JP2013097571A - Driving support device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To output driving support information concerted between two vehicles.SOLUTION: When a high degree of warning is analyzed in a vehicle A of a user, a warning determination unit 33 transmits warning transmission information including the degree of warning analyzed in the vehicle A, via a transmission/reception unit 37 to another vehicle which may come into contact with the vehicle A. Conversely, when the transmission/reception unit 37 receives warning transmission information transmitted to the vehicle A from an adjacent vehicle, the warning determination unit 33 compares a degree of warning included in the received warning transmission information with the degree of warning analyzed in the vehicle A and makes determination to display, on a display 12, a warning indication corresponding to one of these degrees of warning which is indicative of a higher possibility of contact. Thus, degrees of warning concerted in the same level between the vehicle A and a specific adjacent vehicle can be reported approximately simultaneously, so that contact between them can be avoided.

Description

  The present invention relates to a driving support apparatus that exchanges information related to driving support between vehicles using inter-vehicle communication.

  In recent years, development and maintenance of an intelligent transportation system using information communication has been promoted in order to improve the safety of traveling of vehicles such as automobiles. As one form, a vehicle-to-vehicle cooperation system using vehicle-to-vehicle communication that does not require a large-scale infrastructure has been proposed. This inter-vehicle communication is communication for directly exchanging vehicle information between vehicles, and wireless communication is mainly assumed.

  On the other hand, for example, Patent Document 1 calculates the relative positional relationship between the two vehicles based on the current position of the other vehicle and the current position of the host vehicle received using inter-vehicle communication. A technique is described in which a collision determination is made based on information such as the positional relationship and the driving skills of both drivers.

JP 2004-164315 A

  Ideally, the collision determination as described above is performed simultaneously for the two vehicles so that the collision can be avoided. However, in the analysis of such collision determination, individual differences may occur due to differences in algorithms or differences in sensor detection accuracy between models of inter-vehicle communication devices mounted on each vehicle. For this reason, even if it is determined that there is a possibility of collision in one vehicle, there may be a case where the other vehicle has not yet reached the determination, and there is a risk that safety cannot be sufficiently ensured only by the avoidance action of one vehicle. There is. For this reason, there has been a demand for a technology that can output driving support information in cooperation between two vehicles.

  The problem to be solved by the present invention includes the above-described problem as an example.

  In order to solve the above-mentioned problem, the invention described in claim 1 is a driving support device that is mounted on a moving body and provides driving support to a driver, and the first moving body on which the driving support device is mounted. The detecting means for detecting the first state information relating to the traveling state of the vehicle and the traveling state of the second moving body detected and transmitted by the second moving body which is a moving body different from the first moving body The second state information receiving means for receiving the second state information relating to, and the contact between the second moving body and the first moving body, which is analyzed and transmitted by the second moving body Second warning level information receiving means for receiving second warning level information related to sex, and based on the first status information and the second status information, the first moving body and the second status information Analyzing means for analyzing first warning degree information relating to the possibility of contact with a moving body; Determining means for determining the driving support information related to driving support for the first moving body based on the warning degree information and the first warning degree information, and outputting the driving support information determined by the determining means Output means.

It is an example of the block diagram which shows the hardware structural example of a driving assistance system. It is an example of the figure showing the content of the information contained in vehicle transmission information. It is an example of the figure which assumes the case where the own vehicle is drive | working the road of 2 lanes on one side. It is an example of the vehicle information management table which records and manages the vehicle transmission information which the own vehicle in the driving | running | working environment of FIG. 3 received, and the vehicle information of the own vehicle. It is an example of the figure which shows a flow after analyzing a possibility of contact after preparation of a vehicle information management table until it operates so that a driver may avoid contact. It is a figure which shows the combination of the content of the warning degree alert | reported to the driver determined from the combination of the own vehicle analysis warning degree and the warning degree of the received warning transmission information. It is an example of the figure showing the content of the information contained in warning transmission information. The example of the display of the display which performs the warning alert | report of the caution of the own vehicle determination with respect to a rear-end collision with respect to the driver | operator of the own vehicle is shown. An example of the display on the display for notifying the driver of the own vehicle of a warning of the necessity of own vehicle determination for the rear-end collision is shown. The example of the display of the display which performs the warning alert | report of the warning required of the other vehicle determination with respect to a front-end collision with respect to the driver of another vehicle is shown. It is a flowchart showing the control content which CPU of a driving assistance unit performs when transmitting when the warning degree more than a caution is analyzed with the own vehicle. It is a flowchart showing the control content which CPU of the driving assistance unit performs when transmitting only when the warning level of the warning is required in the own vehicle. It is an example of the figure which shows the flow in the case of transmitting / receiving avoidance operation information based on a driver's avoidance operation.

  Hereinafter, an embodiment of the present invention will be described with reference to the drawings.

  FIG. 1 is an example of a block diagram illustrating a hardware configuration example of a driving support system 100 according to the present embodiment including a driving support device according to the present invention. This runner support system 100 is a system mounted on a vehicle corresponding to a first moving body (hereinafter referred to as own vehicle A). In FIG. 1, the driving support system 100 includes a driving support unit 11, a display 12, a wireless communication antenna 13, a vehicle speed sensor 14, a brake switch 15, a blinker switch 16, an in-vehicle camera 17, and a GPS 18.

  The vehicle identification unit 11 includes a CPU 21, a storage device 22, a graphic controller 23, and a wireless communication control unit 24.

  The CPU 21 has a function of controlling the entire navigation apparatus by performing various calculations according to the operation of a predetermined program and exchanging information with other units and outputting various control instructions.

  The storage device 22 includes a ROM 22a, a RAM 22b, and a storage medium 22c. The ROM 22a is an information storage medium in which various processing programs and other necessary information are written in advance. The RAM 22b is an information storage medium on which information necessary for executing the various programs is written and read. The storage medium 22c is a non-volatile information storage medium such as a flash memory or a hard disk.

  The graphic controller 23 has a function of acquiring image data from a video RAM (not shown) and the GPS 18 under the control of the CPU 21 and displaying an image signal based on the image data on the display 12.

  The wireless communication control unit 24 has a function of controlling transmission / reception of information with other vehicles by inter-vehicle communication by wireless communication via the wireless communication antenna 13 described later.

  The display 12 corresponds to an output means, and is constituted by, for example, an LCD panel and has a function of displaying various information images based on an image signal input from the graphic controller 23 of the vehicle identification unit 11.

  The wireless communication antenna 13 is mounted outside the vehicle A and has a function of transmitting an information signal input from the wireless communication control unit 24 and outputting an information signal received from another vehicle to the wireless communication control unit 24. Have.

  The vehicle speed sensor 14 corresponds to detection means and has a function of detecting the traveling speed of the host vehicle A. Based on the detection signal from the vehicle speed sensor 14, the CPU 21 can recognize how fast the host vehicle A is traveling at that time.

  The brake switch 15 corresponds to detection means, and detects whether or not the brake of the host vehicle A is depressed and enters an operating state, that is, whether or not the host vehicle A is in a deceleration state due to a braking operation. It has the function to do.

  The blinker switch 16 corresponds to detection means, and has a function of detecting the presence or absence of a blinker operation in either the right direction or the left direction of the host vehicle A.

  Each in-vehicle camera 17 corresponds to a detecting means, for example, using a CCD image sensor or the like to capture a landscape image in the respective image capturing direction from the vehicle A described above and send a corresponding image signal to the CPU 21 of the vehicle identification unit. Has a function to output.

  The GPS 18 corresponds to detection means, measures the current location of the host vehicle A, acquires current position information expressed in latitude and longitude, and performs predetermined route search and route guidance based on prestored map information. Has the function to perform.

  The driving support system 100 according to the present embodiment transmits vehicle transmission information including identification information of the own vehicle A and information related to the running state to other vehicles existing within the communicable range of the wireless communication antenna 13. . FIG. 2 is an example of a diagram showing the contents of information included in the vehicle transmission information. In the example of this embodiment shown in FIG. 2, the vehicle transmission information corresponds to first state information, and includes a host vehicle ID, host vehicle positioning information, and vehicle state information. In addition, this vehicle transmission information is equivalent to one of the 1st driving | running information in the own vehicle A provided with the driving assistance system 100 of this embodiment.

  The own vehicle ID corresponds to the moving body identification information, and is information that can uniquely identify the individual of the own vehicle A that transmits the vehicle transmission information. In the example of this embodiment, a registration number is used.

  The own vehicle positioning information corresponds to the first state information, and is current position information of the own vehicle A detected by the GPS 18, and in this example, is coordinate information expressed by latitude and longitude.

  The vehicle state information corresponds to the first state information and is information related to the current traveling state of the host vehicle A. In this example, the vehicle speed detected by the vehicle speed sensor 14 and the brake operation detected by the brake switch 15 are used. And the presence / absence of the blinker operation detected by the blinker switch 16 is included.

  The driving support system 100 according to the present embodiment broadcasts the vehicle transmission information having the above contents to all the vehicles existing within the wireless communication range. In addition, it continues to transmit at a predetermined short time interval so that the change of the vehicle state information can be transmitted in real time.

  In this embodiment, all target vehicles are equipped with the same driving support system 100 as described above, and vehicle transmission information including their own vehicle IDs corresponding to each vehicle is transmitted all at once in a steady state. Assuming that you are broadcasting to. In such an inter-vehicle communication environment, the driving support system 100 mounted on the host vehicle A transmits the vehicle transmission information of the host vehicle A described above, and all the radio communication antennas 13 within the wireless communication range. Vehicle transmission information (corresponding to other mobile body travel information and second state information) of the vehicle is received. And the possibility of contact with a specific other vehicle is analyzed based on the received own vehicle positioning information and vehicle state information of the other vehicle and the own vehicle positioning information and vehicle state information of the own vehicle A, and the analysis result The necessity of warning notification to the driver and the content thereof are determined according to the warning level.

  Here, for example, it is assumed that the host vehicle A is traveling on a two-lane road on one side as shown in FIG. In the inter-vehicle communication described above, the wireless communicable range 31 extends from several tens of meters to several hundreds of meters. Therefore, not only parallel vehicles traveling in parallel lanes but also vehicles from many other vehicles including oncoming vehicles traveling in oncoming lanes. Receive outgoing information. In order to analyze the possibility of contact in the vicinity of the host vehicle A described above, vehicles B, C, D located in the vicinity of the host vehicle A in the vicinity of the front, the rear, the side, etc., from among a lot of received vehicle transmission information. It is necessary to specify the vehicle transmission information transmitted from the vehicle. For this purpose, the vehicle positioning information included in each of the received vehicle transmission information is compared with the vehicle positioning information of the vehicle A, and the vehicle A is forward, backward, and diagonally forward right. Vehicle transmission information of neighboring vehicles B, C, and D located at relative positions is specified.

  FIG. 4 shows an example of a vehicle information management table that records and manages the vehicle transmission information of the other vehicle received by the host vehicle A in the traveling environment of FIG. 3 and the vehicle information of the host vehicle A. In FIG. 4, the vehicle information management table is a No. indicating the reception order. And own vehicle ID, own vehicle positioning information, relative position, relative distance, contact possibility type, vehicle state information, and own vehicle analysis warning level.

  The item of own vehicle ID records the own vehicle ID included in each vehicle transmission information, and in this example, it is described by the registration number as described above. The item of the own vehicle positioning information is “No. The vehicle positioning information included in the vehicle transmission information corresponding to is recorded, and in this example, it is represented by latitude and longitude as described above. The item of relative position is based on the comparison between the own vehicle positioning information of the own vehicle A and the own vehicle positioning information included in each vehicle transmission information. Indicates whether the transmission is from a vehicle (detailed later). The item of relative distance indicates a relative distance between the own vehicle positioning information of the own vehicle A and the vehicle calculated from the own vehicle positioning information included in each vehicle transmission information. The item of contact possibility type indicates the type of contact possibility with the host vehicle A corresponding to the relative position (described in detail later). The item of vehicle state information records vehicle state information included in each vehicle transmission information. In this example, as described above, vehicle speed, presence / absence of brake operation, presence / absence of blinker operation are recorded. The own vehicle analysis warning level item indicates an index of how important the warning should be given to the driver from the result of analyzing the possibility of contact between the own vehicle A and the neighboring vehicles B, C, and D (later Details).

  Regarding the determination of the relative position described above, the current position indicated by the own vehicle positioning information of each received vehicle transmission information is determined in consideration of the current traveling direction of the own vehicle A detected by the GPS 18 and the direction of the traveling lane. What direction should be determined as viewed from the current position of the host vehicle A may be determined. In the illustrated example, only the vehicle transmission information of neighboring vehicles B, C, and D that may come into contact with the host vehicle A is specified and shown in a shaded display.

  Further, the type of contact possibility is basically a content that can be uniquely set corresponding to the relative position, but may be set in a plurality of types depending on the relative position. For example, for other vehicles located diagonally forward to the right, in addition to the possibility of side contact, there is a sudden lane change, or either the other vehicle or the host vehicle A is oversteering on a curved lane Or there is a possibility of a rear-end collision by understeering.

  Next, based on the vehicle state information included in the vehicle transmission information of the neighboring vehicles B, C, and D and the vehicle state information of the own vehicle A, contact between the own vehicle A and the neighboring vehicles B, C, and D The possibility is analyzed, and the own vehicle analysis warning level that is an index of how important the warning should be given to the driver is determined. In this example, as shown in FIG. 4 above, safety, caution, and warning are given in order of decreasing importance for each type of possibility of contact between the own vehicle A and the neighboring vehicles B, C, and D. Judge in 3 steps. The own vehicle analysis warning level corresponds to the first warning level information.

  FIG. 5 shows an operation in which the driver avoids the contact after analyzing the possibility of contact in the own vehicle A equipped with the driving support system 100 of the present embodiment after the vehicle information management table of FIG. 4 is created. It is an example of the figure which shows the flow until it does. Note that the warning level analysis unit 32, the warning determination unit 33, and the transmission / reception unit 37 in the figure are software blocks of processing executed by the CPU 21 included in the driving support unit 11.

  In FIG. 5, the basic flow will be described first. First, the sensor 31 including the vehicle speed sensor 14, the brake switch 15, the winker switch 16, the in-vehicle camera 17, and the GPS 18 detects each state parameter related to the traveling state of the host vehicle A. Next, the warning level analysis unit 32 analyzes how important the warning level currently corresponds to each contact possibility type of each of the neighboring vehicles B, C, and D based on the detected state parameters. . Next, the warning determination unit 33 determines, based on the vehicle analysis warning level that is the analysis result, which warning level is finally displayed on the display 12. The display 12 displays a warning display corresponding to the warning instruction determined by the warning determination unit 33 and notifies the driver 35 of the warning. The driver 35 who sees the warning notification pays attention to the surroundings of the own vehicle A or avoids the contact according to the type of contact possibility notified by the warning notification and the degree of warning. The driving operation unit 36 such as a steering wheel, a brake, and a winker is operated.

  Here, it is assumed that various methods are used as a warning level analysis method in the warning level analysis unit 32. For example, there is a method for determining the warning degree only by the length of the inter-vehicle distance only by analyzing the warning degree corresponding to the type of rear-end collision between the own vehicle A and the rear vehicle C, in addition to the length of the inter-vehicle distance. A method that considers the relative speed between the two vehicles is also conceivable. In addition, the setting of coefficients and threshold values used in each analytical expression and the detection accuracy in the sensor 31 also vary.

  As described above, there are various algorithms and analysis accuracy in the warning level analysis method, and the warning level as the analysis result may vary greatly in the timing and accuracy of switching the contents. In other words, even if all the driving support systems mounted on all vehicles have the same basic configuration, the warning level determined at the same time may differ depending on the analysis method employed by the manufacturer or model and the difference in the sensor 31. is there.

  It is possible to ensure the minimum safety by analyzing and notifying the warning degree for the possibility of contact by the driving support system of each vehicle independently. However, in order to ideally avoid contact between two vehicles, warning notification based on the same determination is made simultaneously for each of the two vehicles instead of warning notification based on their own judgment, so that mutual contact can be avoided. Is desirable.

  Therefore, in the driving support system 100 of this embodiment, when it is determined that there is some possibility of contact and a warning level corresponding to the determination is generated, the warning determination unit 32 causes the transmission / reception unit 37 to be connected as illustrated. Via, the warning transmission information including the own vehicle analysis warning level is transmitted to the other vehicle to be contacted. For example, in the example of FIG. 4, the judgment is made in three stages of safety, caution and warning required from the lowest importance level, but when the warning or warning is required, the warning including the vehicle analysis warning level is included. Transmission information is transmitted with respect to the other vehicle used as the contact object. Alternatively, only when a warning level that is so important that a warning is required beyond warning is determined, warning transmission information including its own vehicle analysis warning level is transmitted to the other vehicle to be contacted. Good. Conversely, when the transmission / reception unit 37 receives warning transmission information (corresponding to the second travel information and the second warning level information) transmitted from the neighboring vehicle to the host vehicle A, the warning determination unit Based on the warning level included in the received warning transmission information 33 and the own vehicle analysis warning level analyzed by the own vehicle A, the final warning level corresponding to the warning level is displayed on the display 12. Judgment.

  At this time, in the example of the present embodiment, the warning determination unit 33 compares the warning level of the received warning transmission information with the own vehicle analysis warning level, and issues a warning instruction corresponding to the higher warning level. Is displayed on the display 12. That is, based on the rule that the warning degree of contact possibility is independently analyzed and judged between the two vehicles with possibility of contact, but the judgment with higher contact possibility is preferentially adopted. Warning notification. Thereby, the warning degree coordinated to the same extent between the own vehicle A and the specific neighboring vehicle can be notified almost simultaneously, and contact with each other can be avoided. For example, when the warning transmission information including the own vehicle analysis warning level is transmitted to the other vehicle to be contacted when the determination of the caution or warning required in the example of FIG. 4 is made, as shown in FIG. The decision to adopt is determined based on the correct table. In addition, only when the warning level that is so important as to exceed the level of caution is determined, the warning transmission information including the vehicle analysis warning level is sent to the other vehicle that is the contact target. FIG. 12 shows a determination method for determination to be adopted and will be described later. In this case, the transmission / reception of the warning transmission information performed by the transmission / reception unit 37 with another vehicle is different from the broadcast transmission in the case of the vehicle transmission information described above, with a specific one neighboring vehicle that may be contacted. Send and receive individually.

  FIG. 7 is an example of a diagram illustrating the content of information included in the warning transmission information. In the example of the present embodiment shown in FIG. 7, the warning transmission information includes a destination vehicle ID, a transmission source vehicle ID, and warning instruction information.

  The destination vehicle ID is vehicle identification information of another vehicle that is a destination of the warning transmission information. That is, it is the own vehicle ID (registration number, etc.) of the vehicle transmission information that may be contacted, analyzed for the warning level of the warning required in the vehicle information management table of FIG.

  The transmission source vehicle ID is vehicle identification information of the host vehicle A that is the transmission source of the warning transmission information. That is, the vehicle ID of the vehicle A (registration number, etc.).

  The warning instruction information is information indicating the degree of warning of the possibility of contact between the other vehicle of the destination vehicle ID and the host vehicle A. In the illustrated example, in the vehicle information management table of FIG. 4 described above, the type of contact possibility and the warning level (warning required) recorded in association with the vehicle transmission information of another vehicle that is the destination of the warning transmission information. Is included.

  The warning transmission information and the vehicle transmission information include identification information capable of distinguishing both information in each header and the like, so that any vehicle can be processed in a different manner when each information is received. And the driving assistance system 100 of this embodiment transmits the warning transmission information of said content toward all the other vehicles which exist in the wireless communication possible range. In the other vehicle that has received this warning transmission information, only the vehicle whose destination vehicle ID included therein matches the vehicle ID of the other vehicle is adopted, and the vehicle that does not match is discarded. That is, unlike broadcast transmission in the case of vehicle transmission information, in the case of warning transmission information, it can be transmitted individually only to a specific other vehicle.

  In the vehicle driving support system that has received the warning transmission information in this way, the warning determination unit 33 analyzes the warning level (warning required) of the warning instruction information included in the received warning transmission information and the vehicle A. The own vehicle analysis warning level is compared, and it is determined that a warning instruction corresponding to the higher warning level is displayed on the display 12. Note that the content of this warning instruction corresponds to driving support information.

  For example, it is assumed that the other vehicle C located behind the host vehicle A approaches the host vehicle A as shown in FIG. In this case, with the approach of the other vehicle C, the display on the display 12 of the own vehicle A is, for example, as shown in FIG. 9 from the warning notification corresponding to the subject vehicle analysis warning degree as shown in FIG. The warning notification corresponding to the own vehicle analysis warning level of the warning is required. In this way, when the own vehicle A switches to the warning notification of the warning required, the vehicle A simultaneously notifies (transmits) that the warning level of the warning required is determined to the other vehicle C. At this time, if no warning is given on the display of the other vehicle C behind, or even during the warning notification corresponding to the caution not shown in the drawing, the other vehicle C has a warning with a higher contact possibility. By receiving the degree determination, the other vehicle C is switched to the warning notification corresponding to the warning required as shown in FIG.

  In the illustrated example, each warning notification display clearly indicates whether the warning is determined by the host vehicle A or by another vehicle, and the driver refers to information on such a determination source. However, it can also help the grounds for the avoidance operation. In order to avoid the confusion of the warning notification, such information of the determination source may not be displayed so that the vehicle determination and the other vehicle determination cannot be distinguished.

  FIG. 11 is an example of a flowchart showing the control content executed by the CPU 21 of the driving support unit 11 in order to realize the operation mode described above. This flow is called and started to be executed at an appropriate time interval, for example, while the driving support system 100 is powered on.

  In FIG. 11, first, in step S5, the GPS 18 measures the current location of the host vehicle A to obtain current position information, and detects this as host vehicle positioning information.

  In step S10, the vehicle speed, the brake switch 15, and the winker switch 16 are detected from the vehicle speed sensor 14, the brake switch 15, and the winker switch 16 respectively, and these are collectively detected as the vehicle state information of the host vehicle A. To do.

  Moving to step S15, the registration number of the host vehicle A stored in the storage medium 22c or the like is acquired as the host vehicle ID.

  Proceeding to step S20, the own vehicle positioning information, the vehicle state information, and the own vehicle ID detected in steps S5, S10, and S15 are combined into the vehicle transmission information of the own vehicle A, which is transmitted from the wireless communication antenna 13. The procedure of step S20 corresponds to the first state information transmission unit and the transmission / reception unit 37 of FIG.

  In step S25, all the vehicle transmission information transmitted from other vehicles existing in the wireless communicable range 31 via the wireless communication antenna 13 is received. The procedure of step S25 corresponds to the second state information receiving unit and the transmission / reception unit 37 of FIG.

  Moving to step S30, the vehicle information management table shown in FIG. 4 is created based on the vehicle transmission information of the host vehicle A transmitted in step S20 and the vehicle transmission information of all other vehicles received in step S25. To do.

  Moving to step S35, by comparing the positioning information of the own vehicle A and each other vehicle, the neighboring vehicle located in the vicinity of the own vehicle A and the type of contact possibility corresponding to the relative position are specified, and the vehicle information management Record on the table.

  The process proceeds to step S40, and for each type of possibility of contact between the neighboring vehicle specified in step S35 and the own vehicle A, the degree of warning corresponding to the possibility of contact corresponds to the vicinity of the own vehicle A. Analysis is performed based on vehicle state information of each vehicle. The analysis result is stored in the vehicle information management table as the own vehicle analysis warning level. The procedure of step S40 corresponds to the analyzing means and the warning level analysis unit 32 in FIG.

  The process proceeds to step S45, and it is determined whether or not the own vehicle analysis warning degree analyzed in the above step S40 actually needs to display a warning notification on the display 12. Specifically, in any one of the contact possibility types identified in step S35, even if the vehicle analysis warning level analyzed by the vehicle A itself corresponds to a warning level that requires attention or more. It is determined whether or not there is. If there is no type of possibility of contact with a warning level that requires warning notification, the determination is not satisfied, and the routine goes to Step S50. The procedure of step S45 corresponds to the determination unit and the warning determination unit 33 in FIG.

  In step S50, all warning transmission information transmitted from other vehicles existing within the wireless communicable range 31 via the wireless communication antenna 13 is received. The procedure of step S50 corresponds to the second warning level information receiving unit and the transmitting / receiving unit 37 of FIG.

  It moves to step S55 and collates whether the receiving vehicle ID contained in the warning transmission information received by the said step S50 corresponds with the own vehicle ID of the own vehicle A. That is, it is verified whether the received warning transmission information is transmitted to the host vehicle A. The procedure of step S55 corresponds to the second warning level information receiving unit and the transmitting / receiving unit 37 of FIG.

  The process proceeds to step S60, and it is determined whether or not there is warning transmission information in which the receiving vehicle ID matches the own vehicle ID of the own vehicle A in the collation in step S55. If there is no warning transmission information in which the receiving vehicle ID matches the own vehicle ID of the own vehicle A, the determination is not satisfied and the same procedure is repeated by returning to step S5. The procedure of step S60 corresponds to the second warning level information receiving unit and the transmission / reception unit 37 of FIG.

  On the other hand, in the determination in step S45, if there is even one type of possibility of contact with a warning level that requires warning notification, the determination is satisfied, and the routine goes to step S65.

  In step S65, in the vehicle information management table, the vehicle ID of a neighboring vehicle whose own vehicle analysis warning level is a warning is acquired as the destination vehicle ID.

  In step S70, the vehicle ID of the host vehicle A is set as the transmission source vehicle ID together with the destination vehicle ID acquired in step S65, and the own vehicle analysis warning level corresponding to the caution or the warning is required. Warning transmission information is generated as warning instruction information including the type of contact possibility. Then, this warning transmission information is transmitted to all other vehicles existing within the wireless communication possible range via the wireless communication antenna 13. The procedure of step S70 corresponds to the first warning degree information transmitting unit and the transmitting / receiving unit 37 of FIG.

  In step S75, it is determined whether or not the content of the own vehicle analysis warning level for which the warning notification is determined to be necessary in step S45 is a warning required. If the warning notification needs attention, the determination is not satisfied and the routine goes to Step S50. This is because, in this example, the caution required for warning notification is not the highest level (indicating the most dangerous (most likely contact) situation), so the warning notification from another vehicle is acquired and the other vehicle is higher ( This is because it is necessary to confirm whether or not a warning notification of a level (indicating a more dangerous situation) is performed. The procedure of step S75 corresponds to the determination unit and the warning determination unit 33 in FIG.

  On the other hand, if the warning notification is a warning required, the determination is satisfied, and the routine goes to Step S80. This is because, in this example, the warning required in the warning notification is the highest level (indicating the most dangerous situation), so when the warning notification of the warning requiring the highest level of the host vehicle is given, the warning notification from other vehicles This is because the warning instruction having the content based on the vehicle analysis warning level may be displayed on the display 12 as the vehicle determination.

  The process proceeds to step S80, and a warning instruction having a content based on the degree of warning of own vehicle analysis is displayed on the display 12 as a judgment of the own vehicle. And it returns to said step S5 and repeats the same procedure.

  On the other hand, if it is determined in step S60 that there is at least one warning transmission information in which the destination vehicle ID matches the host vehicle ID of host vehicle A, the determination is satisfied, and the process proceeds to step S85.

  In step S85, corresponding to the warning level of the warning instruction information included in the warning transmission information determined to match the vehicle ID in step S60, and the transmission source vehicle ID included in the warning transmission information. The own vehicle analysis warning level analyzed by the own vehicle A is compared with the same type of contact possibility.

  Moving to step S90, in the comparison in step S85, it is determined whether or not the warning level included in the received warning transmission information is more important than the own vehicle analysis warning level analyzed by the own vehicle A itself. judge. If the warning level analyzed by the own vehicle A is higher than the received warning level, the determination is not satisfied, the process proceeds to step S80, and the warning instruction with the content based on the own vehicle analysis warning level is displayed as the determination of the own vehicle. 12 is displayed. And it returns to said step S5 and repeats the same procedure. The procedure of step S90 corresponds to the determination unit and the warning determination unit 33 in FIG.

  On the other hand, if the received warning level is higher than the warning level analyzed by the vehicle A itself, the determination is satisfied, and the routine goes to Step S95.

  In step S95, the warning instruction having the content based on the warning level of the received warning transmission information is displayed on the display 12 as the other vehicle determination. And it returns to said step S5 and repeats the same procedure.

  As described above, the driving support system 100 is a driving support system 100 (corresponding to a driving support device) that is mounted on a vehicle (corresponding to a moving body) and supports driving to the driver. A vehicle speed sensor 14 for detecting vehicle transmission information (corresponding to the first state information) relating to the traveling state of the host vehicle A (corresponding to the first moving body) on which the support system 100 is mounted, a brake switch 15, a blinker switch 16, The vehicle-mounted camera 17 and the GPS 18 (corresponding to the detecting means) and another vehicle (corresponding to the second moving body) which is a moving body different from the own vehicle A is detected and transmitted and relates to the traveling state of the other vehicle. Step S25 for receiving vehicle transmission information (corresponding to second state information) (corresponding to second state information receiving means) and the other vehicle analyzed and transmitted by the other vehicle Steps S50, S55, and S60 (corresponding to second warning degree information receiving means) for receiving warning transmission information (corresponding to second warning degree information) regarding the possibility of contact with the host vehicle A; Based on the vehicle transmission information of the own vehicle A and the vehicle transmission information of the other vehicle, the own vehicle analysis warning degree (the first warning degree information is related to the possibility of contact between the own vehicle A and the other vehicle). The warning level analysis unit 32 (corresponding to the analysis means) in step S40, the warning transmission information received from the other vehicle in the steps S50, S55, and S60 and the warning level analysis unit 32 in step S40. Steps S45, S75, S90 or warning determination unit for determining a warning instruction (corresponding to driving support information) related to driving support of the own vehicle A based on the own vehicle analysis warning level analyzed in the own vehicle A A 3 (corresponding to the determination means), the the display 12 alarm decision unit 33 outputs the said warning indication determined (corresponding to the output means), a.

  In this way, the driving support system 100 mounted on the host vehicle A objectively determines the relationship regarding travel between the host vehicle A and another vehicle that exchanges the vehicle transmission information and the warning transmission information. The warning instruction which is the driving support information of this example corresponding to this can be determined. In addition, the same driving support information can be determined for other vehicles that exchange the vehicle A with vehicle transmission information and warning transmission information. This is not a necessary requirement, but it is more certain if the own vehicle A and other vehicles have the same decision criteria. Moreover, even if the own vehicle A and other vehicles have different determination criteria, it has a table for matching each determination criterion (warning level), or shows each determination criterion (warning level). From the comparison of the general meaning of words, it can be read as the decision criteria for the vehicle. In this way, driving support information such as warning instructions coordinated with each other can be output based on the same situation judgment, instead of driving support information based on independent analysis between the two vehicles. It is possible to perform an avoidance operation that is ideally coordinated with respect to abnormalities related to running.

  Further, the driving support system 100 mounted on the host vehicle A is based on the vehicle positioning information and the vehicle state information included in each of the vehicle transmission information detected by the host vehicle A and the received vehicle transmission information of the other vehicle. The analysis method analyzes the vehicle analysis warning level of the possibility of contact between the two vehicles, and generates warning transmission information including the same. Then, in order to determine the content of the warning instruction based on the own vehicle analysis warning degree and the warning degree included in the warning transmission information received by the own vehicle A after being analyzed by the other vehicle, It can be content.

  Further, in the present embodiment, the warning transmission information merely conveys information related to the content of the warning level, and the warning determination unit 33 simply displays the content of the warning instruction based on the warning indication information on the display 12 to notify the driver of the warning. However, the present invention is not limited to this. For example, the warning transmission information may include specific notification content or notification expression information suitable for notifying the driver of the warning level content in addition to the information regarding the warning level content. The information of the notification content or the notification expression is a sentence, an image, an audio file, or the like notified to the driver. In that case, when the warning level of the warning transmission information is adopted, the warning determination unit 33 displays or reproduces the text, image, audio file, or the like for notification to the driver included in the warning transmission information as it is. It may be.

  In addition to the above-described configuration, the procedure of step S20 (corresponding to first state information transmitting means) for transmitting vehicle transmission information related to the traveling state of the own vehicle A to another vehicle, and a warning including the degree of own vehicle analysis warning Step S70 (corresponding to first warning level information transmitting means) for transmitting the transmission information to another vehicle.

  In this way, the driving support system 100 mounted on the host vehicle A includes the vehicle transmission information detected by the host vehicle A and the warning transmission information including the own vehicle analysis warning level analyzed by the host vehicle A using a unique analysis method. To other vehicles. Thereby, also in other vehicles, the content of the warning instruction can be determined based on the warning level analyzed by the other vehicle and the warning level included in the warning transmission information analyzed by the own vehicle A and received by the other vehicle. The other vehicle can be based on the same (level) warning level as that of the own vehicle, and the contents of the warning instruction in the other vehicle can also be coordinated with each other.

  In addition, when the warning transmission information including the warning level of caution to the host vehicle is received from the other vehicle, the warning level of the host vehicle is higher than the warning level based on the warning transmission information (in this example, the warning level is required). If it is determined, warning transmission information including the warning level determined by the own vehicle may be transmitted to other vehicles. Or, when the warning transmission information including the warning level of caution to the host vehicle is received from another vehicle, the host vehicle has determined a higher warning level (warning required in this example) for the vehicle. If the warning transmission information including the determination is not transmitted, the warning transmission information including the warning degree determined by the own vehicle may be transmitted to other vehicles.

  In addition, the timing for transmitting the warning transmission information from the own vehicle A to the other vehicle is not limited to transmitting immediately after the own vehicle analysis warning level is analyzed, for example, even if a predetermined time elapses after the analysis. You may make it transmit warning transmission information for the first time, when avoidance operation is not seen by the other vehicle of object. The predetermined time may be a fixed time such as 1 second, or may be changed according to the situation. By doing in this way, when the judgment timing between vehicles is only slightly behind, the frequency of warning instructions in other vehicle judgment can be greatly reduced.

  In the above embodiment, warning transmission information including the vehicle analysis warning level is transmitted to the other vehicle to be contacted when the warning or warning is required. Is not limited to this. For example, the warning transmission information may be transmitted to other vehicles only when the warning level of the warning is determined beyond the level of caution. In this case, a flow as shown in FIG. 12 corresponding to FIG. 11 is executed. The difference between the flow of FIG. 11 and the flow of FIG. 12 is that the procedure of step S45A is executed instead of the procedure of step S45, and the procedure of step S75 is omitted. By executing the flow of FIG. 12, even if the vehicle that has received the warning transmission information (only the warning is required) has the safety level of the vehicle analysis warning at that time, the warning level is compulsorily required until the warning is required. Is raised. That is, the warning instructions can be coordinated for the first time only when any of the two vehicles determines the warning level of the most important warning, and contact with each other can be avoided.

  Moreover, the information transmitted / received separately with the other vehicle of contact object is not restricted to warning transmission information. For example, as shown in FIG. 13 corresponding to FIG. 5 described above, a warning notification is displayed on the display 12 with the content of the warning instruction corresponding to the degree of warning of own vehicle analysis analyzed by the own vehicle A, and the corresponding driving is performed by looking at it. The content of the hand avoiding operation is detected by the driving operation unit 36. That is, the detected avoidance operation information is determination information that takes into account the skill and determination of the driver. The own vehicle A transmits the avoidance transmission information including the avoidance operation information instead of or in addition to the alert transmission information, and the warning determination unit 33 of the other vehicle that receives the information transmits the final warning in consideration of the avoidance operation information. The content of the instruction may be determined.

  In addition to the above-described configuration, the warning determination unit 33 compares the warning level analyzed by the other vehicle with the own vehicle analysis warning level analyzed by the own vehicle A, and determines one of them as the content of the warning instruction.

  In this way, it is only necessary to selectively determine one of the two warning levels, so that a quick warning instruction can be determined.

  In addition to the above-described configuration, the warning determination unit 33 determines, as the content of the warning instruction, the one with the higher possibility of contact between the warning level analyzed by the other vehicle and the own vehicle analysis warning level analyzed by the own vehicle A. .

  If it does in this way, the same warning degree can be selected reliably between the own vehicle A and another vehicle, and the content of the safest warning instruction | indication can be determined. That is, the own vehicle A and the other vehicle can avoid contact with each other with the safest and most coordinated warning instructions.

  The warning determination unit 33 indicates a state other than safety among the warning level analyzed by the other vehicle and the own vehicle analysis warning level analyzed by the own vehicle A, and is received or generated first. May be determined as the content of the warning instruction. In this way, a vehicle that has analyzed or received its own vehicle analysis warning level or warning transmission information with a warning level other than safety (needs attention, warning required) can use the warning level as a warning instruction as it is, thereby promptly issuing a warning instruction. Can be notified.

  In the present embodiment, the warning level is evaluated in three stages, but there may be only two stages of safety and warning required. In this case, the warning transmission information indicating the warning level of the warning required is transmitted immediately when the safety state is not met. If it does in this way, in the vehicle of the side which received warning transmission information, it will adopt, preferentially using the warning degree of the warning required judged before comparing warning levels. Since vehicle accidents occur in an instant, the judgment of any vehicle is a judgment that the safety support function has made. Can be prevented.

  In addition to the above-described configuration, the vehicle transmission information and the warning transmission information transmitted by the own vehicle A and the other vehicle respectively include a vehicle ID (corresponding to mobile object identification information) that can identify the individual vehicle that transmits the vehicle. Therefore, the procedures of steps S50, S55, S60, and S70 are transmitted / received to / from another vehicle specified by the vehicle ID.

  If it does in this way, the warning transmission information from the vehicle which does not have the possibility of contacting the said own vehicle A can be disregarded, and the content of the required warning instruction | indication can be determined rapidly.

  The identification of the other vehicle of the other party is not limited to the vehicle ID. For example, when high detection accuracy can be expected in the GPS provided in each vehicle, the own vehicle positioning information included in the vehicle transmission information transmitted by the other vehicle (Equivalent to mobile body positioning information) may be used. In this case, the own vehicle ID is not required in the vehicle transmission information shown in FIG. 2, and the positioning information of the transmission / reception partner is replaced with the transmission source vehicle ID in place of the destination vehicle ID in the warning transmission information shown in FIG. What is necessary is just to use the positioning information of the own vehicle A instead of. And in the collation determination of said step S50, S55, S60, and transmission of step S65, S70, each positioning information which considered the movement error part may be used instead of vehicle ID. If it does in this way, since one other vehicle can be specified only by the relative positional relationship with the own vehicle A at that time, it is not necessary to use vehicle ID managed centrally.

  The present invention is not limited to the above-described embodiment, and various modifications can be made without departing from the spirit and technical idea of the present invention.

(1) When reviewing on the side of the vehicle that has received the warning transmission information In the above embodiment, the vehicle analysis warning level analyzed by the host vehicle A is compared with the warning level included in the warning transmission information received from another vehicle. And although the content of the warning instruction | indication in the own vehicle A was determined simply by selecting the one with high possibility of contact, this invention is not limited to this. For example, it is possible to compare the own vehicle analysis warning level and the received warning level up to a more specific analysis basis, and select a warning level with higher reliability. In this case, the warning transmission information may be sent and received with analytical formulas representing the algorithm of the analysis method used when analyzing the warning level, and various setting parameters such as coefficients and thresholds attached as analysis information. .

  For example, the analysis method (analysis formula) of the warning level of the own vehicle A and the other vehicle to be contacted is the same, and there is no difference in the number and type of state parameters such as the inter-vehicle distance and relative speed used in the analysis method If one of the warnings is high only because of a difference in the setting parameters such as the coefficient and threshold, the warning analyzed by the vehicle as it is without causing any problem in the time difference of the warning level due to the result. The degree may be adopted.

  Also, for example, the warning level analysis method (analysis formula) for each of the own vehicle A and the other vehicle to be contacted is greatly different, and the analysis method using more state parameters is more reliable. The warning level may be adopted based on the prediction that the high warning level will be analyzed. Alternatively, the warning degree may be reanalyzed using a more reliable analysis method.

  As described above, in the driving support system 100, the warning transmission information that the host vehicle A and the other vehicle start each include analysis information that is a basis for analyzing each of the warning transmission information. The content of the warning instruction is determined based on the comparison of the analysis information.

  In this way, if the other vehicle has also judged the judgment material that is not in addition to the judgment in the own vehicle A, it is adopted that the judgment of the other vehicle may be more appropriate, It is possible to give priority to the determination that the degree of warning is higher in order to avoid contact more reliably.

  In addition, the above analysis information including the performance of the CPU and the detection accuracy of each sensor may be used as a comparative material for reliability. Moreover, when sending and receiving avoidance operation information that reflects the driver's judgment as shown in FIG. 13 above, as the basis information, the driver's years of operation, the number of accidents, or a specific skill evaluation value It is good also as a comparative material of reliability including such information. The own vehicle A that has received the warning transmission information may return the warning level and the content of the warning instruction finally selected and determined to the other vehicle that has transmitted the warning transmission information. Thereby, the warning situation of the own vehicle A can be confirmed also in the other vehicle on the side that transmitted the warning transmission information.

  In addition to the vehicle information management table of FIG. 4 described above, all vehicle transmission information received from the same other vehicle up to that point, that is, vehicle transmission information including the same own vehicle ID is collected in a time series. A vehicle-specific vehicle information management table managed side by side may be created (not shown). The vehicle-specific vehicle information management table may be created corresponding to at least other vehicles including each neighboring vehicle. By creating such a vehicle-specific vehicle information management table, the host vehicle A can detect the acceleration / deceleration, traveling direction, and turning direction of the corresponding other vehicle.

  Further, in the above-described embodiment and the modification, the warning level is provided with two levels of warning indicators of “Caution required” and “Warning required” in addition to “Safety”, but the present invention is not limited to this. . For example, three or more warning indicators may be provided, such as “safety”, “status change”, “caution”, and “warning required” for the warning level. In this case, it is necessary to set in advance at which stage the warning transmission information is transmitted.

  In addition to those already described above, the methods according to the above-described embodiments and modifications may be used in appropriate combination.

  In addition, although not illustrated one by one, the present invention is implemented with various modifications within a range not departing from the gist thereof.

11 Driving support unit 12 Display (equivalent to output means)
13 Wireless communication antenna 14 Vehicle speed sensor (equivalent to detection means)
15 Brake switch (equivalent to detection means)
16 Winker switch (equivalent to detection means)
17 On-board camera (equivalent to detection means)
18 GPS (equivalent to detection means)
21 CPU
22 storage device 23 graphic controller 24 wireless communication control unit 31 sensor 32 warning level analysis unit (corresponding to analysis means)
33 Warning degree determination unit (corresponding to determining means)
35 Driver 36 Driving operation unit 37 Transmission / reception unit 100 Vehicle identification system (corresponding to driving support device)
A own vehicle (equivalent to the first moving body)
B, C, D Neighboring vehicles (corresponding to the second moving body)

Claims (8)

A driving support device mounted on a moving body for driving support to a driver,
Detecting means for detecting first state information relating to a traveling state of the first moving body on which the driving support device is mounted;
Second state information receiving means for receiving second state information relating to the traveling state of the second moving body detected and transmitted by a second moving body that is a different moving body from the first moving body. When,
Second warning degree information reception for receiving second warning degree information on the possibility of contact between the second moving body and the first moving body, which is analyzed and transmitted by the second moving body. Means,
Based on the first state information and the second state information, an analysis unit that analyzes first warning degree information regarding the possibility of contact between the first moving body and the second moving body. When,
Determining means for determining the driving support information related to driving support of the first moving body based on the second warning level information and the first warning level information;
Output means for outputting the driving support information determined by the determining means;
A driving support device comprising: Furthermore, the driving support device includes:
First state information transmitting means for transmitting the first state information to the second moving body;
The driving support device according to claim 1, further comprising: a first warning level information transmitting unit that transmits the first warning level information to the second moving body.   3. The driving support according to claim 1, wherein the determination unit compares the second warning level information and the first warning level information, and determines one of them as the driving support information. apparatus.   The driving support device according to claim 3, wherein the determining unit determines, as the driving support information, a higher contact possibility between the second warning level information and the first warning level information. .   The determination means indicates a state other than safety among the second warning level information and the first warning level information, and whichever is received or generated first is the driving support information. The driving support device according to claim 3, wherein the driving support device is determined as: The second warning level information and the first warning level information include analysis information as a basis for analyzing each of them,
4. The driving support apparatus according to claim 3, wherein the determining means determines the driving support information based on a comparison of analysis information of the second warning level information and the first warning level information. . Each of the first state information and the second state information includes mobile object identification information capable of identifying an individual mobile object to be transmitted,
The first warning level information transmitting unit and the second warning level information receiving unit transmit and receive data to and from the second mobile unit specified by the mobile unit identification information. The driving support device according to Item 1. The first state information and the second state information include moving body positioning information indicating the current position of the moving body that transmits each of the first state information and the second state information,
7. The first warning level information transmitting unit and the second warning level information receiving unit transmit and receive to / from the second mobile unit specified by the mobile unit positioning information. The driving support device according to Item 1.

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