous in increasing the accuracy of determination of the possibility of collision.

  The other vehicle information acquisition means 35 acquires the other vehicle information including the position and traveling direction of the other vehicle obtained via the inter-vehicle communication unit 12.

The lane identification node setting means 36 specifies a specific intersection when an intersection in which two or more types of dedicated lanes in which the direction of travel within the intersection is defined is formed on a road portion connected to the intersection is defined as a specific intersection. A lane identification node for identifying each dedicated lane is set in association with the node at the intersection.
Hereinafter, the lane identification node will be described with reference to FIG.
As shown in FIG. 4, the first to sixth roads L10 to L15 are connected to the specific intersection C10.
Three dedicated lanes are provided in a portion where the first road L10 is connected to the specific intersection C10. That is, straight / left turn lanes L10-1, L10-2, and right turn lane L10-3. A separation band B10 is provided between the straight / left turn lanes L10-1, L10-2 and the right turn lane L10-3.
Three dedicated lanes are provided in a portion where the fourth road L13 is connected to the specific intersection C10. That is, straight turn / left turn lanes L13-1, L13-2, and right turn lane L13-3. A separation band B11 is provided between the straight / left turn lanes L13-1, L13-2 and the right turn lane L13-3.
No dedicated lane is provided in a portion where the second, third, fifth, and sixth roads L11, L12, L14, and L15 are connected to the specific intersection C10.

At the specific intersection C10, a node NC10 as a node at a normal intersection is set in advance.
The lane identification node setting unit 36 sets lane identification nodes NC11 and NC12 for identifying the dedicated lanes of the first and fourth roads L10 and L13.
In the figure, reference numeral NL10 indicates a node set on the road, and LK10 to LK13 indicate links connecting adjacent nodes.

It is assumed that the first to fourth vehicles CA10 to CA13 are in the following traveling state.
The first vehicle (motorcycle) CA10 is traveling toward the specific intersection C10 on the straight road / left turn lane L10-1 of the first road L10.
The second vehicle CA11 enters the specific intersection C10 from the right turn lane L10-3 of the first road L10.
The third vehicle CA12 enters the specific intersection C10 from the right turn lane L13-3 of the fourth road L13.
The fourth vehicle CA13 is traveling toward the specific intersection C10 on the sixth road L15.

In the present embodiment, the lane identification node setting means 36 is for lane identification based on the map data, the position of the host vehicle, the traveling direction of the host vehicle, the position of the other vehicle, and the traveling direction of the other vehicle. Set the node.
More specifically, the lane identification node setting unit 36 is based on intersection information included in the map data, for example, information such as the presence / absence of a dedicated lane, the type of dedicated lane, the positional relationship of the dedicated lane, the number of dedicated lanes, and the like. To set the lane identification node.
Therefore, only necessary lane identification nodes can be set accurately.
For example, when the host vehicle is the second vehicle CA11, the lane identification node setting unit 36 sets the lane identification node NC12 based on the map data, the position of the host vehicle, and the traveling direction of the host vehicle. Set.
When the other vehicle is the third vehicle CA12, the lane identification node setting unit 36 sets the lane identification node NC11 based on the map data, the position of the other vehicle, and the traveling direction of the other vehicle. Set.

A node at a specific intersection is identified by a node number consisting of numbers.
The setting of the lane identification node by the lane identification node setting means 36 is performed by generating a node number for the lane identification node by adding a different identifier corresponding to the dedicated lane to the node number of the specific intersection. .
The case of FIG. 4 is exemplified as follows.
Node number of node NC10 of specific intersection C10: 100
Node number for lane identification node NC11: 100a
Node number for lane identification node NC12: 100b
In this case, “a” and “b” are identifiers.
In this way, if a node number consisting of a number is assigned to a node at a specific intersection and a node number for a specific intersection is added as a node number for a lane identification node, the setting process of the node for lane identification is simplified. Can be achieved.
Note that any method for identifying the node at the specific intersection and the node for identifying the lane is arbitrary, and various conventionally known methods can be employed.

The approach direction determination means 38, when the own vehicle or another vehicle approaches a specific intersection, the traveling direction is the first direction traveling on a road portion connected to the intersection and not a dedicated lane, or the traveling direction is dedicated. It is determined whether the second direction of traveling through the lane.
The determination by the direction determination means is made based on the traveling direction of the host vehicle or the other vehicle and the approach direction determination data indicating the first direction and the second direction associated with the specific intersection.
Such traveling direction determination data is stored in association with a specific intersection in the map data of the database. Alternatively, the traveling direction determination data may be acquired from the outside via the road-to-vehicle communication unit 14 or other communication means.
Thus, since the determination of the traveling direction of the host vehicle and the other vehicle is performed based on the approach direction determination data indicating the first direction and the second direction associated with the specific intersection, the determination process is simplified. Can do.
Further, in the present embodiment, whether or not the own vehicle or another vehicle has approached the specific intersection is determined by whether the approach direction determination unit 38 is mapped by the mapping unit 40 described later, the position of the host vehicle and the other vehicle, and the traveling direction. This determination operation is optional, for example, performed by an approach determination unit provided separately from the approach direction determination unit 38.

The mapping means 40 maps the position of the host vehicle included in the host vehicle information and the position of the other vehicle acquired by the inter-vehicle communication unit 12 to the link on the map data.
In the present embodiment, the mapping means 40 uses the specific intersection node to determine whether the traveling direction of the host vehicle or the other vehicle is the first direction by the approach direction determining means 38. Map the vehicle position.
Further, when the approach direction determination unit 38 determines that the traveling direction of the host vehicle or the other vehicle is the second direction, the mapping unit 40 uses the lane identification node to determine the positions of the host vehicle and the other vehicle. Perform mapping.

The collision possibility determination means 42 is based on the positions of the own vehicle and other vehicles mapped on the map data, and the traveling direction of the own vehicle and other vehicles, and the other at the intersection existing ahead of the traveling direction of the own vehicle. It is determined whether or not there is a possibility of collision with the vehicle.
The operation for determining the possibility of collision by the collision possibility determination means 42 will be described in detail.
FIG. 6 is a correspondence table showing the correspondence between the node numbers of the host vehicle and other vehicles and the possibility of collision.
The correspondence between the node number 100 of the specific intersection C10 and the node numbers 100a and 100b for the lane identification node located on the link to which the host vehicle and the other vehicle are mapped is shown.
This will be described with reference to FIG. Even if the host vehicle and the other vehicle enter the same intersection, if the vehicle and the other vehicle pass each other and pass each other, it is excluded from the target of determining the possibility of collision.
Hereinafter, the node number of the node at the specific intersection and the node number for the lane identification node will be described as simply the node number of the intersection without distinguishing between them.

(1) Case where the node number of the intersection where the host vehicle approaches is 100 (fourth vehicle CA13)
In this case, the node number of the intersection approaching another vehicle is 100 (vehicle traveling on the third road L14), the case of 100a (third vehicle CA12), the case of 110b (second vehicle CA11). In either case, there is a possibility that the host vehicle and another vehicle collide at the specific intersection C10. That is, it is determined that there is a possibility of collision, assuming that the host vehicle and the other vehicle pass through the same intersection.

(2) Case where the node number of the intersection where the host vehicle approaches is 100a (third vehicle CA12)
In this case, in the case where the node number of the intersection approaching another vehicle is 100a (first vehicle CA10) and the case where the node number of the intersection approaching another vehicle is 100 (fourth vehicle CA13), the specific intersection C10 There is a possibility of collision between the host vehicle and another vehicle. That is, it is determined that there is a possibility of collision, assuming that the host vehicle and the other vehicle pass through the same intersection.
On the other hand, in the case where the node number of the intersection approaching another vehicle is 100b (third vehicle CA12), the host vehicle and the other vehicle turn right with each other, so the host vehicle and the other vehicle may collide at the specific intersection C10. There is no sex. That is, it is determined that there is no possibility of collision considering that the host vehicle and another vehicle pass through different intersections.

(3) Case where the node number of the intersection where the host vehicle approaches is 100b (second vehicle CA11)
In this case, in the case where the node number of the intersection approached by the other vehicle is 100a (third vehicle CA12), the own vehicle and the other vehicle collide with each other at the specific intersection C10 because the own vehicle and the other vehicle turn right. There is no possibility. That is, it is determined that there is no possibility of collision considering that the host vehicle and another vehicle pass through different intersections.
On the other hand, a case where the node number of the intersection approaching another vehicle is 100b (a vehicle traveling on the occupation lane L13-2 of the fourth road L13), and a case where the node number of the intersection approaching another vehicle is 100 (fourth) In the vehicle CA13), there is a possibility that the host vehicle and another vehicle collide at the specific intersection C10. That is, it is determined that there is a possibility of collision, assuming that the host vehicle and the other vehicle pass through the same intersection.

As can be seen from the cases (1) to (3) above, if the node number of the intersection approaching the host vehicle is 100, the node number of the intersection approaching another vehicle is 100, including 100, 100a, and 100b. Are determined to include the same intersection.
Further, if the node number of the intersection approaching the host vehicle is 100a, it is determined that the same intersection is included when the node number of the intersection approaching another vehicle is 100 or 100a.
If the node number of the intersection approaching the host vehicle is 100b, it is determined that the same intersection is included when the node number of the intersection approaching another vehicle is 100 or 100b.
That is, as shown in FIG. 6, the presence or absence of a collision between the host vehicle and another vehicle is easily determined based on the match / mismatch between the number part of the node number (100 in this example) and the identifier part. can do.

The information providing unit 44 provides information by specifying the other vehicle that is determined to have a possibility of collision by the collision possibility determining unit 42 as a driving support target vehicle of the own vehicle.
Specifically, the information providing unit 44 indicates that there is a possibility of a collision by the display unit 20 when the collision possibility determining unit 42 determines that there is a possibility of a collision between the other vehicle and the host vehicle. The warning display is performed, and the voice output unit 22 outputs a voice warning that there is a possibility of a collision. In other words, the information providing unit 44 provides the driver with information that prompts a driving operation to avoid a collision when the collision possibility determining unit 42 determines that there is a possibility of a collision between the other vehicle and the host vehicle. To do.

Next, the operation of the driving support device 10 will be described with reference to the flowchart of FIG.
When the driving support device 10 is activated, the following processing steps are repeatedly executed.
The own vehicle information acquisition means 34 acquires the own vehicle information including the position and the traveling direction of the own vehicle, and the other vehicle information acquisition means 35 acquires the other vehicle information including the position and the traveling direction of the other vehicle (step). S10).

The mapping means 40 performs mapping on the map data based on the acquired position and traveling direction of the host vehicle. The approach direction determination means 38 determines whether or not the position of the host vehicle has approached the specific intersection based on the mapping result (step S12).
If the determination result of step S12 is negative, the process returns to step S10.
If the determination result in step S12 is affirmative, the traveling direction of the host vehicle is a first direction that travels on a road portion that is connected to a specific intersection and is not a dedicated lane, or the traveling direction is a second direction that travels on a dedicated lane. It is determined whether the direction is the direction (step S14).
If the determination result in step S14 is the first direction, the mapping means 40 performs mapping using the node at the specific intersection and proceeds to step S22 (step S16).
If the determination result in step S14 is the second direction, the lane identification node setting unit 36 sets a lane identification node, and the mapping unit 40 performs mapping using the set lane identification node, and then proceeds to step S22. Proceed (steps S18 and S20).
In step S22, whether the traveling direction of the other vehicle is the first direction traveling on the road portion that is connected to the specific intersection and is not a dedicated lane, or is the traveling direction the second direction traveling on the dedicated lane? Determine.
If the determination result in step S22 is the first direction, the mapping means 40 performs mapping using the node at the specific intersection and proceeds to step S30 (step S24).
If the determination result in step S22 is the second direction, the lane identification node setting unit 36 sets a lane identification node, and the mapping unit 40 performs mapping using the set lane identification node, and the process proceeds to step S30. Proceed (steps S26, S28).
In step S38, the collision possibility determination means 42 exists ahead of the traveling direction of the host vehicle based on the positions of the host vehicle and the other vehicle mapped on the map data and the traveling direction of the host vehicle and the other vehicle. Whether or not there is a possibility of a collision with another vehicle at the intersection is determined.

If the determination result of step S38 is negative, the process returns to step S10.
If the determination result in step S38 is affirmative, the information providing unit 44 identifies the other vehicle that has been determined to have the possibility of collision by the collision possibility determining unit 42 as a driving support target vehicle of the own vehicle, and the display unit 20 The audio output unit 22 provides information to the driver (step S32).

  As described above, according to this embodiment, a lane identification node for identifying each dedicated lane is set in addition to a specific intersection node for a specific intersection in which two or more types of dedicated lanes are provided at the intersection. In addition, the positions of the host vehicle and other vehicles are mapped. Therefore, it is possible to accurately determine the possibility of a collision between the host vehicle and another vehicle at the intersection in consideration of the dedicated lane, and the timing of providing information is delayed or information is not provided. The reliability of the driving support device can be ensured.

  The collision possibility determination means 42 is based on signal information acquired by road-to-vehicle communication or the like even in a situation where it is determined that there is a possibility of collision between the own vehicle and another vehicle based on the node number. If it is determined that the other vehicle (orthogonal vehicle) is stopped due to a red signal or the like, it may be determined that there is no possibility of a collision.

  DESCRIPTION OF SYMBOLS 10 ... Driving assistance device, 12 ... Inter-vehicle communication part, 14 ... Road-to-vehicle communication part, 16 ... GPS communication part, 18 ... Database, 20 ... Display part, 22 ... Voice output part, 24 ... ... Operation unit 26... Traveling state detection unit 28... Car-mounted sensor 30... ECU, 32 ... Navigation means 34 34 Own vehicle information acquisition means 35 35 Other vehicle information acquisition means 36 Lane setting node setting means 38... Approach direction determination means 40... Mapping means 42.

Claims (4)

Map data storage means for storing map data in which a link connecting adjacent nodes among nodes set at intervals along the road and nodes set for each intersection is set;
Own vehicle information acquisition means for acquiring own vehicle information including the position of the own vehicle and the traveling direction;
Other vehicle information acquisition means for acquiring other vehicle information including the position and traveling direction of the other vehicle,
Mapping means for mapping the position of the host vehicle included in the host vehicle information and the position of the other vehicle acquired by the inter-vehicle communication unit to the link on the map data;
The other vehicle at an intersection existing ahead of the traveling direction of the host vehicle based on the positions of the host vehicle and the other vehicle mapped on the map data and the traveling direction of the host vehicle and the other vehicle. A collision possibility determination means for determining whether or not there is a possibility of a collision with
A driving support device comprising information providing means for providing information by specifying the other vehicle determined to have the possibility of the collision as a driving support target vehicle of the own vehicle,
When an intersection in which two or more types of dedicated lanes in which the direction of traveling in the intersection is defined is defined as a specific intersection in a portion of the road connected to the intersection, the specific intersection is associated with the node of the specific intersection Lane identification node setting means for setting a lane identification node for identifying each dedicated lane;
When it is determined that the own vehicle or the other vehicle has approached the specific intersection based on the result of mapping by the mapping means, the traveling direction is connected to the specific intersection and travels on a road portion that is not the dedicated lane. An approach direction determining means for determining whether the first direction is a second direction in which the traveling direction is a second direction traveling in the dedicated lane,
When it is determined that the direction is the first direction, the mapping unit performs mapping of the position of the host vehicle and the other vehicle using the node of the specific intersection,
When it is determined that the direction is the second direction, the mapping unit performs mapping of the positions of the host vehicle and the other vehicle using the lane identification node.
A driving support device characterized by that. The setting of the lane identification node by the lane identification node setting means includes the map data, the position of the own vehicle, the traveling direction of the own vehicle, the position of the other vehicle, and the traveling direction of the other vehicle. Made based on
The driving support apparatus according to claim 1. The node at the specific intersection is identified by a node number consisting of numbers,
The lane identification node setting means generates a node number for the lane identification node by adding a different identifier corresponding to a dedicated lane to the node number of the specific intersection.
3. The driving support apparatus according to 1 or 2, wherein The determination by the direction determination means is made based on the traveling direction of the host vehicle or the other vehicle and the approach direction determination data indicating the first direction and the second direction associated with the specific intersection. The
The driving support apparatus according to any one of claims 1 to 4, wherein the driving support apparatus is any one of the above.

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