JP2013196664A - Mobile body mounted transmitter and mobile body mounted receiver - Google Patents

Abstract

PROBLEM TO BE SOLVED: To mutually share a safe driving support function for enabling determination by the same algorithm between a plurality of mobile bodies.SOLUTION: When contact between a vehicle A and a vehicle B is predicted, the vehicle A transmits a safe driving support program to the vehicle B through radio communication. Thus, a common safe driving support program that grasps unified contents and a coordination mechanism can be executed between different vehicles with each other only if an environment for executing the program is common regardless of a difference in an autonomous safe driving support function itself in each vehicle. As a result, the vehicles different from each other can perform unified or coordinated avoidance behavior, and even details of driving support information can be unified because an algorithm, performance, or the like is the same in the mutual safe driving support functions.

Description

  The present invention relates to a mobile unit-mounted transmission device that is mounted on a mobile unit and transmits predetermined information, and a mobile unit-mounted receiver unit that is mounted on a mobile unit and receives predetermined information.

  A technique for providing safe driving support to a driver of a moving body is known. For example, in Patent Document 1, a relative positional relationship between the two vehicles is calculated based on the current position of the other vehicle and the current position of the host vehicle received using inter-vehicle communication. A technique for performing collision determination based on information such as driving skill of a driver is described.

JP 2004-164315 A

  Even if the collision determination is made after acquiring the surrounding situation as in the above prior art, the determination is only a single determination by the safe driving support function of the own mobile body, and the driving provided as a result of the determination Support information or control of the moving body is also the result of a single decision. Similarly, when other surrounding mobile units have a safe driving support function, the other mobile units also perform collision determination and provide driving support information, etc. It is the result of independent judgment by the support function. Here, each safe driving support function installed in each vehicle may be based on different judgment algorithms depending on the manufacturer of the vehicle, the difference in the grade of the vehicle, etc. The same judgment and driving assistance are not always made for the same situation. Furthermore, the determination by the safe driving support function performed by each mobile body, provision of driving support information, and the like are not linked to other mobile bodies.

  Therefore, for example, even if each moving body avoids according to the safe driving support function, it collides with each other so that humans and bicycles approaching each other may collide with each other so that they do not collide with each other. If it is avoided in the direction, it may lead to an accident. Thus, even if the safe driving support function of each mobile unit makes a determination for avoidance, the driving support information provided as a result of the determination made by each safe driving support function using the respective determination algorithm If the control of the moving body does not mesh with other moving bodies, there is a risk that sufficient safety cannot be ensured. Similarly, if the driving support information and control of the moving body provided as a result of the judgment made independently without each cooperation of each safe driving support function does not mesh with other moving bodies, it is sufficiently safe. May not be secured. Therefore, there has been a demand for a technology that can share a safe driving support function that can be determined by the same algorithm among a plurality of moving bodies in situations where there is a risk of an accident.

  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 mobile unit-mounted transmission device that is mounted on a mobile unit and transmits information to another mobile unit via wireless communication, and Safe driving support means for generating self-driving support information related to safe driving support of its own moving body and executing safe driving support based on the self-driving support information when contact with another moving body is predicted And a transmission means for transmitting a safe driving support program for causing the control means to function as all or part of the safe driving support means when the contact is predicted by the safe driving support means. And comprising.

  In order to solve the above-mentioned problem, the invention described in claim 6 is a mobile unit-mounted receiving device that is mounted on a mobile unit and receives information from other mobile units via wireless communication. Executable control means, and all or part of a safe driving support program for causing the control means to function as safe driving support means for executing safe driving support based on driving support information related to safe driving support of the mobile body Receiving means for receiving from the other moving body, and the control means executes the safe driving support program received by the receiving means.

It is a figure which shows an example of the some vehicle provided with the vehicle-mounted apparatus which is one Embodiment of the mobile body mounting transmitter and mobile body mounting receiver of this invention. It is a block diagram which shows the hardware structural example of the electronic system of the own vehicle containing a vehicle-mounted apparatus. It is a functional block diagram which shows the function structural example of the control part exhibited when CPU of the control part which the vehicle-mounted apparatus of the own vehicle has runs the predetermined | prescribed program memorize | stored in the memory | storage device. It is a functional block diagram which shows the function structural example of the control part exhibited when CPU of the control part which the vehicle-mounted apparatus of another vehicle has runs the predetermined | prescribed program memorize | stored in the memory | storage device. It is a figure which shows the specific example of the avoidance action which an own vehicle and another vehicle perform in cooperation. It is a figure which shows the specific example of the avoidance action which an own vehicle and another vehicle perform in cooperation. It is a figure which shows the specific example of the avoidance action which an own vehicle and another vehicle perform in cooperation. It is a figure which shows the specific example of the avoidance action which an own vehicle and another vehicle perform in cooperation. It is a flowchart which shows the example of a procedure of the process performed by the control part of the vehicle-mounted apparatus mounted in the vehicle which is a program transmission side. It is a flowchart which shows the example of a procedure of the process performed by the control part of the vehicle-mounted apparatus mounted in the vehicle which is a program receiving side.

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

  FIG. 1 is a diagram illustrating an example of a plurality of vehicles including an in-vehicle device that is an embodiment of the mobile body-mounted transmission device and the mobile body-mounted reception device of the present invention. As shown in FIG. 1, the vehicle A is equipped with an in-vehicle device 100, and the vehicle B is equipped with an in-vehicle device 200. The in-vehicle device 100 and the in-vehicle device 200 can transmit / receive information to / from each other via wireless communication. In the present embodiment, when the vehicle A and the vehicle B come close to each other and contact (including a collision; the same applies hereinafter) is predicted, the vehicle-mounted device 100 (corresponding to a mobile unit-mounted transmission device) of the vehicle A is wirelessly communicated. A case where a safe driving support program described later is transmitted to the in-vehicle device 200 of the vehicle B (corresponding to a mobile unit mounted receiving device) will be described as an example. Hereinafter, the vehicle A (corresponding to its own mobile body) on which the in-vehicle device 100 is mounted is referred to as its own vehicle A, and the vehicle B (corresponding to other mobile body) in which the on-vehicle device 200 is mounted is referred to as other vehicle B. To do.

  The positional relationship of the other vehicle B with respect to the own vehicle A is not limited to the front shown in FIG. 1, and may be the rear, the left and right sides, the diagonal direction, or the opposite direction. There are a plurality of other vehicles B. May be. In FIG. 1, the own vehicle A is indicated by a thick line for easy understanding.

  FIG. 2 is a block diagram illustrating a hardware configuration example of an electronic system of the own vehicle A including the in-vehicle device 100. Note that the same hardware configuration can be adopted for the electronic system of another vehicle B including the in-vehicle device 200.

  As shown in FIG. 2, the own vehicle A includes an in-vehicle device 100, a display 2, a wireless communication antenna 3, a vehicle speed sensor 4, a brake switch 5, a winker switch 6, an in-vehicle camera 7, a GPS 8, and a driving operation unit 9. ing. The in-vehicle device 100 includes a control unit 10, a graphic controller 13, a wireless communication control unit 14, and an operation control unit 15.

  The control unit 10 includes a CPU 11 and a storage device 12. The CPU 11 (corresponding to the control means) executes various processes by executing a predetermined program stored in the storage device 12, and outputs information exchanges and various control instructions with other units. Thus, it has a function of controlling the entire vehicle-mounted device 100. The storage device 12 includes a ROM 12a, a RAM 12b, and a storage medium 12c. The ROM 12a is an information storage medium in which various processing programs including a safe driving support program described later and other necessary information are written in advance. The RAM 12b is an information storage medium on which information necessary for the CPU 11 to execute the various programs is written and read. The storage medium 12c is a non-volatile information storage medium such as a flash memory or a hard disk.

  Note that the control unit 20 of the in-vehicle device 200 mounted on the vehicle B also includes a CPU 21 and a storage device 22 in the same manner as the control unit 10.

  The graphic controller 13 has a function of acquiring image data from a video RAM (not shown) or the like under the control of the CPU 11 and displaying notification information and instruction information to the driver based on driving support information described later on the display 2. . The display 2 is composed of an LCD panel, for example, and displays various information images based on the image signal input from the graphic controller 13.

  The wireless communication control unit 14 has a function of controlling transmission / reception of information with another vehicle B by wireless communication via the wireless communication antenna 3. The wireless communication antenna 3 is installed outside the vehicle A of its own, and transmits information signals input from the wireless communication control unit 14 and outputs information signals received from other vehicles B to the wireless communication control unit 14. Do.

  The driving control unit 15 operates the driving operation unit 9 including a steering wheel, an accelerator, a brake, and the like under the control of the CPU 11, so that the vehicle A can automatically avoid contact between the own vehicle A and another vehicle B. It has a function to control.

  The vehicle speed sensor 4 has a function of detecting the traveling speed of the own vehicle A. Based on the detection signal from the vehicle speed sensor 4, the CPU 11 can recognize how fast the vehicle A is traveling at that time. The brake switch 5 is a function for detecting whether or not the brake of the own vehicle A is depressed and entering an operating state, that is, whether or not the own vehicle A is being decelerated by a braking operation. Have The blinker switch 6 has a function of detecting the presence or absence of a blinker operation in either the right direction or the left direction of the own vehicle A.

  The in-vehicle camera 7 has a function of capturing a landscape image in the imaging direction from its own vehicle A using, for example, a CCD image sensor and outputting a corresponding image signal to the CPU 11 of the in-vehicle device 100. The in-vehicle camera 7 may be an infrared sensor or a radar. The GPS 8 has a function of measuring the current location of its own vehicle A, obtaining current position information expressed in latitude and longitude, and outputting it to the CPU 11.

  FIG. 3 is a functional block diagram illustrating a functional configuration example of the control unit 10 that is exhibited when the CPU 11 of the control unit 10 included in the in-vehicle device 100 of the own vehicle A executes a predetermined program stored in the storage device 12. It is.

  As illustrated in FIG. 3, the control unit 10 includes a safe driving support unit 101, a transmission unit 102, an information generation unit 103, and a behavior acquisition unit 104. The safe driving support unit 101 (corresponding to the safe driving support means) determines contact with one or a plurality of other vehicles B based on the detection result of the in-vehicle camera 7 or the like, and when the contact is predicted, the own vehicle Driving support information (corresponding to self-side driving support information, hereinafter referred to as “self-side driving support information” as appropriate) is generated, and safe driving support is executed based on the self-side driving support information. Note that the prediction of contact is not limited to the detection result of the in-vehicle camera 7, but may be performed by acquiring the position and behavior of a nearby vehicle through inter-vehicle communication, or may be performed using the detection result of sensors such as radar. Good. This driving support information includes notification information (information for notifying the driver of a dangerous situation), instruction information (information for instructing the behavior to be taken by the driver), and control information (information for controlling the vehicle). That is, the safe driving support unit 101 causes the display 2 to display notifications and instructions based on the notification information and the instruction information via the graphic controller 13, or the driving operation unit based on the control information via the driving control unit 15 By operating 9, safe driving support for the vehicle A is executed. Further, the safe driving support unit 101 determines whether or not contact between the vehicle A and another vehicle B is avoided as a result of executing the safe driving support based on the detection result of the in-vehicle camera 7 or the like.

  The transmission / reception unit 102 (corresponding to a transmission unit) transmits / receives information to / from another vehicle B via wireless communication. One of the most important functions of the transceiver 102 is a safe driving support program for causing the CPU 11 to function as all or part of the safe driving support unit 101 when contact is predicted by the safe driving support unit 101. To the vehicle B of the vehicle.

  In the case of transmitting a safe driving support program for causing the CPU 11 to function as the entire safe driving support unit 101, the vehicle B is also capable of generating its own (vehicle B) safe driving support information using the transmitted safe driving support program. It has a function to judge the content of safe driving support. Accordingly, the vehicle B can support safe driving of the vehicle (vehicle B) based on information acquired by the vehicle such as a detection result of the vehicle-mounted camera 7 or the like. By providing the safe driving support function of the same determination algorithm as that of A to the other vehicle B and operating them simultaneously, it is possible to provide both vehicles with situation determination and avoidance instruction (control) based on the same determination algorithm. . In other words, it can be expected that unified behaviors consistent with each other can be obtained by using the safe driving support function of the same algorithm.

  On the other hand, the CPU 11 is caused to function as a part of the safe driving support unit 101 (for example, a function for performing safe driving support for a vehicle based on the provided driving support information without performing contact prediction or generating driving support information). When a safe driving support program is transmitted, the vehicle A and the vehicle B are in a master-slave relationship, the instruction is given from the program of the vehicle A to the program of the vehicle B, and the other vehicle B is given a subordinate instruction / behavior. It is possible.

  Instead of transmitting the safe driving support program as it is (format that can be executed by the vehicle A), the transmission / reception unit 102 converts the CPU 21 of the destination vehicle B into an executable file format that can be executed as a program. You may send it. The safe driving support program may be a program for causing the CPU 11 to function as the entire safe driving support unit 101. Furthermore, the information (vehicle position, characteristics, etc.) of the vehicle A that is the transmission source of the program may be transmitted together with the safe driving support program.

  There are various methods for specifying the transmission destination as the vehicle B. For example, there is a method of performing communication by reading the number of a surrounding vehicle with the in-vehicle camera 7 and specifying the vehicle ID based on the number. Further, for example, when each vehicle is equipped with an in-vehicle device that performs vehicle-to-vehicle communication, each vehicle always transmits vehicle information including the vehicle ID and position information of its own vehicle, so the position included in the received vehicle information. The vehicle information transmitted from the vehicle B may be identified from the information, and the vehicle ID may be communicated. Alternatively, the safe driving support program to be transmitted is configured to start only with a vehicle that satisfies a specific condition, and the characteristic information (ID, position, behavior, vehicle type, vehicle, etc.) of the vehicle B acquired by the safe driving support function of the vehicle A And the like may be sent to the entire surrounding vehicle. In this case, the transmitted program can receive vehicles other than the vehicle B, but the program is activated only for the vehicle B corresponding to the activation condition.

  In addition to the above-mentioned safe driving support program, the transmitting unit 102 may also include various information including driving support information and instruction information described later generated by the information generating unit 103, or behavior information and driving support of the vehicle (vehicle A). Information (information such as avoidance behavior that self (vehicle A) is scheduled to execute), information for safe driving support judgment acquired by own vehicle A (information on own vehicle and surrounding conditions, materials for judgment, etc.) ) Etc. are also transmitted to the other vehicle B.

  The information generation unit 103 (corresponding to the information generation unit) is based on the self-side driving support information generated by the safe driving support unit 101 or based on the behavior information of the own vehicle A acquired by the behavior acquisition unit 104. Driving assistance information related to safe driving assistance for vehicle B (corresponding to counterpart driving assistance information; hereinafter referred to as "opposite driving assistance information" as appropriate) is generated. The partner side driving support information is generated so as to guide another vehicle B in a direction to avoid contact with the own vehicle A. Specific examples will be described later. The counterpart driving support information generated by the information generation unit 103 is transmitted to another vehicle B by the transmission unit 102.

  The behavior acquisition unit 104 (corresponding to the behavior acquisition means) is based on the detection results of the vehicle speed sensor 4, the brake switch 5, the winker switch 6, and the in-vehicle camera 7, and the like, the behavior information (travel speed, Get acceleration / deceleration, lane change, etc.). The behavior information acquired by the behavior acquisition unit 104 is used by the information generation unit 103 to generate partner-side driving support information.

  FIG. 4 is a functional block diagram illustrating a functional configuration example of the control unit 20 that is exhibited when the CPU 21 of the control unit 20 included in the in-vehicle device 200 of another vehicle B executes a predetermined program stored in the storage device 22. It is.

  FIG. 4 is an example when the control unit 20 of the vehicle B does not have a safe driving support function. That is, the control unit 20 of the vehicle B has a communication function with other vehicles and an environment for executing a program (a predetermined OS (operating system), a memory size, an HMI (human machine interface), a vehicle control command, etc.). However, it is not always necessary to have a safe driving support function.

  The control unit 20 includes a transmission / reception unit 201 (corresponding to a reception unit) that transmits / receives information to / from the vehicle A via wireless communication. One of the most main functions of the transmission / reception unit 201 is to receive a safe driving support program transmitted from the vehicle A. The CPU 21 (corresponding to the control means) stores the safe driving support program received by the transmission / reception unit 201 in the storage device 22 and executes it. As a result, the control unit 20 has a safe driving support unit 202 as indicated by a broken line in FIG.

  When the safe driving support program transmitted from the vehicle A is a program for causing the CPU 11 to function as the entire safe driving support unit 101, the safe driving support unit 202 includes all of the safe driving support unit 101 of the control unit 10. It has the function of. In this case, the safe driving support unit 202 detects the detection result of the in-vehicle camera 7 or the like of the vehicle (vehicle B), behavior information or driving support information (partner) of the partner (vehicle A) side from the vehicle A received by the transmission / reception unit 201. (Information such as avoidance behavior scheduled to be executed by (vehicle A)), information for safe driving support judgment acquired by the other party (vehicle A) (information on own vehicle and surrounding conditions, materials for judgment, etc.), etc. Based on the information acquired by the driver, the driver performs a safe driving support of the vehicle (vehicle B) by making a decision such as predicting contact and generating driving support information of the vehicle (vehicle B).

  On the other hand, the safe driving support unit 202 (corresponding to safe driving support means) is used when the safe driving support program transmitted from the vehicle A is a program for causing the CPU 11 to function as a part of the safe driving support unit 101. Has a partial function of the safe driving support unit 101 of the control unit 10. In this case, the safe driving support unit 202 executes the safe driving support for the vehicle B based on the partner-side driving support information from the vehicle A received by the transmission / reception unit 201.

  FIGS. 5 to 8 are diagrams showing specific examples of avoidance actions performed by the vehicle A and the vehicle B having the above-described configuration. In FIGS. 5 to 8, the own vehicle A is indicated by a bold line for easy understanding.

  FIG. 5 is an example of a case where the partner-side driving support information is generated based on the self-side driving support information. In this example, when the own vehicle A and the other vehicle B positioned in front and back approach each other and contact is predicted, the safe driving support unit 101 of the control unit 10 in the own vehicle A decelerates or operates the brake to the driver. Self-side driving support information including instruction information for instructing the vehicle is generated, and instruction information for prompting deceleration or brake operation is displayed on the display 2 based on the self-side driving support information. On the other hand, the transmission / reception unit 102 transmits a safe driving support program for causing the CPU 11 to function as a part of the safe driving support unit 101 to the other vehicle B via wireless communication with the other vehicle B. And the information generation part 103 is the other party driving assistance containing the instruction information which instruct | indicates the avoidance or acceleration of a brake with respect to the driver of the other vehicle B based on the self-side driving assistance information produced | generated by the safe driving assistance part 101 The information is generated, and the transmitting / receiving unit 102 transmits the partner-side driving support information to the vehicle B (may be after confirming the start of the program in the other vehicle B). In the other vehicle B, the transmission / reception unit 201 of the control unit 20 receives the safe driving support program transmitted from the opponent side, and the control unit 20 of the vehicle B activates the program. Further, the transmission / reception unit 201 of the control unit 20 of the vehicle B receives the other-side driving support information, and the safe driving support unit 202 (a function by the CPU 21 executing the safe driving support program transmitted from the vehicle A) is Instruction information for urging or accelerating braking is displayed on the display 2 based on the other party driving support information. Alternatively, the vehicle B may be controlled so that the brake is avoided or accelerated by the operation control unit 15. Thereby, the inter-vehicle distance between the vehicle A and the vehicle B is increased, and contact is avoided.

  Further, when a safe driving support program for causing the CPU 11 to function as the entire safe driving support unit 101 is transmitted to another vehicle B, the transmission / reception unit 102 of the self (vehicle A) is connected to the other party (for the vehicle B). ) There is no need to transmit driving support information to the vehicle B, and the vehicle B activates the safe driving support program received from the vehicle A and uses the detection result of the in-vehicle camera 7 or the like of the vehicle (vehicle B). By executing the above, determination of the possibility of contact with the vehicle A and safe driving support of the vehicle (vehicle B) are executed, and instruction information for urging or accelerating the brake is displayed on the display 2. Alternatively, the vehicle B may be controlled so that the brake is avoided or accelerated by the operation control unit 15. Thereby, the inter-vehicle distance between the vehicle A and the vehicle B is increased, and contact is avoided.

  When a safe driving support program for causing the CPU 11 to function as all of the safe driving support unit 101 is transmitted to another vehicle B, the detection result of the vehicle-mounted camera 7 of the vehicle B itself (vehicle B) is used. Alternatively or as complementary information, the own (vehicle A) transmission / reception unit 102 may transmit the own (vehicle A) position information, behavior information, and the like to the vehicle B. The behavior information may be information on the behavior of the vehicle (vehicle A) before the execution of safe driving support, or the driving support information generated by the vehicle (vehicle A), that is, what the vehicle (A) should do to avoid it. May be information on the behavior to be scheduled. The vehicle B activates the safe driving support program received from the vehicle A and executes the safe driving support program using the position information, behavior information, etc. received from the vehicle A, thereby determining the possibility of contact with the vehicle A and self (Vehicle B) safe driving support is executed, and instruction information that prompts to avoid or accelerate braking is displayed on the display 2. Alternatively, the vehicle B may be controlled so that the brake is avoided or accelerated by the operation control unit 15. Thereby, the inter-vehicle distance between the vehicle A and the vehicle B is increased, and contact is avoided.

  Further, when a safe driving support program for causing the CPU 11 to function as the entire safe driving support unit 101 is transmitted to another vehicle B, position information, behavior information, and the like are not given only from the vehicle A to the vehicle B. Between the safe driving support unit 101 of the vehicle A and the safe driving support program (CPU 11) executed by the vehicle B, mutual position information, behavior information, and the like may be provided to each other. This makes it possible to perform judgments and operations in which the safe driving support programs cooperate with each other.

  In the following, description regarding transmission and activation of the safe driving support program is omitted.

  FIG. 6 is an example of the case where the partner side driving support information is generated based on the behavior information of the own vehicle A. In this example, the driver of the vehicle A avoids the right lane when the vehicle A and the other vehicle B positioned in front and back approach each other and contact is predicted. The behavior is acquired by the behavior acquisition unit 104, and the information generation unit 103 proceeds straight ahead or avoids the left lane to the driver of the other vehicle B based on the behavior information (so as not to avoid the right lane). The other party driving support information including the instructing instruction information is generated, and the transmission / reception unit 102 transmits the other party driving support information to the vehicle B. In the other vehicle B, the transmission / reception unit 201 of the control unit 20 receives the partner-side driving support information, and the safe driving support unit 202 provides instruction information that prompts the vehicle to go straight or avoid the left lane based on the partner-side driving support information. It is displayed on the display 2. Alternatively, the vehicle B may be controlled by the driving control unit 15 so as to avoid going straight ahead or left lane. In contrast to the above, when the vehicle A avoids the left lane, an instruction or control that prompts the vehicle B to go straight or avoid the right lane may be performed. Thereby, it is prevented that the vehicle A and the vehicle B avoid in the same direction, and the risk of an accident can be reduced.

  FIG. 7 is an example when there are a plurality of other vehicles. In this example, in addition to the own vehicle A and the other vehicle B positioned in the front and rear, another vehicle B ′ (corresponding to another moving body) is present behind the vehicle A diagonally to the right. When the vehicle A and the vehicle B approach each other and the driver of the vehicle A avoids the right lane, the behavior is acquired by the behavior acquisition unit 104, and the information generation unit 103 determines the driver of another vehicle B based on the behavior information. The other side driving support information including the instruction information instructing to go straight or avoiding the left lane is generated (so as not to avoid the right lane), and the transmission / reception unit 102 transmits the other side driving support information to the vehicle B. Send to. Thereby, in the other vehicle B, the safe driving support unit 202 displays instruction information for prompting avoidance to go straight ahead or to the left lane based on the counterpart driving support information or to control the vehicle B.

  On the other hand, the transmission / reception unit 102 of the control unit 10 of the vehicle A transmits the safe driving support program to the other vehicle B ′. In addition, the information generation unit 103 generates partner-side driving support information including instruction information for instructing the driver of the other vehicle B ′ to decelerate or avoid the left lane based on the own behavior information. The counterpart driving support information is transmitted to the vehicle B ′. As a result, in the other vehicle B ′, the safe driving support unit 202 displays instruction information for prompting deceleration or avoiding the left lane on the display 2 or controlling the vehicle B ′ based on the partner driving support information.

  FIG. 8 is still another example in which there are a plurality of other vehicles. In this example, the vehicle B ′ exists diagonally to the right of the vehicle A. Other positional relationships are the same as in FIG. In this case, the information generation unit 103 generates opponent driving support information including instruction information for instructing the driver of another vehicle B ′ to avoid or accelerate the brake based on the own behavior information, and the transmission / reception unit 102 The partner side driving support information is transmitted to the vehicle B ′. As a result, in the other vehicle B ′, the safe driving support unit 202 displays instruction information for urging or accelerating braking on the display 2 or controlling the vehicle B ′ based on the counterpart driving support information.

  As described above, the vehicle A, the vehicle B, and the vehicle B ′ can cooperate to take an avoidance action, and the risk of an accident between these vehicles can be reduced.

  FIG. 9 is a flowchart illustrating a procedure example of processing executed by the CPU 11 of the in-vehicle device 100 mounted on the vehicle A that is the transmission side of the program. Although a typical processing procedure will be described here as an example, the control content of the CPU 11 is not limited to this.

  First, in step S <b> 105, the CPU 11 determines whether or not the safe driving support unit 101 has predicted contact between the own vehicle A and another vehicle B. This determination is repeated until the contact is predicted. If the contact is predicted, the determination is satisfied, and the process proceeds to the next step S110.

  Although not particularly illustrated in FIG. 9, the CPU 11 continues until the determination in step S <b> 140 described later is satisfied (after contact is avoided) after the determination in step S <b> 105 is satisfied (after contact is predicted). Generates self-side driving support information by the safe driving support unit 101, and executes safe driving support based on the self-side driving support information.

  In step S <b> 110, the CPU 11 specifies another vehicle B that is predicted to be contacted, and acquires a vehicle ID. The method for specifying the vehicle B is as described above.

  In the next step S115, the CPU 11 uses the vehicle ID acquired in step S110 to execute another safe driving support program for causing the transmission / reception unit 102 to function the CPU 11 as all or part of the safe driving support unit 101. Transmit to vehicle B.

  In the next step S120, the CPU 11 determines whether or not the activation notification indicating that the control unit 20 of the other vehicle B has activated the safe driving support program transmitted in step S115 is received from the other vehicle B. . This determination is repeated until the activation notification is received. If the activation notification is received, the determination is satisfied, and the routine goes to the next Step S125.

  In step S <b> 125, the CPU 11 acquires behavior information related to the behavior of the vehicle A by the behavior acquisition unit 104.

  In the next step S130, when the safe driving support program for causing the CPU 11 to function as the entire safe driving support unit 101 is transmitted in step S115, the CPU 11 causes the information generation unit 103 to acquire the behavior acquired in step S125. Information is prepared as information for transmitting to another vehicle B. When a safe driving support program for causing the CPU 11 to function as a part of the safe driving support unit 101 is transmitted in step S115, the CPU 11 causes the information generation unit 103 to based on the behavior information acquired in step S125. The other party driving support information related to the safe driving support of the other vehicle B is generated. A specific example of the partner side driving support information is as described above.

  In the next step S135, the CPU 11 causes the transmitting / receiving unit 102 to transmit the other party behavior information or the other party driving support information generated in the above step S130 to another vehicle B.

  In the next step S140, the CPU 11 determines whether or not the safe driving support unit 101 has avoided contact with another vehicle B as a result of executing the safe driving support. If contact is not avoided, the determination is not satisfied and the routine returns to the previous step S125. That is, the CPU 11 acquires and transmits the behavior information of the own vehicle A in steps S125 to S140, or performs the acquired behavior information while performing the safe driving support of the own vehicle A until the contact is avoided. The generation of the other party driving support information and the transmission of the other party driving support information are repeatedly executed. Thereby, when a contact is avoided, determination is satisfy | filled and it moves to the following step S145.

  In step S <b> 145, the CPU 11 generates an avoidance completion notification indicating that avoidance of contact between the vehicle A and the vehicle B is completed, and transmits the avoidance completion notification to the other vehicle B by the transmission / reception unit 102.

  In the next step S150, the CPU 11 generates instruction information for instructing the end of execution of the safe driving support program transmitted in step S115 by the information generation unit 103, and transmits the instruction information to the other vehicle B by the transmission / reception unit 102. As described above, the CPU 11 ends this flow.

  In addition, although the case where the other party driving assistance information is generated based on the behavior information of the own vehicle A in step S130 has been described above, the other party driving assistance information is generated based on the own driving assistance information as described above. Also good. In this case, step S125 is not necessary.

  FIG. 10 is a flowchart illustrating a procedure example of processing executed by the CPU 21 of the in-vehicle device 200 mounted on the vehicle B on the program receiving side. Although a typical processing procedure will be described here as an example, the control content of the CPU 21 is not limited to this.

  First, in step S <b> 210, the CPU 21 determines whether the safe driving support program transmitted from the vehicle A is received by the transmission / reception unit 201. This determination is repeated until the safe driving support program is received. If it is received, the determination is satisfied, and the routine goes to the next Step S220. In addition, when the information (vehicle position, characteristics, etc.) of the vehicle A which is the transmission source of the program is attached to the received safe driving support program, the information may be notified to the driver.

  In step S220, the CPU 21 starts (executes) the safe driving support program received in step S210. As a result, the control unit 20 includes the safe driving support unit 202 as described above.

  In next step S <b> 230, the CPU 21 generates an activation notification indicating that the safe driving support program has been activated, and transmits the activation notification to the vehicle A by the transmission / reception unit 201.

  In next step S <b> 240, the CPU 21 determines whether or not the other party behavior information or the other party driving support information transmitted from the vehicle A is received by the transmission / reception unit 201. This determination is repeated until the other party's driving support information is received. If it is received, the determination is satisfied, and the routine goes to the next Step S250.

  In step S250, the CPU 21 performs the safe driving of the vehicle B based on the other party behavior information or the other party driving support information transmitted from the vehicle A by the safe driving support unit 202 by executing the safe driving support program in the above step S220. Perform assistance.

  In next step S <b> 260, the CPU 21 determines whether or not the avoidance completion notification transmitted from the vehicle A and indicating that the avoidance of the contact between the vehicle A and the vehicle B is completed is received by the transmission / reception unit 201. If the avoidance completion notification has not been received, the determination is not satisfied and the routine returns to the previous step S240. That is, until the avoidance completion notification is received, the CPU 21 repeatedly executes the reception of the other party driving support information and the execution of the safe driving support based on the other party driving support information in step S240 to step S260. Thereby, when the contact between the vehicle A and the vehicle B is avoided and the avoidance completion notification is received, the determination is satisfied, and the routine goes to the next Step S270. Note that when the avoidance completion notification is received from the vehicle A, the driver of the vehicle B may be notified that the contact has been avoided.

  In step S <b> 270, the CPU 21 determines whether the transmission / reception unit 201 has received the instruction information that instructs the end of execution of the safe driving support program transmitted from the vehicle A. This determination is repeated until the instruction information is received. If the instruction information is received, the determination is satisfied, and the routine goes to the next Step S280.

  In step S280, the CPU 21 ends the execution of the safe driving support program. Thus, the CPU 21 ends this flow.

  As described above, the in-vehicle device 100 is mounted on the vehicle A (corresponding to a moving object) and transmits information to another vehicle B (corresponding to another moving object) via wireless communication ( Corresponding to one or a plurality of other vehicles B, it generates self-side driving support information related to safe driving support of its own vehicle A, and The safe driving support unit 101 (corresponding to the safe driving support means) that performs the safe driving support based on the side driving support information, and the CPU 11 (corresponding to the control means) when the contact is predicted by the safe driving support unit 101. A transmission / reception unit 102 (corresponding to transmission means) for transmitting a safe driving support program for causing the driving support unit 101 to function as a whole to another vehicle B.

  By doing so, the following effects can be obtained. In other words, since the safe driving support function installed in each vehicle has different algorithms and performance depending on the manufacturer, even when sharing the same situation, the judgment of the situation and the content of the driving assistance information based on the judgment are different. . It is difficult to unify the details of such driving support information in the industry. Furthermore, in order for different vehicles to take uniform avoidance actions, the contents of the mutual safe driving support program must be grasped, and the mutual safe driving support program must have the same algorithm and performance.

  According to the present embodiment, the safe driving support program is provided from the own vehicle A to the other vehicle B. Therefore, even if the autonomous driving support function itself is different for each vehicle, the environment for executing the program (CPU OS (Operating System), memory size, HMI (Human Machine Interface), vehicle control command, etc.) If it is common, a common safe driving support program in which contents and mechanisms (algorithms) are grasped between different vehicles can be executed. Accordingly, different vehicles can take a uniform avoidance action, and the safe driving support functions of each other have the same algorithm, performance, etc., so that the details of the driving support information can be unified.

  As described above, according to the present embodiment, a plurality of vehicles can take a uniform avoidance action with one unified safe driving support program, thereby reducing the risk of accidents and improving safety. it can. Even if each vehicle has the same type of safe driving support function, the situation judgment and the detailed contents of the driving support information based on the judgment may not be unified. However, there is an advantage that the details of driving support information can be unified. Furthermore, even if the counterpart vehicle B does not have a safe driving support function as in the present embodiment, it is possible to provide the safe driving support function itself as long as it has an environment for executing the program. Therefore, there is an advantage that the range of the vehicle to be applied is not limited to the vehicle having the safe driving support function.

  These merits are that the transmitted safety is transmitted even when a safe driving support program for causing a later-described CPU 11 (corresponding to the control means) to function as a part of the safe driving support unit 101 is transmitted to another vehicle B. This is true in the scope of driving assistance programs.

  Furthermore, the behavior information of the vehicle A may be transmitted from the vehicle A to the vehicle B. In that case, the avoidance action in cooperation with the vehicle A can be determined based on the same information as the vehicle A and the safe driving support can be executed. Therefore, the risk of an accident can be reduced and the safety can be increased. .

  Alternatively, instead of transmitting the behavior information of the vehicle A, an avoidance behavior (driving support information of the vehicle A) that the vehicle A plans to execute may be transmitted. In that case, the safe driving support program transmitted from the vehicle A activated by another vehicle B determines the behavior of the vehicle B based on the planned behavior of the transmitted vehicle A, and Notify the driver or control the vehicle B.

  Alternatively, instead of transmitting the behavior information of the vehicle A, the information for the safe driving support determination acquired by the own vehicle A (information on the own vehicle and surrounding conditions, the material for the determination, etc.) may be transmitted. Good.

  The on-vehicle device 100 is mounted on a vehicle A (corresponding to a moving body) and transmits information to another vehicle B (corresponding to another moving body) via wireless communication (mobile mounted transmission). Corresponding to the device), when contact with one or a plurality of other vehicles B is predicted, self-side driving support information relating to safe driving support of the own vehicle A is generated, and the self-side driving support information If the contact is predicted by the safe driving support unit 101 (corresponding to the safe driving support unit) and the safe driving support unit 101 that executes the safe driving support based on the above, the safe driving support unit 101 A transmission / reception unit 102 (corresponding to transmission means) that transmits a safe driving support program for functioning as a part of the vehicle B to another vehicle B.

  The on-vehicle device 200 is mounted on a vehicle B (corresponding to a mobile object) and receives information from the vehicle A via wireless communication, and corresponds to a predetermined program. The CPU 21 (corresponding to the control means) capable of executing the function and the CPU 21 function as a safe driving support unit 202 (corresponding to the safe driving support means) that executes the safe driving support based on the driving support information related to the safe driving support of the vehicle B. And a transmission / reception unit 201 (corresponding to reception means) that receives all or part of the safe driving support program for the vehicle A, and the CPU 21 executes the safe driving support program received by the transmission / reception unit 201.

  Moreover, in the said vehicle-mounted apparatus 100, based on the self-side driving assistance information produced | generated by the safe driving assistance part 101, the information generation part 103 (information production | generation) which produces | generates the other party driving assistance information regarding the safe driving assistance of the other vehicle B The transmission / reception unit 102 transmits the partner-side driving support information generated by the information generation unit 103 to another vehicle B.

  In the in-vehicle device 200, the transmission / reception unit 201 (corresponding to the reception unit) receives the driving support information from the vehicle A, and the CPU 21 executing the safe driving support program receives the driving support received by the transmission / reception unit 201. Carry out safe driving assistance based on information.

  As shown in FIG. 5, for example, as shown in FIG. 5, when a safe driving support unit 101 of the vehicle A and a safe driving support program transmitted from the vehicle A to the vehicle B are operated in cooperation with each other. In addition, when the front and rear vehicles A and B are close to each other and the contact is predicted, and the self-side driving support information that is the content to operate the deceleration or the brake in the rear vehicle A is generated, the information generation unit 103 Thus, it is possible to generate the other-side driving support information that is a content that avoids braking or accelerates the other-side vehicle B ahead. As a result, the avoidance action can be taken so as to increase the inter-vehicle distance in cooperation between the front and rear vehicles A and B, thereby reducing the risk of accidents and increasing safety.

  Furthermore, if a safe driving support program for causing the CPU 21 of the vehicle B to function as a part of the safe driving support unit 101 is sent in advance and activated, the behavior can be instructed from the vehicle A to the vehicle B and the behavior can be controlled. Therefore, the avoidance action can be taken more reliably and the risk of an accident can be reduced and the safety can be increased.

  In the in-vehicle device 100, a behavior acquisition unit 104 (corresponding to behavior acquisition means) that acquires behavior information related to the behavior of the vehicle A and another vehicle based on the behavior information acquired by the behavior acquisition unit 104 An information generation unit 103 that generates partner-side driving support information related to B's safe driving support, and the transmission / reception unit 102 transmits the partner-side driving support information generated by the information generation unit 103 to another vehicle B. .

  In this way, for example, as shown in FIG. 6, when the distance between the vehicles A and B approaches and the contact is predicted, and the driver avoids the right lane in the rear vehicle A ( The behavior information is movement to the right lane), and the information generation unit 103 prompts the other vehicle B ahead to avoid moving to the right lane without going to the right lane or driving to the left lane. Support information can be generated. As a result, the avoidance action can be taken so as not to move in the same direction in cooperation with the front and rear vehicles A and B, thereby reducing the risk of accidents and increasing safety.

  In the in-vehicle device 100, the safe driving support unit 101 determines whether or not the contact with the other vehicle B is avoided, and the information generation unit 103 determines that the contact is avoided by the safe driving support unit 101. When the determination is made, instruction information for instructing the end of execution of the transmitted safe driving support program is generated, and the transmission / reception unit 102 transmits the instruction information generated by the information generation unit 103 to another vehicle B.

  Moreover, in the said vehicle-mounted apparatus 200, CPU21 complete | finishes execution of a safe driving assistance program, when the instruction information which instruct | indicates the completion | finish of execution of a safe driving assistance program is received by the transmission / reception part 201. FIG.

  In this way, in the vehicle B on the side receiving the safe driving support program, the contact between the vehicles A and B is avoided, and the execution of the safe driving support program is automatically terminated when the dangerous situation is avoided. It becomes. Therefore, it is not necessary for the driver of the vehicle B to perform the program ending operation one by one, so that convenience can be improved.

  Moreover, in the said vehicle-mounted apparatus 100, the transmission / reception part 102 converts into a executable file format which CPU21 of the other vehicle B can execute as a program, and transmits.

  If it does in this way, it can prevent that a program becomes unexecutable with the other party's vehicle B, Therefore A safe driving support function can be certainly cooperated between a plurality of vehicles.

  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.

  For example, although the case where the control unit 20 of the other vehicle B does not have the safe driving support function has been described above, the control unit 20 of the other vehicle B also has the safe driving support function like the control unit 10 of the own vehicle A. You may have. In this case, the safe driving support program is transmitted from both of the vehicles A and B to the partner vehicle. However, since the transmission timing of the program is a timing at which contact is predicted in the own vehicle, prediction of contact is performed. The faster the decision, the first the program is sent. In this case, the program that has been transmitted earlier may be preferentially executed, or the transmission of the program may be stopped on the vehicle side that has received the program transmitted earlier. In addition, the performance, grade, and version number of the program may be taken into consideration. For example, if either party sends a program first, but the performance of the program is inferior to the program of the destination vehicle or the version number is older, the destination vehicle sends itself to the sender. You may make it send the program of. Thereby, safe driving support can be executed with a better program.

  Moreover, you may change the program transmitted according to the condition judged by the safe driving assistance function of the vehicle A. FIG. For example, if the risk increases as the distance between the vehicle A and the vehicle B decreases, a safe driving support program corresponding to a low risk having a function of warning the driver is transmitted when the risk is small. However, when the degree of danger is high, a safe driving support program corresponding to a high degree of danger having a function of controlling the vehicle itself may be transmitted. In this case, as described above, when the safe driving support program is transmitted from both of the vehicles A and B to the partner vehicle, the low risk-corresponding program is transmitted from one vehicle, and the other vehicle When a program corresponding to a high risk level is transmitted, a program corresponding to a higher risk level may be preferentially executed.

  Further, for example, the vehicle A may transmit a program according to the situation determined by the safe driving support function of the vehicle A from among a plurality of programs. For example, a program suitable for avoiding a rear-end collision may be transmitted when there is a risk of a rear-end collision, and a program suitable for avoiding a right-turn accident may be transmitted when there is a risk of a right-turn accident, for example.

  Further, for example, the vehicle A may transmit a part of the program according to the situation determined by the safe driving support function of the vehicle A from the program. For example, if there is a risk of rear-end collision, extract the part necessary for avoiding rear-end collision in the program, and for example if there is a risk of right-turn accident, extract only the part necessary for avoiding right-turn accident in the program. May be.

  In addition, in the above, the transmission timing of the safe driving support program is the timing when the contact is predicted, but for example, when it is a situation where the vehicle travels together for some time with a surrounding vehicle by chance such as an expressway Regardless of the presence or absence of contact, the program may be transmitted to surrounding vehicles at the timing when the situation is grasped. In this way, the amount of communication required in dangerous situations can be reduced, the communication time can be shortened, and the time required to execute safe driving support can be reduced, so that more prompt safe driving support can be executed. it can.

  In the above, the program B is automatically terminated when contact with the vehicle B on the side that received the safe driving support program is avoided and the vehicle escapes from a dangerous situation. The program itself may be deleted. Thereby, the use capacity of the storage device 22 in the vehicle B that is the transmission destination of the program can be saved, and the load on the CPU 21 can be reduced. Further, the execution and deletion of the program may be performed by an instruction from the transmission source vehicle A as in the above-described embodiment, or may be automatically performed by the program itself. Further, the program may not be terminated or deleted when the vehicles A and B exist within a predetermined distance or until the engine of the vehicle B is stopped. Alternatively, the safe driving support program received in the vehicle B may be stored without being deleted, and may be automatically activated when contact with the vehicle A that is the transmission source of the program is predicted again.

  Further, as described above, for example, when the program is transmitted to the surrounding vehicle at a timing when it is understood that the vehicle travels together for a certain period of time with the surrounding vehicle that has been present on the expressway, the vehicle B The program may be terminated or deleted when the vehicle A is a predetermined distance or more away. Alternatively, when vehicle A as the transmission source descends from the highway (when the vehicle passes through the interchange) or vehicle B as the transmission destination descends from the highway (when the vehicle passes through the interchange), the program is executed in vehicle B. May be terminated or deleted.

  Further, when the vehicle-mounted device 100 of the vehicle A and the vehicle-mounted device 200 of the vehicle B are loaded with the same safe driving support program in advance, the program itself is not transmitted / received by wireless communication, but from the vehicle that predicted the contact. A safe driving support program may be executed and linked in the other vehicle in accordance with the start instruction.

  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 CPU (equivalent to control means)
21 CPU (equivalent to control means)
100 In-vehicle device (equivalent to mobile unit-mounted transmitter)
101 Safe Driving Support Department (equivalent to safe driving support means)
102 Transmission / reception unit (equivalent to transmission means)
103 Information generator (equivalent to information generator)
104 Behavior acquisition unit (equivalent to behavior acquisition means)
200 In-vehicle device (equivalent to a mobile device-mounted receiving device)
201 Transmission / reception unit (equivalent to reception means)
202 Safe driving support department (equivalent to safe driving support means)
A vehicle (moving body, equivalent to own moving body)
B Vehicle (equivalent to moving body, other moving body)
B 'vehicle (equivalent to moving body, other moving body)

Claims (8)

A mobile unit-mounted transmission device that is mounted on a mobile unit and transmits information to other mobile units via wireless communication,
When contact with one or a plurality of other moving bodies is predicted, self-side driving support information related to safe driving support of the mobile body is generated, and safe driving support is executed based on the self-side driving support information Safe driving support means,
When the contact is predicted by the safe driving support means, a transmitting means for transmitting a safe driving support program for causing the control means to function as all or part of the safe driving support means;
A mobile unit-mounted transmission device comprising: Based on the self-side driving support information generated by the safe driving support means, further comprising information generating means for generating partner-side driving support information related to safe driving support of the other moving body,
The transmission means includes
The mobile unit-mounted transmission device according to claim 1, wherein the counterpart driving support information generated by the information generation unit is transmitted to the other mobile unit. Behavior acquisition means for acquiring behavior information relating to the behavior of the mobile unit;
Based on the behavior information acquired by the behavior acquisition means, further comprising information generation means for generating partner-side driving support information related to safe driving support of the other moving body,
The transmission means includes
The mobile unit-mounted transmission device according to claim 1, wherein the counterpart driving support information generated by the information generation unit is transmitted to the other mobile unit. The safe driving support means includes
Determining whether contact with the other moving object is avoided;
The information generating means
When it is determined by the safe driving support means that the contact has been avoided, generate instruction information for instructing the end of execution of the transmitted safe driving support program,
The transmission means includes
4. The mobile unit-mounted transmission device according to claim 2, wherein the instruction information generated by the information generation unit is transmitted to the other mobile unit. 5. The transmission means includes
The mobile body according to any one of claims 1 to 4, wherein the safe driving support program is transmitted after being converted into an executable file format that can be executed as a program by the control means of the other mobile body. Onboard transmission device. A mobile unit-mounted receiving device that is mounted on a mobile unit and receives information from other mobile units via wireless communication,
Control means capable of executing a predetermined program;
All or part of a safe driving support program for causing the control means to function as safe driving support means for executing safe driving support based on driving support information related to safe driving support of the mobile body than the other mobile body Receiving means for receiving,
The control means includes
A mobile-mounted receiving apparatus comprising: executing the safe driving support program received by the receiving unit. The receiving means includes
Receiving driving assistance information from the other moving body;
The control means that is executing the safe driving support program,
The mobile body-mounted receiving device according to claim 6, wherein the safe driving support is executed based on the driving support information received by the receiving unit. The control means includes
8. The mobile unit mounted receiving apparatus according to claim 7, wherein when the instruction information for instructing the end of the execution of the safe driving support program is received by the receiving unit, the execution of the safe driving support program is ended. .

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