JP2015149005A - Driving support device, driving support program, and driving support method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To perform inter-vehicle communication using visible light between a vehicle located and stopped most ahead on a traveling route and a vehicle traveling on the traveling route toward the vehicle and a vehicle located between those vehicles, and stopped at the roadside of the traveling route, and to adjust the future behaviors of those vehicles.SOLUTION: At least one information processor among information processors respectively disposed in vehicles 7, 8 and 9 is configured, on the basis of a rear inter-vehicle distance between a rear traveling vehicle 8 and an intermediate stopping vehicle 9 and the traveling speed of the rear traveling vehicle 8 and a front inter-vehicle distance between a front stopping vehicle 7 and the intermediate stopping vehicle 9, to determine priority information indicating which of the traveling of the intermediate stopping vehicle 9 and the rear traveling vehicle 8 should be given priority, and to output the priority information such that control based on the priority information is possible in the intermediate stopping vehicle 9 and the rear traveling vehicle 8.

Description

  The present invention relates to a technology for performing communication using visible light between a plurality of vehicles and supporting driving of the plurality of vehicles.

  Visible light communication technology for transmitting information using visible light is being put into practical use. Japanese Patent Laying-Open No. 2007-310476 (Patent Document 1) discloses an in-vehicle communication device that transmits information using visible light communication between vehicles. This in-vehicle communication device transmits to the succeeding vehicle that the preceding vehicle has changed its own behavior, for example, that it has been able to travel from the stopped state. The succeeding vehicle notifies the user (for example, the driver of the succeeding vehicle) based on this information regarding the preceding vehicle. The driver of the succeeding vehicle can perceive that the preceding vehicle will start before the preceding vehicle actually starts to move, so the preparation for starting the own vehicle (following vehicle) can proceed smoothly, and from the stop state It is possible to smoothly shift to the running state.

  In the in-vehicle communication device of Patent Document 1, when the vehicle train that travels mainly stops and the vehicle starts sequentially from the leading vehicle in the stopped state, the subsequent vehicle following the preceding vehicle smoothly travels from the stopped state to the traveling state. It is useful in that it can make a smooth transition. However, for other purposes, for example, when the preceding vehicle is stopped, the following vehicle can be assisted to travel with sufficient distance from the preceding vehicle, or the preceding vehicle can be There are no considerations for helping the car to pass safely. Moreover, in patent document 1, although the form which transmits information by a relay system is considered, the use which adjusts traffic between two or more vehicles and assists driving | running is not considered.

JP 2007-310476 A

  In view of the above-described background, a vehicle that is positioned at the foremost position on the traveling road, a vehicle that travels on the traveling path toward the vehicle, and a vehicle that is positioned between these vehicles and stops on the road side of the traveling path. It is desired to provide a technology for performing vehicle-to-vehicle communication using visible light with the vehicle and adjusting the future behavior of these vehicles.

The characteristic configuration of the driving support system according to the present invention in view of the above problems is as follows.
A driving support system that performs communication using visible light between a plurality of vehicles and supports driving of the plurality of vehicles,
A front stop vehicle that is positioned at the foremost position on the travel path and stops, a rear travel vehicle that travels toward the front stop vehicle on the travel path, and a position between the front stop vehicle and the rear travel vehicle. Supporting driving with an intermediate stop vehicle that stops on the road side of the road,
Each vehicle is
A driving state detection device for detecting the driving state of the host vehicle;
A light receiving device capable of receiving visible light;
A signal receiving device for detecting received information from a communication signal superimposed on visible light;
An information processing device capable of performing information processing based on at least one of the received information and traveling state information indicating the traveling state of the host vehicle and outputting an information processing result;
A signal transmission device that superimposes a communication signal having transmission information including at least one of the running state information and the information processing result on visible light, and transmits the signal via a light emitting device.
At least one of the information processing devices includes a rear inter-vehicle distance between the rear traveling vehicle and the intermediate stopped vehicle, a traveling speed of the rear traveling vehicle, and a front inter-vehicle distance between the front stopped vehicle and the intermediate stopped vehicle. , And determining priority information indicating which of the intermediate stop vehicle and the backward traveling vehicle is prioritized,
The information processing apparatus outputs the priority information so that the intermediate stop vehicle and the backward traveling vehicle can be controlled based on the priority information.

  For example, based on the inter-rear distance between the intermediate stop vehicle and the backward traveling vehicle and the traveling speed of the backward traveling vehicle, the time (arrival time) until the backward stopped vehicle reaches the position where the intermediate stopped vehicle exists can be calculated. it can. Then, when it is assumed that an intermediate stop vehicle in a stopped state starts to move within such an arrival time, it is calculated whether or not an appropriate inter-vehicle distance can be secured between the intermediate stop vehicle and the rear traveling vehicle. You can also. Furthermore, based on the distance between the front and the front stop vehicle, the travel speed after the start of the intermediate stop vehicle and the intermediate stop within the range where it can safely stop behind the front stop vehicle. It is also possible to set an upper limit value of the traveling speed of the backward traveling vehicle when overtaking the vehicle. Therefore, the information processing apparatus can either run the intermediate stop vehicle (for example, the intermediate stopped vehicle in a stopped state starts) or the rear travel vehicle (for example, the rear traveling vehicle overtakes the intermediate stop vehicle). It is possible to determine whether to increase the priority. Further, the information processing device outputs the determined priority information, for example, to alert the driver of the intermediate stop vehicle or the backward traveling vehicle, or to restrict the start of the intermediate stop vehicle or the traveling of the backward traveling vehicle. be able to. In addition, the information processing result by at least one information processing device among the three vehicles can be transmitted to other vehicles by the signal transmission device. The information processing apparatus that has determined the priority information outputs the information processing result so that control based on the priority information is possible in the intermediate stop vehicle and the backward traveling vehicle. Therefore, at least the adjustment result regarding the future behavior can be shared between the intermediate stop vehicle and the rear traveling vehicle. Thus, according to this configuration, the vehicle that is positioned at the foremost position on the road and stops, the vehicle that runs on the road toward the vehicle, and the road side of the road that is located between these vehicles. It is possible to perform inter-vehicle communication using visible light with vehicles that stop at, and adjust the future behavior of these vehicles.

  Further features and advantages of the present invention will become apparent from the following description of embodiments of the invention which will be described with reference to the drawings.

Explanatory drawing of the scene where vehicle-to-vehicle communication is performed between two vehicles Block diagram schematically showing the system configuration of the vehicle Explanatory drawing which shows an example of a data structure of visible light communication typically Flow chart showing an example of the procedure of inter-vehicle communication

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. The driving support system according to the present invention includes a vehicle communication system (visible light communication system) using visible light, a guidance system that guides driving operations to the driver, and a vehicle control system that suppresses erroneous operation of driving operations by the driver. And so on, so that the driver can use the vehicle more safely. The driving support system 2 of the present embodiment is configured with the visible light communication system 1 as a core (see FIG. 2 and the like).

  In this embodiment, as shown in FIG. 1, vehicle-to-vehicle communication using visible light is performed between three vehicles (7, 8, 9), and the future of these vehicles (7, 8, 9) An example of adjusting the behavior will be described. Each of the three vehicles (7, 8, 9) travels toward the front stop vehicle 7 on the travel path Rm and the front stop vehicle 7 that stops at the foremost position on the travel path Rm of the road R. And a middle stop vehicle 9 that is located between the front stop vehicle 7 and the rear travel vehicle 8 and stops on the road side Rs of the travel path Rm. Further, the future behavior is a case where the intermediate stop vehicle 9 starts from the stop position to the travel path Rm and the rear traveling vehicle 8 travels following the intermediate stop vehicle 9 (the case where “C1” is given priority). ) Or the case where the rear traveling vehicle 8 overtakes the intermediate stop vehicle 9 and the intermediate stop vehicle 9 starts following the rear traveling vehicle 8 after the rear traveling vehicle 8 passes the travel path Rm ("C2"). Priority case).

  Even in the case where “C1” or “C2” is prioritized, the vehicle following the forward stop vehicle 7 (in this case, “8” or “9”) stops safely behind the forward stop vehicle 7. There is a need. That is, even in the case where “C1” is given priority, the acceleration after the start of the intermediate stop vehicle 9 and the traveling speed may be limited within a range where the vehicle can be safely stopped behind the front stop vehicle 7. preferable. Even in the case where “C2” is prioritized, the traveling speed of the rear traveling vehicle 8 is preferably limited to a speed at which the vehicle can stop safely behind the front stopping vehicle 7.

  Therefore, in this embodiment, the vehicle following the forward stop vehicle 7 (in this case, “8” or “9”) can stop safely behind the forward stop vehicle 7, and the backward traveling vehicle 8 and the intermediate stop vehicle can be stopped. The future behavior of the backward traveling vehicle 8 and the intermediate stop vehicle 9 is adjusted so that the vehicle 9 can travel on the traveling path Rm safely. In this adjustment, in this embodiment, the first priority information is generated while performing visible light communication between the backward traveling vehicle 8 and the intermediate stop vehicle 9, and the first priority information is obtained by visible light communication. The following description will be given using an example in which the forward stopped vehicle 7 generates second priority information that is a final adjustment result and provides the second priority information to the backward traveling vehicle 8 and the intermediate stopped vehicle 9 by visible light communication.

  That is, in the embodiment described below, the primary priority indicating which of the intermediate stopped vehicle 9 and the backward traveling vehicle 8 is prioritized in at least one of the backward traveling vehicle 8 and the intermediate stopped vehicle 9. Information is determined and output. Then, the first priority information is transmitted from at least one of the backward traveling vehicle 8 and the intermediately stopped vehicle 9 to the forwardly stopped vehicle 7. Then, second priority information indicating which of the intermediate stopped vehicle 9 and the backward traveling vehicle 8 is prioritized in the forward stopped vehicle 7 is determined, and the secondary traveling priority information is determined by the secondary traveling vehicle 8 and the intermediate stopped vehicle 9 as the secondary priority information. Priority information is transmitted. The following description will be made using an example in which the first priority information is determined and output in the backward traveling vehicle 8. Transmission of the first priority information to the forward stop vehicle 7 can be performed in the following two ways. One aspect is an aspect in which the backward traveling vehicle 8 that has determined the primary priority information transmits the primary priority information to the intermediate stop vehicle 9 and the forward stop vehicle 7. The other mode is a mode in which the backward traveling vehicle 8 transmits to the intermediate stop vehicle 9 and the intermediate stop vehicle 9 transfers the first priority information to the forward stop vehicle 7. In the following description, the latter will be described using an example of the latter (a mode of transmitting to the forward stop vehicle 7 via the intermediate stop vehicle 9).

  Hereinafter, the above-described embodiment of the driving support system 2 according to the present invention will be described in detail. First, an in-vehicle system of each vehicle (7, 8, 9) in which the driving support system 2 is constructed will be described. Here, description will be made assuming that all of the front stop vehicle 7, the intermediate stop vehicle 9, and the rear traveling vehicle 8 are provided with the same in-vehicle system.

  As described above, the visible light communication system 1 that is the core of the driving support system 2 constitutes a part of the in-vehicle system in the vehicle (7, 8, 9) as shown in FIG. It cooperates with other in-vehicle systems such as the system 50, the ranging system 60, and the image processing system 70. The travel control system 30 is a system that controls a vehicle drive device (not shown) such as an internal combustion engine or a rotating electrical machine. As shown in FIG. 2, the travel control system 30 cooperates with various sensors (31 to 36) in addition to the drive device control system 40 that controls the drive of the vehicle drive device, so that the vehicle (7, 8, 9) Control driving. In the present embodiment, as various sensors, an accelerator sensor 31 that detects an operation amount of an accelerator pedal (accelerator operation unit), a brake sensor 32 that detects an operation amount of a brake pedal (brake operation unit), and an operation amount of a steering wheel are detected. A steering angle sensor 33 that detects the rotational speed and direction of the traveling wheel, an acceleration sensor 35 that detects the acceleration of the vehicle, a shift position sensor 36 that detects the position of the shift lever, and the like.

  The drive device control system 40 controls the drive of the vehicle drive device based on the detection results of these sensors (31 to 36). Specifically, the drive device control system 40 detects the detection results of the sensors that detect the operation amount of these driving devices, the rotation sensor 34 that detects the rotational speed and direction of the traveling wheels, and the acceleration that detects the acceleration of the vehicle. Based on the detection result of the sensor 35, the azimuth sensor (not shown) or the like that detects the behavior of the vehicle, the travel command value is calculated and the vehicle drive device is controlled. The traveling control system 30 executes comprehensive control related to traveling of the vehicle, including whether the control of the vehicle drive device based on the traveling command value is appropriate. For example, when there is a safety problem in the vehicle, the traveling control system 30 restricts the driving of the vehicle driving device regardless of the traveling command value, thereby reducing the traveling speed of the vehicle or stopping the vehicle. It is also possible to execute control such as The traveling control system 30 can also limit the amount of operation of the steering wheel.

  The guidance system 50 is a system that guides driving operations by a driver, and includes, for example, a parking guidance system that guides driving operations during parking, and an operation guidance system that guides driving operations to achieve efficient driving. It is. In addition, the guidance system 50 supports the driver so that the driver can be alerted according to the situation around the vehicle, and safer driving can be performed. In the present embodiment, information is displayed by characters or images via the display 51, or information is provided by voice via the speaker 52. The guidance system 50 may be integrated with a navigation system that provides the driver with route information to a destination, vehicle surrounding information, traffic information, and the like.

  The ranging system 60 is a system that measures the distance from other objects around the vehicle (7, 8, 9). The ranging system 60 includes a laser radar 61 and a sonar (not shown). For example, the distance to the other vehicle in front of the vehicle (7, 8, 9) (inter-vehicle distance), the distance to the other vehicle approaching from the rear (inter-vehicle distance), the front / rear / side obstacles (wall, Measure distances (clearance) from parked vehicles, road equipment, etc. The guidance system 50 and the travel control system 30 can perform control according to the measurement result by the distance measuring system 60. The image processing system 70 is a system that performs image recognition or synthesizes a wide-angle image or a bird's-eye view image based on captured images around the vehicle (7, 8, 9). The image processing system 70 includes a front camera 71 that captures a front scene of the vehicle (7, 8, 9), a rear camera 72 that captures a rear scene, a side camera (not shown) that captures a side scene, and the like. It is prepared for.

  The traveling state detection device 23 of the visible light communication system 1 is a functional unit that detects the traveling state of the vehicle (7, 8, 9). The traveling state is, for example, a shift position or a traveling speed, and is preferably provided from the traveling control system 30. Naturally, at least a part of the traveling state detection device 23 may be configured by the traveling control system 30. The traveling state information of the intermediate stop vehicle 9 includes information indicating that the intermediate stop vehicle 9 is in a start start state in which the start is started from the stop state.

  As shown in FIG. 2, each system including the visible light communication system 1 and various sensors are connected via an in-vehicle network 100 so that information can be transmitted to each other. In addition, the connection form via this in-vehicle network 100 is schematic, and each system and each sensor are not limited to the form of FIG. 2, and may be connected directly or indirectly.

  As shown in FIG. 2, the visible light communication system 1 includes a light receiving device 11, a signal receiving device 13, an information processing device 15, a signal transmitting device 14, and a light emitting device 12 (lighting device). Here, it is said that these devices are (or are) provided in the vehicle, at least when these devices are used (when operating as the visible light communication system 1 or the driving support system 2). It's enough. In other words, these devices do not always need to be fixedly mounted on the vehicle, and include a form in which the device is installed in a vehicle or brought in only when used by being mounted on a portable terminal or the like. .

  The light emitting device 12 is not a dedicated device for visible light communication. For example, the lighting device (headlight (headlight)), front and rear width lights, tail lamp, It is preferable to use a stop lamp, a fog lamp, a blinker, etc. In visible light communication, a communication signal is superimposed on visible light projected from the light emitting device 12. Therefore, it is preferable that the light emitting device 12 is configured using a light source having high response to modulation, such as a light emitting diode (LED) or a xenon lamp, as a light source. For example, the LED can be controlled to blink at a high speed that is not felt by human eyes. By forming a digital signal according to the blinking state of light, a communication signal by visible light can be transmitted.

  FIG. 3 schematically illustrates an example of a data configuration of a communication signal in visible light communication. The communication signal includes control data indicating the start and end of communication, attribute data indicating a light source attribute, information data indicating communication contents, and the like. The attribute data further includes light source attribute data indicating the attributes of the light source itself (facility lighting, vehicle lighting device, etc.), and mother attribute data indicating the host body (building, facility, vehicle, etc.) provided with the light source. included. For example, the base attribute data preferably includes vehicle identification information that is individual information (for example, a chassis number or a vehicle registration symbol number) set for each vehicle. The vehicle identification information is information that can identify the vehicle. Here, the pulse width modulation form in which the data value is formed by the width of the pulse formed by turning on and off the light source is exemplified, but this prevents other modulation methods such as amplitude modulation from being applied. It is not a thing.

  The communication signal is superimposed on visible light by the signal transmission device 14. In other words, the signal transmission device 14 uses the lighting device control pattern obtained by superimposing the communication signal, which is a digital signal, on the lighting control pattern for lighting the light source with a predetermined brightness. Device). That is, the signal transmission device 14 uses visible light as a carrier wave and carries the modulated communication signal on the carrier wave. The light emitting device 12 (lighting device) blinks in the lighting device control pattern, emits light of a predetermined brightness, and transmits a communication signal. The lighting control pattern is generated by a lighting control device (not shown). In this embodiment, the signal transmission device 14 transmits a communication signal having transmission information including at least one of the traveling state information detected by the traveling state detection device 23 and the information processing result by the information processing device 15 described later to visible light. And transmitted via the light emitting device 12.

  The light receiving device 11 includes a light receiving element such as a photodiode, a phototransistor, or an image sensor. In the present embodiment, these light receiving elements are elements having sensitivity to at least light in the visible light region. The signal reception device 13 detects a communication signal that is a communication signal when a communication signal of a predetermined format is superimposed on the visible light received by the light receiving device 11. Such a light receiving device 11 may be incorporated in the lighting device of the vehicle (7, 8, 9).

  The signal receiving device 13 uses visible light as a carrier wave and demodulates the communication signal which is modulated and carried by the carrier wave. Accordingly, the signal receiving device 13 preferably processes an analog signal processing circuit that processes an analog signal output from the light receiving element, an A / D converter that digitally converts the output of the analog signal processing circuit, and processes a digitally converted signal. A digital signal processing circuit is provided. The communication signal superimposed on visible light may be extracted from an analog signal or may be extracted from a digital signal.

  The information processing device 15 performs information processing based on at least one of the reception information detected by the signal reception device 13 and the traveling state information indicating the traveling state of the host vehicle (the vehicle on which the information processing device 15 is mounted). Outputs the processing result. The information processing result is, for example, priority (priority information) for traveling on the travel route Rm, alert information, and the like. This information processing result is output to the in-vehicle system of the own vehicle via the in-vehicle network 100 and also output to other vehicles via the signal transmission device 14 and the light emitting device 12. For example, the priority information determined in the rear traveling vehicle 8 is transmitted to other vehicles (preferably the intermediate stop vehicle 9 and the front stop vehicle 7) via the signal transmission device 14 and the light emitting device 12 (lighting device) of the rear traveling vehicle 8. ) Is output. In the case of outputting to another system, for example, the priority is transmitted to the traveling control system 30 of the backward traveling vehicle 8 to limit the speed increase, or the alert information is transmitted to the guidance system 50 to display the display 51 or The driver may be notified through the speaker 52.

  The information processing apparatus 15 is configured with a logical operation processor such as a microcomputer as a core, and realizes various functions by cooperation of hardware such as the processor and software such as a program. The information processing apparatus 15 configured with the logical operation processor as the core can function as the core of the visible light communication system 1. For example, it is preferable that the information processing device 15 also has a function of controlling the signal reception device 13. For example, the information processing device 15 performs timing control of the sample hold circuit included in the analog signal processing circuit, control of conversion timing of the A / D converter, provision of calculation commands and calculation parameters to the digital signal processing circuit, and the like. May be. Further, the information processing device 15 may be configured to control the light receiving device 11 such as adjustment of sensitivity of the light receiving device 11. Similarly, the information processing device 15 can also control the signal transmission device 14 and the lighting device (light emitting device 12).

  As described above, the information processing device 15 performs information processing based on at least one of the reception information and the traveling state information indicating the traveling state of the host vehicle (the vehicle on which the information processing device 15 is mounted), and performs the information processing result. Can be output. The information processing device 15 mounted on at least one of the three vehicles (7, 8, 9) includes a rear inter-vehicle distance between the rear traveling vehicle 8 and the intermediate stop vehicle 9 and the rear traveling vehicle 8. Priority (priority information) indicating which of the intermediate stopped vehicle 9 and the backward traveling vehicle 8 is prioritized based on the traveling speed and the front inter-vehicle distance between the forward stopped vehicle 7 and the intermediate stopped vehicle 9 To decide. The information processing device 15 mounted on any one of the three vehicles (7, 8, 9) may determine the priority by performing all calculations, The priority may be determined by cooperation of the information processing device 15.

  Here, referring also to the flowchart of FIG. 4, priority information (pre-priority) is mainly formed by the information processing device 15 mounted on the rear traveling vehicle 8 among the three vehicles (7, 8, 9). Degree information, first priority information), and the information processing apparatus 15 mounted on the forward stop vehicle 7 using the first priority information is the final priority information (second priority information). ) Will be described using an example of determining. In FIG. 4, # 70, # 80, and # 90 are a process executed by the forward stop vehicle 7 (# 70), a process executed by the backward traveling vehicle 8 (# 80), and an intermediate stop vehicle, respectively. 9 shows the process (# 90) executed in FIG. Although not shown for the sake of simplification, in each process (# 70, # 80, # 90), a driving state detection step / detection step of detecting driving state information of each vehicle (7, 8, 9) / The function is executed.

  At the beginning of the process of determining the priority information, the information processing device 15 of the backward traveling vehicle 8 determines whether or not there is a stopped vehicle (intermediate stopped vehicle 9) in front of the host vehicle and the vehicle is in a stopped state. Determine (# 81: intermediate stop vehicle determination step / function). The information processing device 15 is preferably configured to have an intermediate stop vehicle detection function for detecting a vehicle (here, the intermediate stop vehicle 9) existing in front of the host vehicle. At least a part of the intermediate stop vehicle detection function may be performed by the ranging system 60 or the image processing system 70.

  The information processing device 15 is also configured to have an intermediate stop vehicle stop state determination function for determining whether or not a vehicle (here, the intermediate stop vehicle 9) existing in front of the host vehicle is in a stop state. It is preferable that At least a part of the intermediate stop vehicle stop state determination function may be performed by the distance measuring system 60 or the image processing system 70. For example, the position of the intermediate stop vehicle 9 can be obtained by detection by the ranging system 60 or image recognition by the image processing system 70. Based on the traveling speed of the backward traveling vehicle 8 as the own vehicle and the inter-vehicle distance between the backward traveling vehicle 8 and the intermediate stopped vehicle 9, it can be determined whether or not the intermediate stopped vehicle 9 is moving. In addition, when traveling state information can be received from another vehicle (in this case, the intermediate stop vehicle 9) by inter-vehicle communication, it is determined whether the vehicle is stopped based on the received traveling state information. May be.

  When there is a stop vehicle (intermediate stop vehicle 9), the information processing device 15 determines priority information indicating which of the own vehicle (rear vehicle 8) and the intermediate stop vehicle 9 is prioritized. And output. In the present embodiment, this priority information is referred to as pre-priority information (first priority information). The pre-priority information is transmitted via the signal transmission device 14 and the light-emitting device 12 (lighting device, here, for example, the headlight of the rear traveling vehicle 8) (# 83: primary priority information determination output step / function). ). The information processing device 15 has a priority determination function, and indicates that the front stop vehicle 7 is in a stopped state and that the intermediate stop vehicle 9 and the rear traveling vehicle 8 acquired via the distance measuring system 60 and the like are Based on the inter-vehicle distance (rear inter-vehicle distance) and the traveling speed of the host vehicle (rear traveling vehicle 8) detected by the traveling state detection device 23, priority is given to the traveling of the rear traveling vehicle 8 and the intermediate stop vehicle 9. Priority information (pre-priority information) is determined and output. That is, the information processing apparatus 15 determines the priority of whether “C1” is prioritized or “C2” is prioritized in FIG. Steps # 81 and # 83 described above also correspond to information processing steps / functions. Of course, step # 83 corresponds to the signal transmission process / function.

  Thus, the priority information (pre-priority information) is determined based on at least the traveling speed of the backward traveling vehicle 8 and the inter-vehicle distance between the backward traveling vehicle 8 and the intermediate stop vehicle 9. However, when the travel state information can be received from the other vehicle (in this case, the intermediate stop vehicle 9) by inter-vehicle communication, the priority is further determined according to the travel state level “L” of the other vehicle. It is preferable. Although not shown in the process “# 80” in FIG. 4, in this case, for example, a process / function (signal receiving process / function) for receiving driving state information is executed between steps # 81 and # 83. The Here, the travel state information (intermediate stop vehicle travel state information) of the intermediate stop vehicle 9 transmitted from the intermediate stop vehicle 9 to the backward travel vehicle 8 includes the shift position of the intermediate stop vehicle 9, the state of the side brake, A case where a state is included will be described as an example. The intermediate stop vehicle traveling state information is transmitted via the signal transmission device 14 and the light emitting device 12 (lighting device, for example, the tail lamp of the intermediate stop vehicle 9) of the intermediate stop vehicle 9. Although not shown in the process “# 90” in FIG. 4, in this case, for example, a step / function (signal transmission step / function) for transmitting the traveling state information is executed before step # 91.

  In this embodiment, the initial value of the running state level “L” is “0”. When the shift position of the intermediate stop vehicle 9 is not the neutral or reverse position but the forward position, it can be determined that the intermediate stop vehicle 9 is ready to start from the stop state. Therefore, when it is determined that the shift position of the intermediate stop vehicle 9 is in the forward movement position based on the intermediate stop vehicle travel state information, the travel state level “L” becomes “1”. Further, based on the information on the state of the side brake included in the intermediate stop vehicle traveling state information, when it is determined that the side brake is released, it is further determined that the vehicle is ready to start, and the traveling state level “L”. Becomes “2”. Further, if it is determined that the foot brake is released based on the information on the state of the foot brake included in the intermediate stop vehicle traveling state information, it is further determined that the vehicle is ready to start, and the traveling state level “L "Becomes" 3 ". Thus, in this embodiment, the running state level “L” is determined to be, for example, “0” to “3”.

  The condition for determining the running state level “L” is not limited to the shift position, the state of the side brake, and the state of the foot brake, and may be less than these, or other conditions may be added. In the above description, the driving state level “L” is different by “1” evenly when each condition is met. However, the difference in the running state level “L” may be different depending on each condition. For example, if the foot brake is released in a vehicle with an automatic transmission, the vehicle moves forward by a creep phenomenon. Therefore, when the foot brake is released, the difference in the running state level “L” may be “2” to “3” instead of “1”. The same applies to other conditions.

  Further, here, an example in which the traveling state level “L” of the intermediate stop vehicle 9 is determined in the backward traveling vehicle 8 is illustrated. However, in the intermediate stop vehicle 9, the traveling state level “L” of the host vehicle (intermediate stop vehicle 9) may be determined. In this case, it is preferable that at least part of the intermediate stop vehicle travel state information transmitted from the intermediate stop vehicle 9 to the backward travel vehicle 8 is the travel state level “L” of the intermediate stop vehicle 9.

  The information processing device 15 determines pre-priority information based on the driving state level “L”, the inter-vehicle distance between the intermediate stop vehicle 9 and the rear traveling vehicle 8, and the traveling speed of the rear traveling vehicle 8. Can be output. For example, when the traveling speed of the backward traveling vehicle 8 is 40 [km / h] or more, “C2” in FIG. 1 is given priority regardless of the inter-vehicle distance and the traveling state level “L”. That is, since the traveling speed of the backward traveling vehicle 8 is relatively high, “C2” is prioritized in consideration of the risk of another vehicle (intermediate stop vehicle 9) appearing in front of the backward traveling vehicle 8. The As a form of priority, for example, a form in which the priority of “C1” is determined as “0” and the priority of “C2” is determined as “1” may be used.

  When the traveling speed of the backward traveling vehicle 8 is, for example, less than 40 [km / h] or more than 20 [km / h], the priority is determined according to the inter-vehicle distance and the traveling state level “L”. If the inter-vehicle distance is 30 [m] or more and the traveling state level “L” is “3”, “C1” in FIG. 1 is prioritized. That is, when the inter-vehicle distance is relatively long and the start of the intermediate stop vehicle 9 is almost completely ready, the start of the intermediate stop vehicle 9 is given priority. On the other hand, even if the inter-vehicle distance is 30 [m] or more, if the traveling state level “L” is “2” or less, “C2” in FIG. 1 is given priority. In other words, even if the inter-vehicle distance is relatively long, when the intermediate stop vehicle 9 is not completely ready to start, priority is given to the passage of the backward traveling vehicle 8. When the inter-vehicle distance is less than 30 [m], “C2” in FIG. 1 is given priority regardless of the driving state level “L”. That is, the distance between the vehicles is relatively short, and “C2” is given priority in consideration of the risk of another vehicle (intermediate stop vehicle 9) appearing in front of the backward traveling vehicle 8.

  Even when the traveling speed of the backward traveling vehicle 8 is less than 20 [km / h], the priority is determined according to the inter-vehicle distance and the traveling state level “L”. If the inter-vehicle distance is 15 [m] or more and the traveling state level “L” is “2” or more, “C1” in FIG. 1 is prioritized. In general, the stop distance from when the driver operates the foot brake until the vehicle stops stops longer as the traveling speed of the vehicle increases. The stopping distance is the distance that the vehicle travels between the time when the driver is conscious of trying to operate the foot brake and the actual operation, and the braking distance from when the foot brake is operated to when the brake starts to stop And the sum. If the time until the driver operates is constant, the free running distance becomes longer in proportion to the running speed. On the other hand, since the braking distance becomes longer in proportion to the square of the traveling speed, the stopping distance tends to become longer as the traveling speed increases. For this reason, when the traveling speed of the rear traveling vehicle 8 is less than 20 [km / h], the stopping distance is shorter than when the traveling speed is less than 40 [km / h] and 20 [km / h] or more. Therefore, even if the traveling state level “L” is “2” which is lower, “C1” in FIG. 1 is prioritized. On the other hand, even when the traveling speed of the rear traveling vehicle 8 is less than 20 [km / h], when the inter-vehicle distance is less than 15 [m], regardless of the traveling state level “L”, FIG. “C2” has priority.

  As described above, the intermediate stop vehicle 9 has pre-priority information (via the signal transmission device 14 and the light emitting device 12 (lighting device, for example, the headlight of the rear traveling vehicle 8) transmitted from the rear traveling vehicle 8). Primary priority information) (# 91: relay primary priority information receiving step / function). Then, the received pre-priority information (first priority information) is transferred to the forward stop vehicle 7 (# 93: first priority information transfer step / function). Steps # 91 and # 93 may be collectively referred to as a first priority information transfer process / function. Moreover, although the intermediate stop vehicle 9 relayed the pre-priority information transmitted from the backward traveling vehicle 8 and was provided to the forward stopped vehicle 7 here, the backward stopped vehicle 8 forwards the forward stopped vehicle. 7 may be provided with pre-priority information directly by visible light communication.

  The front stop vehicle 7 has pre-priority information (first priority) transmitted via the signal transmission device 14 of the intermediate stop vehicle 9 and the light emitting device 12 (lighting device, for example, the headlight of the intermediate stop vehicle 9 here). Information) (# 71: primary priority information receiving process / function (signal receiving process / function)). Then, the front stop vehicle 7 uses the received pre-priority information (first priority information) to give priority information (first order) indicating which of the rear traveling vehicle 8 and the intermediate stopped vehicle 9 is prioritized. Secondary priority information) is determined and output (# 73: priority information determination output step / function (information processing step / function, signal transmission step / function)).

  The information processing device 15 of the front stop vehicle 7 determines which of the intermediate stop vehicle 9 and the rear traveling vehicle 8 based on the pre-priority information and the front inter-vehicle distance (the inter-vehicle distance between the front stop vehicle 7 and the intermediate stop vehicle 9). Priority information (secondary priority information) indicating whether to prioritize traveling is determined and output. The front inter-vehicle distance is preferably detected by the distance measuring system 60 of the front stop vehicle 7 or the intermediate stop vehicle 9 or the like. When the front inter-vehicle distance is detected by the distance measuring system 60 of the intermediate stop vehicle 9 or the like, it is preferable that the front inter-vehicle distance is transmitted to the front stop vehicle 7 together with the pre-priority information in step # 93. For example, when the front inter-vehicle distance is less than 10 [m], it is determined that the intermediate stop vehicle 9 cannot secure a sufficient distance for starting and decelerating, and the rear traveling vehicle regardless of the pre-priority information. Priority information indicating that priority is given to the travel No. 8 is determined and output. On the other hand, when the front inter-vehicle distance is 10 [m] or more, priority information indicating that priority is given to traveling of the vehicle (8, 9) indicated in the pre-priority information is determined and output.

  That is, the information processing device 15 of the rear traveling vehicle 8 and the information processing device 15 of the front stopping vehicle 7 cooperate, and the rear inter-vehicle distance between the rear traveling vehicle 8 and the intermediate stop vehicle 9 and the travel of the rear traveling vehicle 8 are increased. Based on the speed and the front inter-vehicle distance between the front stop vehicle 7 and the intermediate stop vehicle 9, priority information indicating which of the intermediate stop vehicle 9 and the rear traveling vehicle 8 is prioritized is determined. Then, the priority information (secondary priority information) is output so that the intermediate stop vehicle 9 and the backward traveling vehicle 8 can be controlled based on the priority information (secondary priority information).

  The intermediate stop vehicle 9 and the backward traveling vehicle 8 are the priority transmitted in step # 73 via the signal transmission device 14 and the light emitting device 12 of the front stop vehicle 7 (lighting device, for example, the tail lamp of the front stop vehicle 7 in this case). Information (secondary priority information) is received (# 85 / # 95: second priority information receiving step / function). Then, for example, notification based on the priority information is performed to the driver of each vehicle (8, 9) via the guidance system 50 (# 87 / # 97: notification process / function). In addition, the driving device may be controlled based on the priority information via the traveling control system 30.

  For example, when the backward traveling vehicle 8 receives priority information (secondary priority information) that “C1” in FIG. 1 is given priority, the guidance system 50 displays, for example, “attention for rear-end collision” on the display 51. The message “The vehicle ahead is starting. Please drive carefully.” Is output from the speaker 52. Moreover, the traveling control system 30 may control the drive device control system 40 so as to prevent the backward traveling vehicle 8 from being accelerated. In the intermediate stop vehicle 9, for example, the guidance system 50 displays, for example, “rear caution” on the display 51, while the speaker 52 says “the vehicle is approaching from behind. Output a message. The travel control system 30 and the distance measuring system 60 for the intermediate stop vehicle 9 provide brake assist in preparation for a case where the start of the intermediate stop vehicle 9 is delayed or the rear traveling vehicle 8 increases speed and approaches earlier than expected. Preparation for increasing the detection accuracy may be performed.

  On the other hand, when the backward traveling vehicle 8 receives the priority information that “C2” in FIG. 1 is prioritized, the guidance system 50 of the backward traveling vehicle 8 displays on the display 51, for example, “Beware of the stopped vehicle”. While being displayed, a message “Please pay attention to the vehicle in front of the vehicle and overtake it” is output from the speaker 52. Even if the traveling control system 30 or the distance measuring system 60 prepares to increase the detection accuracy for the brake assist in case the intermediate stop vehicle 9 suddenly starts against the arbitration based on the priority information. Good. In the intermediate stop vehicle 9, the guidance system 50 displays a message “Please let the vehicle approaching from behind pass first” while displaying, for example, “Vehicle approaching” on the display 51. Furthermore, the traveling control system 30 of the intermediate stop vehicle 9 may control the drive device control system 40 of the intermediate stop vehicle 9 so as to suppress the acceleration of the intermediate stop vehicle 9.

  By the way, when the traveling vehicle 8 receives the traveling state information from the intermediate stop vehicle 9 as described above, the visible light transmitted from the intermediate stop vehicle 9 and the visible light transmitted from the front stop vehicle 7 are used. Both light and light are received. For this reason, the communication signal superimposed on visible light may interfere. For example, when the light receiving device 11 is disposed in a vehicle lighting device, the light receiving device 11 in the front portion of the rear traveling vehicle 8 is preferably disposed in a headlight. Since the headlights are provided on the left and right, for example, when the vehicles (7, 8, 9) are arranged as shown in FIG. 1 and FIG. Thus, it is preferable to receive visible light from the intermediate stop vehicle 9 and to receive visible light from the front stop vehicle 7 by the light receiving device 11 provided in the right headlight, thereby suppressing interference.

  In the above description, the mode in which the backward traveling vehicle 8 determines the pre-priority information (first priority information) is exemplified, but naturally, the traveling state information of the backward traveling vehicle 8 is acquired from the backward traveling vehicle 8. Then, the pre-priority information may be determined in the intermediate stop vehicle 9 and the determined pre-priority information may be transmitted to the forward stop vehicle 7. The rear vehicle traveling state information indicating the traveling state of the rear traveling vehicle 8 preferably includes the traveling speed of the rear traveling vehicle 8 and the inter-vehicle distance between the rear traveling vehicle 8 and the intermediate stop vehicle 9. Also, without performing the two-stage calculation to determine the first priority information and the second priority information, from both the rear traveling vehicle 8 and the intermediate stop vehicle 9 to obtain the traveling state information of both vehicles, The priority information may be determined in the forward stop vehicle 7.

[Outline of Embodiment of the Present Invention]
The outline of the driving support system (2) in the embodiment of the present invention described above will be briefly described below.

The characteristic configuration of the driving support system (2) according to the embodiment of the present invention is as follows.
A driving support system that performs communication using visible light between a plurality of vehicles (7, 8, 9) and supports driving of the plurality of vehicles (7, 8, 9),
A front stop vehicle (7) that stops at the foremost position on the travel path (Rm), and a rear travel vehicle (8) that travels on the travel path (Rm) toward the front stop vehicle (7). Assisting driving with an intermediate stop vehicle (9) positioned between the front stop vehicle (7) and the rear travel vehicle (8) and stopping on the road side (Rs) of the travel path (Rm) And
Each vehicle (7, 8, 9)
A traveling state detection device (23) for detecting the traveling state of the host vehicle;
A light receiving device (11) capable of receiving visible light;
A signal receiving device (13) for detecting reception information from a communication signal superimposed on visible light;
An information processing device (15) capable of performing information processing based on at least one of the received information and traveling state information indicating the traveling state of the host vehicle and outputting an information processing result;
A signal transmission device (14) that superimposes a communication signal having transmission information including at least one of the running state information and the information processing result on visible light and transmits the signal via a light emitting device (12),
At least one of the information processing devices (15) includes a rear inter-vehicle distance between the rear traveling vehicle (8) and the intermediate stop vehicle (9), a traveling speed of the rear traveling vehicle (8), and the front Priority indicating which of the intermediate stopped vehicle (9) and the backward traveling vehicle (8) is given priority based on the front inter-vehicle distance between the stopped vehicle (7) and the intermediate stopped vehicle (9). Determine the information,
The information processing device (15) outputs the priority information so that the intermediate stop vehicle (9) and the backward traveling vehicle (8) can be controlled based on the priority information.

  For example, based on the rear inter-vehicle distance between the intermediate stop vehicle (9) and the rear traveling vehicle (8) and the traveling speed of the rear traveling vehicle, the rear stop vehicle (8) reaches the position where the intermediate stop vehicle (9) exists. Time (arrival time) can be calculated. Then, when it is assumed that the intermediate stop vehicle (9) in a stopped state starts to move within such arrival time, an appropriate inter-vehicle distance between the intermediate stop vehicle (9) and the rear traveling vehicle (8) It is also possible to calculate whether or not can be secured. Further, based on the front inter-vehicle distance between the front stop vehicle (7) and the intermediate stop vehicle (9), the intermediate stop vehicle (within a range where it can safely stop behind the front stop vehicle (7) ( It is also possible to set an upper limit value of the traveling speed after starting 9) and the traveling speed of the rear traveling vehicle (8) when overtaking the intermediate stop vehicle (9). Therefore, the information processing device (15) travels the intermediate stopped vehicle (9) (for example, the stopped intermediate stopped vehicle (9) starts (C2)) and the backward traveling vehicle (8) travels (for example, It is possible to determine which priority is given to the rear traveling vehicle (8) overtaking the intermediate stop vehicle (9) (C1)). Further, the information processing device (15) outputs the determined priority information, for example, to alert the driver of the intermediate stop vehicle (9) or the backward traveling vehicle (8), or the intermediate stop vehicle (9). It is possible to limit the start and the traveling of the rear traveling vehicle (8). The information processing result by at least one information processing device (15) of the three vehicles (7, 8, 9) can be transmitted to other vehicles by the signal transmission device (14). . The information processing device (15) that has determined the priority information outputs the information processing result so that the intermediate stop vehicle (9) and the rear traveling vehicle (8) can be controlled based on the priority information. Therefore, at least the adjustment result regarding the future behavior can be shared between the intermediate stop vehicle (9) and the backward traveling vehicle (8). As described above, according to this configuration, the vehicle (7) that stops at the foremost position on the travel path (Rm) and the vehicle that travels on the travel path (Rm) toward the vehicle (7) ( 8) and vehicle-to-vehicle communication using visible light between these vehicles (7, 8) and a vehicle (9) that stops on the roadside (Rs) of the road (Rm), It becomes possible to adjust the future behavior of these vehicles (7, 8, 9).

The driving support system (2) according to the embodiment of the present invention includes:
At least one of the information processing device (15) of the rear traveling vehicle (8) and the intermediate stop vehicle (9) is based on the rear inter-vehicle distance and the traveling speed of the rear traveling vehicle (8). Determining and outputting primary priority information indicating which of the intermediate stop vehicle (9) and the backward traveling vehicle (8) is prioritized;
The signal transmission device (14) of at least one of the backward traveling vehicle (8) and the intermediate stop vehicle (9) transmits the first priority information to the forward stop vehicle (7),
Based on the first priority information and the front inter-vehicle distance, the information processing device (15) of the front stop vehicle (7) is configured to execute the intermediate stop vehicle (9) and the rear traveling vehicle (8). Determining and outputting secondary priority information indicating which of the driving is prioritized,
It is preferable that the signal transmission device (14) of the forward stop vehicle (7) transmits the second priority information to the backward traveling vehicle (8) and the intermediate stop vehicle (9).

  According to this configuration, in the vehicles (8, 9) to be adjusted for preferential passage, first, provisional priority (first priority information) is determined, and the third party is ahead. The stopped vehicle (7) determines the final priority (secondary priority). By adopting such a two-stage determination method, even when there are many determination materials for determining priority, conditional branches can be organized, and stable and quick determination is possible. In consideration of the arrangement of the three vehicles (7, 8, 9), the front stop vehicle (7) receives both visible light from the other two vehicles (8, 9) at the rear. Thus, the rear traveling vehicle (8) receives visible light from the other two vehicles (7, 9) at the front. For this reason, although the possibility of interference arises, the possibility of interference can be reduced by determining the transmission direction in advance and communicating as described above.

Here, the driving support system (2) according to the embodiment of the present invention is:
The information processing device (15) of the backward traveling vehicle (8) determines and outputs the first priority information, and the signal transmission device (14) of the backward traveling vehicle (8) Transmitting the first priority information to the stop vehicle (9) and the forward stop vehicle (7), or
The signal transmission device (15) of the rear traveling vehicle (8) transmits the first priority information to the intermediate stop vehicle (9), and the signal transmission device (15) of the intermediate stop vehicle (9). ) Transmits the first priority information to the forward stop vehicle (7).

  When the primary priority information is determined by the backward traveling vehicle (8) and the primary priority information is transmitted from the backward traveling vehicle (8) to the other vehicles (7, 9), the priority ( The primary priority information can be quickly provided to the forward stop vehicle (7) that determines the secondary priority information). On the other hand, the first priority information is determined in the rear traveling vehicle (8), and the first priority information is transmitted from the rear traveling vehicle (8) to the front stopping vehicle (7) via the intermediate stop vehicle (9). Is transmitted, it is easy to ensure the strength of the carrier wave in visible light communication, and the communication reliability is improved. For example, when the inter-vehicle distance from the rear traveling vehicle (8) to the forward stopped vehicle (7) is long, the visible light as a carrier wave may be weakened and the communication reliability may be reduced. By going through 9), it becomes easy to secure the strength of the carrier wave.

  Here, the driving support system (2) according to the embodiment of the present invention includes a lighting device provided at the rear part of each vehicle (7, 8, 9) and a front part of each vehicle (7, 8, 9). It is preferable to perform communication using visible light using the provided lighting device. When performing communication using visible light between a plurality of vehicles, it is preferable to transmit a communication signal using an existing lighting device because it is not necessary to install a new light emitting device (12) for visible light communication. is there. Moreover, when performing visible light communication between the vehicles which faced the same advancing direction, the rear part of one vehicle and the front part of the other vehicle face each other. Therefore, when transmitting each other, it is preferable that a light emitting device (12) for transmission is installed at the rear part of one vehicle and the front part of the other vehicle. Existing lighting devices are installed at the front and rear of the vehicle. Therefore, it is preferable to use these lighting devices as a light emitting device (12) for visible light communication. If the light receiving device (11) is also built in the lighting device, the device for visible light communication can be reduced in size.

  Various technical features of the above-described driving support system (2) according to the embodiment of the present invention include the driving support program (# 70, # 80, # 90) and the driving support method (# 70, # 80, # 90). ) Is also applicable. For example, the driving support program (# 70, # 80, # 90) can cause the computer to execute various processes (functions) having the characteristics of the driving support system (2) described above. The typical aspect is illustrated below. Naturally, such a driving support program (# 70, # 80, # 90) can also exhibit the operational effects of the driving support system described above. Furthermore, various additional features exemplified as a preferred mode of the driving support system (1) can be incorporated into the driving support program (# 70, # 80, # 90), and the program (# 70, # 80, # 90) can also exhibit the effects corresponding to the respective additional features. The same applies to the driving support method (# 70, # 80, # 90).

In this case, the preferred mode of the driving support program (# 70, # 80, # 90) is
A driving support program (# 70, # 80, # 90) that performs communication using visible light among a plurality of vehicles (7, 8, 9) and supports driving of the plurality of vehicles (7, 8, 9). ) And
A front stop vehicle (7) that stops at the foremost position on the travel path (Rm), and a rear travel vehicle (8) that travels on the travel path (Rm) toward the front stop vehicle (7). Assisting driving with an intermediate stop vehicle (9) positioned between the front stop vehicle (7) and the rear travel vehicle (8) and stopping on the road side (Rs) of the travel path (Rm) And
Each vehicle (7, 8, 9)
A driving state detection function for detecting the driving state of the host vehicle;
A signal reception function (# 71, # 85, # 91) for detecting reception information from a communication signal superimposed on visible light received by the light receiving device (11);
An information processing function (# 73, # 81, # 83) capable of performing information processing based on at least one of the received information and traveling state information indicating the traveling state of the host vehicle and outputting an information processing result;
A signal transmission function (# 73, # 83, # 93) that superimposes a communication signal having transmission information including at least one of the running state information and the information processing result on visible light and transmits it via the light emitting device (12). Is realized on a computer,
The information processing function (# 73, # 81, # 83) realized in at least one of the vehicles (7, 8, 9) is the rear of the rear traveling vehicle (8) and the intermediate stop vehicle (9). Based on the inter-vehicle distance, the traveling speed of the rear traveling vehicle (8), and the front inter-vehicle distance between the front stop vehicle (7) and the intermediate stop vehicle (9), the intermediate stop vehicle (9) And priority information indicating which of the rear traveling vehicles (8) is to be prioritized,
The information processing function (# 73, # 81, # 83) sets the priority information so that the intermediate stop vehicle (9) and the rear traveling vehicle (8) can be controlled based on the priority information. The point is to output.

Moreover, the suitable aspect of the driving assistance method (# 70, # 80, # 90) in that case is
A driving support method (# 70, # 80, # 90) which performs communication using visible light among a plurality of vehicles (7, 8, 9) and supports driving of the plurality of vehicles (7, 8, 9). ) And
A front stop vehicle (7) that stops at the foremost position on the travel path (Rm), and a rear travel vehicle (8) that travels on the travel path (Rm) toward the front stop vehicle (7). Assisting driving with an intermediate stop vehicle (9) positioned between the front stop vehicle (7) and the rear travel vehicle (8) and stopping on the road side (Rs) of the travel path (Rm) And
Each vehicle (7, 8, 9)
A running state detecting step for detecting the running state of the host vehicle;
A signal receiving step (# 71, # 85, # 91) for detecting reception information from a communication signal superimposed on visible light received by the light receiving device (11);
Information processing steps (# 73, # 81, # 83) capable of performing information processing based on at least one of the received information and traveling state information indicating the traveling state of the host vehicle and outputting an information processing result;
A signal transmission step (# 73, # 83, # 93) in which a communication signal having transmission information including at least one of the running state information and the information processing result is superimposed on visible light and transmitted via the light emitting device (12). And is feasible
In the information processing step (# 73, # 81, # 83) realized in at least one of the vehicles (7, 8, 9), the rear running vehicle (8) and the intermediate stop vehicle (9) are Based on the inter-vehicle distance, the traveling speed of the rear traveling vehicle (8), and the front inter-vehicle distance between the front stop vehicle (7) and the intermediate stop vehicle (9), the intermediate stop vehicle (9) And priority information indicating which of the rear traveling vehicles (8) is to be prioritized,
In the information processing step (# 73, # 81, # 83), the priority information is set so that the intermediate stop vehicle (9) and the rear traveling vehicle (8) can be controlled based on the priority information. The point is to output.

[Other Embodiments]
Hereinafter, other embodiments of the present invention will be described. Note that the configuration of each embodiment described below is not limited to being applied independently, and can be applied in combination with the configuration of other embodiments as long as no contradiction arises.

(1) Although not shown in FIG. 2 and the like, each vehicle (7, 8, 9) is preferably provided with a GPS (global positioning system) receiver. The traveling state information of each vehicle (7, 8, 9) may include GPS position information. In each vehicle (7, 8, 9), the calculation of the distance between the vehicles, the determination of whether the other vehicle is moving or the stop, and the calculation of the traveling speed may be performed based on the position information by GPS. .

(2) In the above description, a mode in which a communication signal is transmitted using an existing lighting device as the light emitting device 12 has been exemplified. However, this does not prevent the visible light communication system 1 from being configured to include the dedicated light emitting device 12 for visible light communication.

  INDUSTRIAL APPLICABILITY The present invention can be used in a driving support system that performs communication using visible light between a plurality of vehicles and supports driving of the plurality of vehicles.

2: Driving support system 7: Front stop vehicle 8: Backward traveling vehicle 9: Intermediate stop vehicle 11: Light receiving device 12: Light emitting device 13: Signal receiving device 14: Signal transmitting device 15: Information processing device 23: Traveling state detecting device Rm : Road Rs: Roadside

Claims (6)

A driving support system that performs communication using visible light between a plurality of vehicles and supports driving of the plurality of vehicles,
A front stop vehicle that is positioned at the foremost position on the travel path and stops, a rear travel vehicle that travels toward the front stop vehicle on the travel path, and a position between the front stop vehicle and the rear travel vehicle. Supporting driving with an intermediate stop vehicle that stops on the road side of the road,
Each vehicle is
A driving state detection device for detecting the driving state of the host vehicle;
A light receiving device capable of receiving visible light;
A signal receiving device for detecting received information from a communication signal superimposed on visible light;
An information processing device capable of performing information processing based on at least one of the received information and traveling state information indicating the traveling state of the host vehicle and outputting an information processing result;
A signal transmission device that superimposes a communication signal having transmission information including at least one of the running state information and the information processing result on visible light, and transmits the signal via a light emitting device.
At least one of the information processing devices includes a rear inter-vehicle distance between the rear traveling vehicle and the intermediate stopped vehicle, a traveling speed of the rear traveling vehicle, and a front inter-vehicle distance between the front stopped vehicle and the intermediate stopped vehicle. , And determining priority information indicating which of the intermediate stop vehicle and the backward traveling vehicle is prioritized,
The information processing apparatus outputs the priority information so that the intermediate stop vehicle and the backward traveling vehicle can be controlled based on the priority information. Based on the distance between the rear vehicles and the traveling speed of the rear traveling vehicle, the information processing device of at least one of the rear traveling vehicle and the intermediate stopped vehicle is any of the intermediate stopped vehicle and the rear traveling vehicle. First priority information indicating whether to prioritize driving is determined and output,
The signal transmission device of at least one of the rear traveling vehicle and the intermediate stop vehicle transmits the first priority information to the front stop vehicle,
The second information indicating whether the information processing device of the front stop vehicle gives priority to the travel of the intermediate stop vehicle or the rear traveling vehicle based on the first priority information and the front inter-vehicle distance. Determine and output next priority information,
The driving support system according to claim 1, wherein the signal transmission device of the forward stop vehicle transmits the second priority information to the backward traveling vehicle and the intermediate stop vehicle. The information processing device of the backward traveling vehicle determines and outputs the first priority information;
The signal transmission device of the rear traveling vehicle transmits the first priority information to the intermediate stop vehicle and the front stop vehicle; or
The signal transmission device of the backward traveling vehicle transmits the first priority information to the intermediate stop vehicle, and the signal transmission device of the intermediate stop vehicle transmits the first priority information to the front stop vehicle. The driving support system according to claim 2, which transmits.   The driving support according to any one of claims 1 to 3, wherein communication using visible light is performed using a lighting device provided at a rear portion of each vehicle and a lighting device provided at a front portion of each vehicle. system. A driving support program that performs communication using visible light between a plurality of vehicles and supports driving of the plurality of vehicles,
A front stop vehicle that is positioned at the foremost position on the travel path and stops, a rear travel vehicle that travels toward the front stop vehicle on the travel path, and a position between the front stop vehicle and the rear travel vehicle. Supporting driving with an intermediate stop vehicle that stops on the road side of the road,
Each vehicle is
A driving state detection function for detecting the driving state of the host vehicle;
A signal receiving function for detecting received information from a communication signal superimposed on visible light received by the light receiving device;
An information processing function capable of performing information processing based on at least one of the received information and traveling state information indicating the traveling state of the host vehicle and outputting an information processing result;
A signal transmission function for superimposing a communication signal having transmission information including at least one of the traveling state information and the information processing result on visible light and transmitting the signal via a light emitting device is realized in a computer.
The information processing function realized in at least one of the vehicles includes a rear inter-vehicle distance between the rear traveling vehicle and the intermediate stop vehicle, a traveling speed of the rear traveling vehicle, and the front stop vehicle and the intermediate stop. Determining priority information indicating which of the intermediate stop vehicle and the backward traveling vehicle is prioritized based on a front inter-vehicle distance with the vehicle;
The information processing function is a driving support program that outputs the priority information so that the intermediate stop vehicle and the backward traveling vehicle can be controlled based on the priority information. A driving support method for performing communication using visible light between a plurality of vehicles and supporting driving of the plurality of vehicles,
A front stop vehicle that is positioned at the foremost position on the travel path and stops, a rear travel vehicle that travels toward the front stop vehicle on the travel path, and a position between the front stop vehicle and the rear travel vehicle. Supporting driving with an intermediate stop vehicle that stops on the road side of the road,
In each vehicle,
A running state detecting step for detecting the running state of the host vehicle;
A light receiving process capable of receiving visible light;
A signal receiving step of detecting received information from a communication signal superimposed on visible light;
An information processing step capable of performing information processing based on at least one of the received information and traveling state information indicating the traveling state of the host vehicle and outputting an information processing result;
A signal transmission step of superimposing a communication signal having transmission information including at least one of the running state information and the information processing result on visible light and transmitting the signal through a light emitting device is executable.
In the information processing step executed in at least one of the vehicles, a rear inter-vehicle distance between the rear traveling vehicle and the intermediate stopped vehicle, a traveling speed of the rear traveling vehicle, and the front stopped vehicle and the intermediate stop. Determining priority information indicating which of the intermediate stop vehicle and the backward traveling vehicle is prioritized based on a front inter-vehicle distance with the vehicle;
In the information processing step, the priority information is output so that the intermediate stop vehicle and the backward traveling vehicle can be controlled based on the priority information.

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