JP2013210977A - Driving support device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a driving support device capable of appropriately performing a plurality of pieces of driving support.SOLUTION: A driving support device 1 comprises: a support device 4 installed in a vehicle 2, and capable of performing the pieces of driving support; and a control device 5 for analyzing necessary information needed for the pieces of driving support on the basis of acquisition information acquired from the outside of the vehicle 2, and controlling and causing the support device 4 to perform the pieces of driving support on the basis of the necessary information. The control device 5 analyzes necessary information needed for high-priority driving support first, among the necessary information needed for the pieces of driving support. Therefore, the driving support device 1 can appropriately perform the pieces of driving support.

Description

  The present invention relates to a driving support device.

  As a conventional driving support device that is mounted on a vehicle and supports driving of the vehicle by the driver, for example, Patent Document 1 discloses an information providing device. This information providing device has a function of transmitting and receiving information to and from a roadside device installed at a predetermined position on the road, and provides information that prompts temporary stop support.

JP 2010-134838 A

  By the way, the information providing apparatus described in Patent Document 1 described above analyzes, for example, information necessary for driving support in order to perform driving support more appropriately when performing driving support according to priority. There is room for further improvement.

  The present invention has been made in view of the above circumstances, and an object thereof is to provide a driving support device capable of appropriately performing a plurality of driving support.

  In order to achieve the above object, a driving support device according to the present invention includes a support device mounted on a vehicle and capable of executing a plurality of driving support, and the plurality of driving operations based on acquired information acquired from the outside of the vehicle. Analyzing the necessary information necessary for support, and controlling the support device based on the necessary information to execute the plurality of driving support, the control device is required for the plurality of driving support The necessary information that is necessary for the driving support having a high priority among the necessary information is analyzed first.

  In the driving support device, the control device controls the support device after the analysis of all the necessary information necessary for each driving support is completed, and analyzes all the necessary information. Can be executed sequentially from the driving support completed.

  In the driving support device, when the analysis of the necessary information is completed, the control device generates analysis completion information indicating the analysis completion of the required information, and based on the analysis completion information In addition, it may be determined whether or not analysis of all the necessary information necessary for each driving support is completed.

  In the driving support device, the priority order of the driving support may be determined based on at least one of the driving support execution timing, the driving support execution level, and the driving support type. it can.

  The driving assistance apparatus according to the present invention has an effect that a plurality of driving assistances can be appropriately performed.

FIG. 1 is a schematic configuration diagram illustrating a vehicle control system to which the driving support apparatus according to the embodiment is applied. FIG. 2 is a flowchart illustrating an example of control in the driving support apparatus according to the embodiment. FIG. 3 is a flowchart illustrating an example of control in the driving support apparatus according to the modification.

  Embodiments according to the present invention will be described below in detail with reference to the drawings. In addition, this invention is not limited by this embodiment. In addition, constituent elements in the following embodiments include those that can be easily replaced by those skilled in the art or those that are substantially the same.

[Embodiment]
FIG. 1 is a schematic configuration diagram illustrating a vehicle control system to which the driving support apparatus according to the embodiment is applied, FIG. 2 is a flowchart illustrating an example of control in the driving support apparatus according to the embodiment, and FIG. It is a flowchart showing an example of the control in the driving assistance device which concerns.

  The driving assistance apparatus 1 of this embodiment is applied to the vehicle control system 3 mounted on the vehicle 2 as shown in FIG. The driving support device 1 includes an HMI (Human Machine Interface) device 4 as a support device and an ECU (Electronic Control Unit) 5 as a control device. The driving support device 1 can execute a plurality of driving support by the HMI device 4 by the ECU 5 controlling the HMI device 4 according to the situation and outputting various driving support information (HMI information). This supports the driving of the vehicle 2 by the driver.

  The vehicle control system 3 of the present embodiment is a so-called radio wave media type infrastructure cooperative driving support system that performs driving support by communicating using a roadside device or the like arranged on the roadside, for example. The vehicle control system 3 acquires various infrastructure information such as signal information, oncoming vehicle information, and pedestrian information as acquisition information from the outside of the vehicle 2, for example, a roadside machine. In the vehicle control system 3, the driving support device 1 provides driving support information to the driver based on these various pieces of information. Thereby, the driving assistance device 1 provides guidance assistance for the driving operation by the driver.

  Note that the vehicle 2 includes any one of an engine, a motor, and the like as a traveling power source for rotationally driving the drive wheels. The vehicle 2 may be any type of vehicle such as a hybrid vehicle that includes both an engine and a motor, a conveyor vehicle that includes an engine but does not include a motor, and an EV vehicle that includes a motor but does not include an engine. .

  Specifically, the vehicle control system 3 includes an HMI device 4, an ECU 5, a radio wave media receiver (Antenna) 6, a GPS (Global Positioning System) receiver (Antenna) 7, a database 8, a vehicle information network. 9 etc. are comprised. The HMI device 4 and the ECU 5 constitute the driving support device 1.

  The HMI device 4 can execute a plurality of driving assistances that support driving of the vehicle 2. The HMI device 4 can output driving support information that is information for supporting driving of the vehicle 2. The HMI device 4 provides driving assistance by providing driving assistance information to the driver. The HMI device 4 is an in-vehicle device. The HMI device 4 includes, for example, a display 41, a speaker 42, and the like provided in the vehicle interior of the vehicle 2. The display 41 is a visual information display device that outputs visual information (graphic information, character information). The speaker 42 is an auditory information (voice) output device that outputs auditory information (voice information, sound information). As the HMI device 4, an existing device in the passenger compartment of the vehicle 2, for example, a display 41 or a speaker 42 of a navigation system may be used. The HMI device 4 provides information by outputting visual information, auditory information, etc., and guides the driving operation of the driver. The HMI device 4 supports the driving operation of the driver by providing such information. The HMI device 4 is electrically connected to the ECU 5 and controlled by the ECU 5.

  The ECU 5 is a control unit that performs overall control of the vehicle control system 3 including the HMI device 4 and the like. The ECU 5 is configured as an electronic circuit mainly composed of a known microcomputer including a CPU, a ROM, a RAM, and an interface, for example.

  The radio wave media receiver 6 is a device that acquires various infrastructure information by radio communication using radio wave media. The radio wave media receiver 6 acquires static infrastructure information (acquisition information) and dynamic infrastructure information (acquisition information) around the vehicle 2 that can be acquired by cooperating with the infrastructure. For example, the radio wave media receiver 6 acquires various infrastructure information from the radio wave media device 20 or the like. Here, the radio wave media receiver 6 and the radio wave media device 20 use radio wave communication media capable of continuous communication over a wider range compared to narrowband communication such as optical beacons and DSRC (Dedicated Short Range Communications), for example. Various information is acquired by broadband wireless communication. The radio wave media device 20 is a device that is provided outside the vehicle 2 and distributes infrastructure information to the vehicle 2. The radio wave media device 20 is, for example, a road-to-vehicle communication device (roadside machine) such as a radio wave beacon installed on a roadside such as a service target intersection. In addition, the radio wave media device 20 may include, for example, an inter-vehicle communication device mounted on another vehicle. Further, the radio wave media device 20 may include, for example, a device that exchanges information using a communication infrastructure such as the Internet via a VICS (Vehicle Information and Communication System) center or the like.

  The static infrastructure information acquired by the radio wave media receiver 6 is map information including road information. Dynamic infrastructure information acquired by the radio wave media receiver 6 includes, for example, preceding vehicle information, following vehicle information, oncoming vehicle (detection) information, pedestrian (detection) information, intersection information, signal information, construction / traffic regulation information , At least one of traffic information, emergency vehicle information, obstacle information, accident history database, and the like. For example, the road information includes at least one of road gradient information, road surface state information, road shape information, restricted vehicle speed information, road curvature (curve) information, and the like. For example, the oncoming vehicle information includes at least one of the presence / absence of an oncoming vehicle, the vehicle speed of the oncoming vehicle, and information on the arrival time (TTC: Time To Collation) of the oncoming vehicle. Further, for example, the pedestrian information includes at least one of information on the presence or absence of a pedestrian and the presence or absence of a bicycle on the right or left pedestrian crossing of the vehicle 2. Further, for example, the intersection information includes at least one of intersection shape information, intersection stop position information, and the like. The shape of the intersection includes, for example, a crossroad, a T-junction, a Y-junction, a scramble intersection, a rotary intersection, and the like. Further, for example, the signal information is signal signal information such as a traffic light position ahead of the vehicle 2 in the traveling direction, position information such as a stop line, a green signal, a yellow signal, a red signal, a blue arrow, a yellow arrow lighting cycle and a signal change timing. Etc. at least one of Further, for example, the obstacle information is information regarding obstacles existing on the road. The radio wave media receiver 6 is electrically connected to the ECU 5 and outputs a signal related to infrastructure information to the ECU 5.

  The GPS receiver 7 is a device that detects the current position of the vehicle 2. The GPS receiver 7 receives a GPS signal representing the position information (GPS information) of the vehicle 2 distributed by the GPS satellite 30. The GPS receiver 7 is electrically connected to the ECU 5 and outputs the received GPS signal to the ECU 5. The ECU 5 measures and calculates position information (vehicle position information) of the vehicle 2, for example, GPS information (X coordinate; X, Y coordinate; Y), based on the GPS signal received by the GPS receiver 7, for example. .

  The database 8 stores various information. The database 8 stores static infrastructure information and dynamic infrastructure information acquired by the radio wave media receiver 6, various information obtained by actual traveling of the vehicle 2, learning information, and the like. Information stored in the database 8 is appropriately referred to by the ECU 5, and necessary information is read out. Although the database 8 is illustrated as being mounted on the vehicle 2 here, the database 8 is not limited to this, and is provided in an information center or the like outside the vehicle 2, and is connected to the ECU 5 via the radio wave media receiver 6 or the like. May be referred to as appropriate, and necessary information may be read out. Further, static infrastructure information such as map information including road information may be stored in the database 8 in advance.

  The vehicle information network 9 includes a CAN (Control Area Network) constructed as an in-vehicle network. The vehicle information network 9 includes an actuator ECU that controls various actuators of the vehicle control system 3 and a transmission path connected to sensors. The ECU 5 is connected to the actuator ECU and sensors via the vehicle information network 9. The ECU 5 acquires various vehicle information from the state detection device or the like via the vehicle information network 9. The state detection device detects a state quantity and a physical quantity related to a running state of the vehicle 2 and an actual operation on the vehicle 2 by the driver. The vehicle information includes, for example, vehicle speed (hereinafter also referred to as “vehicle speed”) information of the vehicle 2, accelerator opening information corresponding to an operation amount (depression amount) of the accelerator pedal by the driver, and a brake pedal by the driver. At least one of master cylinder pressure information corresponding to the operation amount (depression amount), information on the operating state of the winker (direction indicator), and the like.

  The ECU 5 described above is stored in the infrastructure information (acquisition information) acquired by the radio wave media receiver 6, the position (GPS) information acquired by the GPS receiver 7, the vehicle information acquired via the vehicle information network 9, and the database 8. Electric signals corresponding to various information, drive signals for each part, control commands, and the like are input. The ECU 5 controls each part of the vehicle control system 3 including the HMI device 4 and the like in accordance with these input electric signals and the like.

  And the driving assistance apparatus 1 performs the assistance which urges | provides a predetermined driving operation with respect to a driver | operator, when ECU5 controls the HMI apparatus 4 according to a condition, and performs driving assistance. The driving support device 1 performs driving support by the HMI device 4 outputting various driving support information in accordance with control by the ECU 5, and recommends driving operation to the driver, typically driving with change. Provide guidance support to encourage operation.

  The ECU 5 of this embodiment can control the HMI device 4 and execute a plurality of driving assistances (hereinafter, also referred to as “services or driving assistance services”). The HMI device 4 can output driving support information corresponding to a plurality of driving supports. The ECU 5 executes driving support by the HMI device 4 by starting and executing an installed application program (hereinafter also referred to as “app”). The ECU 5 is installed with applications corresponding to a plurality of driving assistances.

  The ECU 5 analyzes necessary information necessary for driving support based on infrastructure information (acquired information) acquired from the outside of the vehicle 2. Then, the ECU 5 controls the HMI device 4 based on the necessary information to execute a plurality of driving assistances. When the analysis of the necessary information is completed, the ECU 5 sequentially sets the necessary information that has been analyzed into a state where the application can be used. That is, the ECU 5 sequentially discloses the necessary information that has been analyzed to the application (support implementation determination function). Go.

  Here, the driving support device 1 configured as described above, when acquiring various infrastructure information using radio wave media, operates with a single reception due to the characteristics of radio waves that continuous communication is possible over a wide range. Even if all necessary information for support is not available, there is a possibility that all necessary information will be available in the next and subsequent receptions. For this reason, here, the driving assistance device 1 sets the priority order for a plurality of driving assistances so that the driving assistance is performed in an appropriate order, thereby more effectively providing a plurality of driving assistances. The effect is obtained.

  Then, the ECU 5 of the present embodiment analyzes the necessary information necessary for the driving support having a high priority among the necessary information necessary for the plurality of driving assists first, so that the driving support service having a high priority is performed as early as possible. So that you can start. Here, the ECU 5 controls the HMI device 4 after the analysis of all necessary information necessary for each driving support is completed, and sequentially executes the driving support after the analysis of all the necessary information is completed.

  Specifically, as shown in FIG. 1, the ECU 5 is provided with a driving support service confirmation unit 51, a priority order confirmation unit 52, an information analysis unit 53, and an application execution unit 54 in terms of functional concept.

  The driving support service confirmation unit 51 is based on the service information included in the infrastructure information acquired (received) via the radio wave media receiver 6 or the like, and the driving support performed at the service target intersection near the current vehicle position. Check (Service). This service information is information relating to driving support being implemented at the service target intersection.

  The priority order confirmation unit 52 confirms the priority order of a plurality of driving assistances when there are a plurality of driving assistances confirmed by the driving assistance service confirmation unit 51.

  Here, the priority order of the driving support is determined based on at least one of the driving support execution timing, the driving support execution level, and the driving support type, for example. For example, as for driving assistance, the earlier the execution timing (the farther the execution timing is from the intersection), the higher the priority, and the slower the execution timing (the closer the execution timing is to the intersection). The priority is relatively low. Further, for example, the priority of driving assistance is relatively higher as the implementation level is relatively higher, and the priority is relatively lower as the implementation level is relatively lower. This implementation level of driving assistance is a parameter that represents the level of driving assistance implementation strength. For example, even if the same type of driving assistance is used, the higher the implementation level, the more strict driving assistance is provided. It is. For example, there are three levels of execution levels: an alarm level, an alert level, and an information provision level in order from the highest implementation level (implementation level; alarm level> notice level> information provision level). In addition, the priority of driving assistance is set according to the type, for example, driving assistance related to safety is set to a relatively high priority, and driving assistance related to convenience is set to a relatively low priority. Is done. The priority order confirmation unit 52 confirms the priority order of a plurality of driving assistances based on at least one of the driving assistance implementation timing, the driving assistance implementation level, and the driving assistance type, for example.

  Based on the infrastructure information acquired (received) via the radio wave media receiver 6 or the like, the information analysis unit 53 analyzes necessary information necessary for a plurality of driving assistances confirmed by the driving assistance service confirmation unit 51. . Here, the information analysis unit 53 analyzes necessary information necessary for a plurality of driving assistances based on the priority rankings of the plurality of driving assistances confirmed by the priority order confirmation unit 52. In this case, the information analysis unit 53 first analyzes necessary information necessary for driving support having a high priority among necessary information necessary for driving assistance. In other words, the information analysis unit 53 first analyzes necessary information having a high priority according to the priority of driving support also in the information analysis. Then, the information analysis unit 53 sequentially discloses necessary information that has been analyzed to the application so that the application can be used. Therefore, in this case, the necessary information analyzed by the information analysis unit 53 is released to the corresponding application earlier and the application can be used sooner as the necessary information for driving support with higher priority.

  At this time, when the analysis of the necessary information is completed, the information analysis unit 53 generates analysis completion information indicating the completion of the analysis of the necessary information. Specifically, the information analysis unit 53 generates ON / OFF information of the analyzed flag as analysis completion information associated with each state transition or information type, and the ON / OFF information of the analyzed flag is used as the analysis completion information. This indicates how much infrastructure information has been analyzed. The ON / OFF information of the analyzed flag is turned OFF when the analysis of the corresponding necessary information is not completed, and is turned ON when the analysis is completed.

  The application execution unit 54 causes the HMI device 4 to execute driving support corresponding to the application by executing an application corresponding to each of the plurality of driving support. The application execution unit 54 controls the HMI device 4 after the analysis of all necessary information necessary for each driving support is completed, and sequentially executes the driving support after the analysis of all necessary necessary information is completed. Here, based on the analysis completion information (analyzed flag ON / OFF information) generated by the information analysis unit 53, the application execution unit 54 has completed analysis of all necessary information necessary for each driving support. Determine whether or not. As a result, the application execution unit 54 performs a minimum determination process on the validity of necessary information (whether or not necessary necessary information is available) necessary for determining the support execution of each driving support application based on the analysis completion information. Can be grasped. As a result, the application execution unit 54 can suppress the processing load and prevent erroneous use of information that has not been analyzed.

  When the application execution unit 54 determines that analysis of all necessary information necessary for driving support is completed, that is, when it is determined that all necessary information necessary for support execution determination is available, The application corresponding to the driving support determined that the analysis of the necessary information is completed. Thereby, the application execution unit 54 makes a support execution determination for the driving support based on the necessary information, and starts driving support corresponding to the application by the HMI device 4.

  The driving support device 1 configured as described above first analyzes information necessary for driving support having a high priority among necessary information necessary for driving support, so that information analysis is also given priority to driving support. Can be done according to rank. That is, the driving support device 1 analyzes the infrastructure information in order from necessary information necessary for the driving support service having a high priority based on the priority of the driving support service performed at the service target intersection or the like. Can do.

  As a result, the driving support apparatus 1 is configured such that, for example, since the analysis of necessary necessary information is not completed, the driving support with high priority that should be started first is started later than the other driving support. It can suppress that a situation arises. In addition, the driving support device 1 can sequentially start from the driving support with a high priority in which the analysis of the necessary information is completed without waiting for the analysis of all the necessary information necessary for the driving support to be completed. Therefore, the driving assistance apparatus 1 can start a driving assistance service with a high priority as early as possible. Therefore, this driving assistance device 1 can appropriately perform a plurality of driving assistances.

  Next, an example of control in the driving support device 1 will be described with reference to FIG. Note that these control routines are repeatedly executed at a control cycle of several ms to several tens of ms.

  In the following description, a case will be described in which three driving assistances of a signal information utilization service, an obstacle information utilization service, and a continuous intersection information utilization service can be implemented as driving assistance at a service target intersection. The signal information use service is driving support that supports driving of the vehicle 2 and operation by the driver according to the traffic light. Here, it is assumed that necessary information necessary for this signal information utilization service is road information and signal information. The obstacle information utilization service is driving assistance that supports traveling of the vehicle 2 and operation by the driver in accordance with an obstacle present on the traveling path of the vehicle 2. Here, it is assumed that necessary information necessary for this obstacle information utilization service is road information and obstacle information. The continuous intersection information use service supports driving of the vehicle 2 and operation by the driver in order to smoothly pass through a plurality of intersections (hereinafter, sometimes referred to as “continuous intersection”) in the traveling direction of the vehicle 2. It is driving support. Here, it is assumed that necessary information necessary for this continuous intersection information utilization service is road information and continuous intersection information. The continuous intersection information includes, for example, intersection information, signal information, and the like of each intersection received from each intersection continuous in the traveling direction of the vehicle 2.

  The signal information use service, the obstacle information use service, and the continuous intersection information use service are given priorities based on the driving support execution timing, the driving support execution level, the type of driving support, and the like. Here, the priority of driving assistance is, in order from the highest priority, signal information use service, obstacle information use service, continuous intersection information use service (priority order; signal information use service> obstacle information). Use service> Continuous intersection information use service). In the initial state, all the analyzed flags for each driving support are OFF.

  First, the driving support service confirmation unit 51 of the ECU 5 refers to the service information included in the infrastructure information acquired (received) via the radio wave media receiver 6 or the like (ST1), and the service target intersection near the current vehicle position. It is determined whether there is a service (driving support) implemented in (ST2).

  When the information analysis unit 53 of the ECU 5 determines that there is a service in which the driving support service confirmation unit 51 is implemented (ST2: Yes), the information analysis unit 53 determines whether or not the road information as necessary information has been analyzed ( ST3). For example, the information analysis unit 53 determines whether or not the road information has been analyzed by determining whether or not the analyzed flag regarding the road information is ON.

  When it is determined that the road information has not been analyzed (ST3: No), that is, when it is determined that the analyzed flag regarding the road information is OFF, the information analysis unit 53 is acquired via the radio wave media receiver 6 or the like. Based on the infrastructure information, road information as necessary information is analyzed (ST4). Here, this road information is necessary information for carrying out all services, and if there is a service to be implemented, it must be analyzed. It is analyzed with priority.

  And the information analysis part 53 determines whether the analysis of road information was completed (ST5).

  When the information analysis unit 53 determines that the analysis of the road information is completed (ST5: Yes), the information analysis unit 53 publishes the road information to the application so that the application can be used (ST6). At this time, the information analysis unit 53 sets the analyzed flag relating to the road information to ON, and also discloses the ON / OFF information of the analyzed flag to the application as analysis completion information so that the application can be used.

  Then, the application execution unit 54 of the ECU 5 makes a support execution determination for each driving support based on necessary information and analysis completion information (analysis completed flag ON / OFF information) disclosed to the application in this state (ST7). ), The current control cycle is terminated, and the next control cycle is started. At this time, the application execution unit 54 does not start any driving support because there is no driving support in which all necessary information is available among the signal information use service, the obstacle information use service, and the continuous intersection information use service. .

  When the information analysis unit 53 determines in ST2 that there is no service for which the driving support service confirmation unit 51 is implemented (ST2: No), the information analysis unit 53 determines that the analysis of road information is not completed in ST5 ( ST5: No), at this time, no information is disclosed to the application. In this state, the application execution unit 54 makes a support execution determination for each driving support based on necessary information disclosed to the application and analysis completion information (analysis completed flag ON / OFF information) (ST7). End the cycle and move to the next control cycle. As a result, the application execution unit 54 does not start any driving support because there is no driving support in which all necessary information is available among the signal information use service, the obstacle information use service, and the continuous intersection information use service.

  If the information analysis unit 53 determines that the road information has been analyzed in ST3 (ST3: Yes), that is, if the driving support service confirmation unit 51 determines that the analyzed flag related to the road information is ON, It is determined whether there is a signal information use service at the service target intersection (ST8).

  When it is determined by the driving support service confirmation unit 51 that there is a signal information service at the service target intersection (ST8: Yes), the information analysis unit 53 determines whether the signal information as necessary information has been analyzed. (ST9). For example, the information analysis unit 53 determines whether or not the signal information has been analyzed by determining whether or not the analyzed flag relating to the signal information is ON.

  When it is determined that the signal information has not been analyzed (ST9: No), that is, when it is determined that the analyzed flag regarding the signal information is OFF, the information analysis unit 53 is acquired via the radio wave media receiver 6 or the like. Based on the infrastructure information, signal information as necessary information is analyzed (ST10).

  Then, the information analysis unit 53 determines whether or not the analysis of the signal information is completed (ST11).

  When it is determined that the analysis of the signal information is completed (ST11: Yes), the information analysis unit 53 discloses the signal information to the application and makes the application usable (ST12). At this time, the information analysis unit 53 sets the analyzed flag relating to the signal information to ON, and also discloses the ON / OFF information of the analyzed flag to the application as analysis completion information so that the application can be used.

  Then, the application execution unit 54 makes a support execution determination for each driving support based on necessary information and analysis completion information (analyzed flag ON / OFF information) disclosed to the application in this state (ST7). This control cycle is terminated, and the next control cycle is started. At this point, since the necessary information for the signal information utilization service is available, the application execution unit 54 starts the signal information utilization service by the HMI device 4.

  If it is determined in ST11 that the analysis of the signal information is not completed (ST11: No), the information analysis unit 53 does not disclose the signal information to the application at this time. In this state, the application execution unit 54 makes a support execution determination for each driving support based on necessary information disclosed to the application and analysis completion information (analysis completed flag ON / OFF information) (ST7). End the cycle and move to the next control cycle. In this case, the application execution unit 54 does not start any driving support because there is no driving support in which all necessary information is available among the signal information use service, the obstacle information use service, and the continuous intersection information use service.

  If the driving support service confirmation unit 51 determines in ST8 that there is no signal information use service at the service target intersection (ST8: No), it is determined in ST9 that the signal information has been analyzed by the information analysis unit 53. If (ST9: Yes), that is, if it is determined that the analyzed flag relating to the signal information is ON, it is determined whether there is an obstacle information utilization service at the service target intersection (ST13).

  If the driving support service confirmation unit 51 determines that there is an obstacle information utilization service at the service target intersection (ST13: Yes), the information analysis unit 53 determines whether the obstacle information as necessary information has been analyzed. Is determined (ST14). For example, the information analysis unit 53 determines whether or not the obstacle information has been analyzed by determining whether or not the analyzed flag regarding the obstacle information is ON.

  When it is determined that the obstacle information has not been analyzed (ST14: No), that is, when it is determined that the analyzed flag relating to the obstacle information is OFF, the information analysis unit 53 via the radio wave media receiver 6 or the like. Based on the acquired infrastructure information, the obstacle information as necessary information is analyzed (ST15).

  Then, the information analysis unit 53 determines whether the analysis of the obstacle information is completed (ST16).

  When it is determined that the analysis of the obstacle information is completed (ST16: Yes), the information analysis unit 53 publishes the obstacle information to the application so that the application can be used (ST17). At this time, the information analysis unit 53 sets the analyzed flag regarding the obstacle information to ON, and also discloses the ON / OFF information of the analyzed flag to the application as analysis completion information so that the application can be used.

  Then, the application execution unit 54 makes a support execution determination for each driving support based on necessary information and analysis completion information (analyzed flag ON / OFF information) disclosed to the application in this state (ST7). This control cycle is terminated, and the next control cycle is started. At this time, if there is a signal information use service, the application execution unit 54 has started the signal information use service, and then the necessary information for the obstacle information use service is available. Start a service for using material information.

  When it is determined in ST16 that the analysis of the obstacle information is not completed (ST16: No), the information analysis unit 53 does not disclose the obstacle information to the application at this time. In this state, the application execution unit 54 makes a support execution determination for each driving support based on necessary information disclosed to the application and analysis completion information (analysis completed flag ON / OFF information) (ST7). End the cycle and move to the next control cycle. In this case, if there is a signal information utilization service, the application execution unit 54 continues the signal information utilization service since it is started. On the other hand, the obstacle information utilization service and the continuous intersection information utilization service have necessary information. I don't start because I don't.

  If the driving support service confirmation unit 51 determines in ST13 that there is no obstacle information use service at the service target intersection (ST13: No), it determines that the obstacle information has been analyzed by the information analysis unit 53 in ST14. If it is determined (ST14: Yes), that is, if it is determined that the analyzed flag regarding the obstacle information is ON, it is determined whether there is a continuous intersection information use service at the service target intersection (ST18).

  When it is determined by the driving support service confirmation unit 51 that there is a continuous intersection information use service at the service target intersection (ST18: Yes), the information analysis unit 53 determines whether the continuous intersection information as necessary information has been analyzed. Is determined (ST19). For example, the information analysis unit 53 determines whether or not the continuous intersection information has been analyzed by determining whether or not the analyzed flag regarding the continuous intersection information is ON.

  When it is determined that the continuous intersection information has not been analyzed (ST19: No), that is, when it is determined that the analyzed flag related to the continuous intersection information is OFF, the information analysis unit 53 via the radio wave media receiver 6 or the like. Based on the acquired infrastructure information, continuous intersection information as necessary information is analyzed (ST20).

  And the information analysis part 53 determines whether the analysis of continuous intersection information was completed (ST21).

  When it is determined that the analysis of the continuous intersection information is completed (ST21: Yes), the information analysis unit 53 discloses the continuous intersection information to the application so that the application can be used (ST22). At this time, the information analysis unit 53 turns on the analyzed flag relating to the continuous intersection information, and also discloses the ON / OFF information of the analyzed flag to the application as analysis completion information so that the application can be used.

  Then, the application execution unit 54 makes a support execution determination for each driving support based on necessary information and analysis completion information (analyzed flag ON / OFF information) disclosed to the application in this state (ST7). This control cycle is terminated, and the next control cycle is started. At this time, if there is a signal information use service and an obstacle information use service, the application execution unit 54 has started the signal information use service and the obstacle information use service, and then the necessary information on the continuous intersection information use service Therefore, the continuous intersection information use service is further started by the HMI device 4. In addition, the application execution unit 54 determines that the continuous intersection information has been analyzed by the information analysis unit 53 in ST19 (ST19: Yes), that is, determines that the analyzed flag regarding the continuous intersection information is ON. Similarly, in step ST7, the support execution determination is made, and the continuous intersection information use service is started in addition to the signal information use service and the obstacle information use service.

  If the information analysis unit 53 determines in ST18 that there is no obstacle information use service at the service target intersection (ST18: No), the information analysis unit 53 determines that the analysis of continuous intersection information is not completed in ST21 (ST21: No), do not disclose continuous intersection information to the app. In this state, the application execution unit 54 makes a support execution determination for each driving support based on necessary information disclosed to the application and analysis completion information (analysis completed flag ON / OFF information) (ST7). End the cycle and move to the next control cycle. In this case, if there is a signal information use service or an obstacle information use service, the application execution unit 54 continues the signal information use service or the obstacle information use service since it has been started. Will not start.

  According to the driving support device 1 according to the embodiment described above, the HMI device 4 and the ECU 5 are provided. The HMI device 4 is mounted on the vehicle 2 and can execute a plurality of driving assistances. The ECU 5 analyzes the necessary information necessary for driving support based on the infrastructure information (acquired information) acquired from the outside of the vehicle 2 and controls the HMI device 4 based on the required information to execute the driving support. Let Then, the ECU 5 first analyzes necessary information necessary for driving assistance having a high priority among necessary information necessary for driving assistance.

  Therefore, the driving assistance device 1 can analyze information according to the priority of driving assistance by analyzing the necessary information necessary for driving assistance having a high priority among the necessary information necessary for driving assistance. it can. As a result, the driving support device 1 can sequentially start from the driving support with the highest priority, so that a plurality of driving support can be appropriately performed.

  Note that the ECU 5 may generate all information in one cycle as shown in FIG. 3 if there is a margin in the processing load or the like. In this case, the ECU 5 publishes the road information to the application in ST6 so that the application can be used (ST6), and then shifts to the process of ST8 instead of the process of ST7, and executes the subsequent processes. Similarly, after releasing the signal information to the application and making the application usable in ST12 (ST12), the ECU 5 proceeds to the process of ST13 and executes the subsequent processes. The ECU 5 publishes the obstacle information to the application in ST17 to make the application usable (ST17), then proceeds to the process of ST18 and executes the subsequent processes.

  The driving support apparatus according to the above-described embodiment of the present invention is not limited to the above-described embodiment, and various modifications can be made within the scope described in the claims.

  In the above description, the control device has been described as being shared by the ECU 5, but is not limited thereto. For example, the control device may be configured separately from the ECU 5 and may exchange information such as a detection signal, a drive signal, and a control command with each other.

  In the above description, the priority order of driving support is described as being determined based on at least one of the driving support execution timing, the driving support execution level, and the type of driving support, but is not limited thereto. It may be determined by conditions other than the above, such as the running state of the vehicle.

  In the above description, the support device has been described as outputting visual information and auditory information as driving support information, but is not limited thereto. The support device may include, for example, a tactile information output device that outputs tactile information such as steering wheel vibration, seat vibration, and pedal reaction force as driving support information. Further, the support device may be capable of performing driving support for the vehicle through travel control (for example, acceleration / deceleration control) of the vehicle itself.

DESCRIPTION OF SYMBOLS 1 Driving assistance apparatus 2 Vehicle 3 Vehicle control system 4 HMI apparatus (support apparatus)
5 ECU (control device)
6 Radio wave media receiver 7 GPS receiver 8 Database 9 Vehicle information network 20 Radio wave media device 30 GPS satellite 41 Display 42 Speaker 51 Driving support service confirmation unit 52 Priority order confirmation unit 53 Information analysis unit 54 Application execution unit

Claims (4)

A support device mounted on a vehicle and capable of performing a plurality of driving support;
A control device that analyzes the necessary information necessary for the plurality of driving support based on the acquired information acquired from the outside of the vehicle, controls the support device based on the necessary information, and executes the plurality of driving support; Prepared,
The control device analyzes first the necessary information necessary for the driving support having a high priority among the necessary information necessary for the plurality of driving assistance,
Driving assistance device. The control device controls the support device after the analysis of all the necessary information necessary for each of the driving support is completed, and sequentially starts the driving support after the analysis of all the necessary information is completed. To execute,
The driving support device according to claim 1. When the analysis of the required information is completed, the control device generates analysis completion information indicating the analysis completion of the required information, and is necessary for the driving support based on the analysis completion information. Determining whether the analysis of all the necessary information is complete,
The driving support device according to claim 2. The priority order of the driving support is determined based on at least one of the driving support execution timing, the driving support execution level, and the driving support type.
The driving support device according to any one of claims 1 to 3.

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