JP2016110202A - Vehicle drive support device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a vehicle drive support device capable of notifying a driver of information on a vehicle traveling in the vicinity of a vehicle performing inter-vehicle communication.SOLUTION: A vehicle drive support device (2) comprises: an on-vehicle sensor group (4) for detecting a rear side vehicle which travels a rear side of an own vehicle (1); an inter-vehicle communication system (10) for receiving and sending inter-vehicle communication data which includes a position, a travel direction, speed of the vehicle, and presence or absence of the rear side vehicle detected by the on-vehicle sensor; a collision possibility determination part (30) for determining the possibility that the own vehicle and another vehicle collide, based on the inter-vehicle communication data; an output device (14) for outputting information for notifying a driver of presence of the other vehicle; and a notification control part (32) for, when it is determined that the own vehicle and other vehicle may collide by the collision possibility determination part, based on the inter-vehicle communication data, causing the output device to output information for notifying the driver of presence of the other vehicle (42) which may collide with the own vehicle, and also presence or absence of a rear side vehicle (44) traveling a rear side of the other vehicle.SELECTED DRAWING: Figure 5

Description

  The present invention relates to a vehicle driving support device, and more particularly to a vehicle driving support device that supports driving of a driver.

  2. Description of the Related Art Conventionally, a technique for notifying a driver of the presence of another vehicle using inter-vehicle communication is known. For example, in Patent Document 1, information on the position, speed, and traveling direction of other vehicles around the host vehicle is acquired using inter-vehicle communication, the other vehicles around are registered in the attention list, and the possibility of collision An apparatus for transmitting caution information to other vehicles having a problem is described.

  There is also known a technique of detecting other vehicles around the own vehicle using an autonomous sensor mounted on the vehicle and notifying the driver of the presence of the other vehicle. For example, Patent Document 2 describes a device that warns a driver when a two-wheeled vehicle approaching from behind is detected by a camera provided at the rear end of a vehicle.

JP 2008-90663 A JP 2008-129964 A

  By the way, when the driver is informed of the existence of another vehicle with a possibility of collision by inter-vehicle communication, it is assumed that a vehicle such as a motorcycle that does not perform inter-vehicle communication is traveling in the vicinity of the other vehicle. . In this case, the driver's attention can be alerted for other vehicles that have performed vehicle-to-vehicle communication, but there is no particular notification for other vehicles that are driving in the vicinity of the vehicle, so the driver's attention to this vehicle should be improved. I can't.

  The present invention has been made to solve the above-described problems of the prior art, and is a vehicle driving support device capable of notifying a driver of information about a vehicle traveling in the vicinity of a vehicle performing inter-vehicle communication. The purpose is to provide.

In order to achieve the above object, a vehicle driving support device of the present invention is a vehicle driving support device that supports driving of a driver, and detects a rear side vehicle that travels behind the host vehicle. Based on the vehicle-mounted sensor, the vehicle-to-vehicle communication unit that transmits and receives vehicle-to-vehicle communication information including the vehicle position, traveling direction, vehicle speed, and the presence or absence of the rear side vehicle detected by the vehicle-mounted sensor. The own vehicle and the other vehicle collide with each other by the collision possibility determining means for determining the possibility that the vehicle and the other vehicle will collide, the output means for outputting information notifying the existence of the other vehicle, and the collision possibility determining means. When it is determined that there is a possibility, based on the inter-vehicle communication information, along with the presence of other vehicles that may collide with the host vehicle, the presence / absence of a rear side vehicle traveling behind the other vehicle is notified. Information that outputs information by output means Characterized in that it has a control means.
In the present invention configured as described above, the notification control means includes the presence of another vehicle that may collide with the host vehicle based on the inter-vehicle communication information including the presence or absence of the rear side vehicle detected by the in-vehicle sensor. In addition, since the output means outputs information for reporting the presence or absence of a rear side vehicle traveling behind the vehicle, the driver is notified of information about the vehicle traveling in the vicinity of the vehicle performing inter-vehicle communication. Thus, the driver's attention can be improved not only for other vehicles that have performed vehicle-to-vehicle communication, but also for vehicles that are traveling in the vicinity of other vehicles.

In the present invention, preferably, the vehicle-to-vehicle communication unit transmits and receives vehicle-to-vehicle communication information including a rear-side vehicle flag that indicates the presence or absence of a rear-side vehicle detected by the in-vehicle sensor. Based on the rear side vehicle flag of the inter-vehicle communication information, the output means outputs information for reporting the presence / absence of the rear side vehicle traveling behind the other vehicle that may collide with the host vehicle.
In the present invention configured as described above, the presence / absence of the rear side vehicle can be specified based only on the ON / OFF of the rear side vehicle flag, thereby increasing the data amount of the inter-vehicle communication information. The driver can be notified of information about a vehicle traveling in the vicinity of the vehicle that performs vehicle-to-vehicle communication.

  According to the vehicle driving support device of the present invention, information related to other vehicles detected by inter-vehicle communication and on-vehicle sensors can be notified to the driver at appropriate timing and notification level, respectively.

It is a block diagram which shows the electric constitution of the vehicle by which the driving assistance device for vehicles by embodiment of this invention is mounted. 1 is a schematic perspective view illustrating a situation in the vicinity of an intersection where driving assistance of a driver is performed by a vehicle driving assistance device according to an embodiment of the present invention; 1 is a schematic perspective view illustrating a situation in the vicinity of an intersection where driving assistance of a driver is performed by a vehicle driving assistance device according to an embodiment of the present invention; It is a flowchart of the inter-vehicle communication data transmission process which the driving assistance device for vehicles by embodiment of this invention performs. It is a flowchart of the driving assistance process which the driving assistance device for vehicles by embodiment of this invention performs. BRIEF DESCRIPTION OF THE DRAWINGS It is the figure which illustrated the alerting | reporting screen which alert | reports the presence of a crossing vehicle by the vehicle driving assistance device by embodiment of this invention, (a) illustrates the alerting | reporting screen which alert | reports the presence of the crossing vehicle which a rear side vehicle does not accompany. (B) is a figure which illustrated the alerting | reporting screen which alert | reports the presence of the crossing vehicle which the rear side vehicle accompanied. BRIEF DESCRIPTION OF THE DRAWINGS It is the figure which illustrated the alerting | reporting screen which alert | reports presence of an oncoming vehicle by the vehicle driving assistance device by embodiment of this invention, (a) illustrates the alerting | reporting screen which alert | reports presence of the oncoming vehicle which a rear side vehicle does not accompany. (B) is a figure which illustrated the alerting | reporting screen which alert | reports presence of the oncoming vehicle to which the rear side vehicle accompanied.

Hereinafter, a vehicle driving support apparatus according to an embodiment of the present invention will be described with reference to the accompanying drawings.
First, referring to FIG. 1, the configuration of a vehicle driving support apparatus according to an embodiment of the present invention will be described.
FIG. 1 is a block diagram showing an electrical configuration of a vehicle equipped with a vehicle driving support apparatus according to an embodiment of the present invention.

  In FIG. 1, the code | symbol 1 shows the vehicle by which the driving assistance device 2 for vehicles by embodiment of this invention is mounted. The vehicle driving support device 2 includes an in-vehicle sensor group 4 that detects other vehicles around the host vehicle 1, a navigation system 6, a GPS 8 (Global Positioning System), an inter-vehicle communication system 10, and driving support control that supports driving of the driver. An output device 14 that outputs various information provided from the unit 12 and the driving support control unit 12 is provided. The in-vehicle sensor group 4, the navigation system 6, the GPS 8, the inter-vehicle communication system 10, the driving support control unit 12, and the output device 14 are connected to each other by a CAN 16 (Controller Area Network). . In addition, information regarding the vehicle state such as the vehicle speed, the steering angle, the brake depression force, the operation state of the direction indicator, the operation state of the active safety system, and the like is transferred via the CAN 16.

  The in-vehicle sensor group 4 detects the other vehicle existing in front of the host vehicle 1 and measures the distance, direction, and relative speed to the other vehicle. The camera 20 and a rear millimeter wave radar 22 that detects other vehicles existing behind the host vehicle 1 and measures the distance, direction, and relative speed to the other vehicles are included.

  The inter-vehicle communication system 10 includes a communication device 24 that communicates with other vehicles, a decoder 26 that decodes data (other vehicle information) received from other vehicles, and an encoder that encodes data to be transmitted to other vehicles. 28. The data communicated by the inter-vehicle communication system 10 includes, for example, information such as the vehicle position, the traveling direction, the vehicle speed, the steering angle, the brake depression force, and the vehicle type and the vehicle type (for example, emergency vehicle). In addition, a rear side vehicle flag indicating whether or not there is a rear side vehicle traveling behind the host vehicle 1 is included.

The driving support control unit 12 determines the possibility that the own vehicle 1 will collide with another vehicle at the intersection, the detection result of the other vehicle by the in-vehicle sensor group 4, and the possibility of collision with the other vehicle. Accordingly, the notification control unit 32 that outputs information for notifying the presence of another vehicle by the output device 14 and the detection result of the other vehicle by the in-vehicle sensor group 4 and the behavior of the host vehicle 1 according to the possibility of collision with the other vehicle. And a behavior control unit 34 to be controlled.
The collision possibility determination unit 30, the notification control unit 32, and the behavior control unit 34 are a CPU, various programs that are interpreted and executed on the CPU (a basic control program such as an OS, a specific function that is started on the OS, and a specific function. And a computer having an internal memory such as a ROM or RAM for storing the program and various data.

  The output device 14 includes a display 36 that outputs character information and image information, and a speaker 38 that outputs audio information.

  Next, a situation in which the vehicle driving support device 2 according to the embodiment of the present invention is used will be described with reference to FIGS. 2 and 3 are schematic perspective views illustrating the situation in the vicinity of an intersection where the driving assistance of the driver is performed by the vehicle driving assistance device 2 according to the embodiment of the invention.

  The vehicle driving support device 2 according to the embodiment of the present invention targets a situation in which the host vehicle 1 is approaching an intersection without a traffic light, and may cause a collision with another vehicle approaching the intersection in front of the host vehicle 1. The presence of the other vehicle is notified according to the presence or absence of the other vehicle approaching from behind the host vehicle 1.

  In the example of FIG. 2, there is a cross road 40 without a traffic light in front of the host vehicle 1, and the host vehicle 1 approaches toward the cross road 40. In addition, there are another vehicle 42 approaching from the front left side of the host vehicle 1 toward the cross road 40 and a rear side vehicle 44 traveling behind the other vehicle 42. Further, a building 46 exists between the own vehicle 1 and the other vehicle 42 and the rear side vehicle 44 approaching the cross road 40. From the position of the own vehicle 1, the other vehicle 42 approaching the cross road 40 and the rear The side vehicle 44 cannot be visually observed.

In the example of FIG. 3, there is a cross road 40 without a traffic light in front of the host vehicle 1, and the host vehicle 1 is about to turn right at the cross road 40. In addition, there are another vehicle 42 that approaches the opposite lane of the host vehicle 1 toward the crossroad 40 and a rear side vehicle 44 that travels behind the other vehicle 42.
2 and 3, the host vehicle 1 and the other vehicle 42 each include the vehicle driving support device 2 according to the embodiment of the present invention.

  Next, an inter-vehicle communication data transmission process and a driving support process executed by the vehicle driving support apparatus 2 according to the embodiment of the present invention will be described with reference to FIGS. FIG. 4 is a flowchart of inter-vehicle communication data transmission processing executed by the vehicle driving support apparatus 2 according to the embodiment of the present invention, and FIG. 5 shows driving performed by the vehicle driving support apparatus 2 according to the embodiment of the present invention. It is a flowchart of a support process. Moreover, FIG. 6 is the figure which illustrated the alerting | reporting screen which alert | reports the presence of the other vehicle 42 (crossing vehicle) by the vehicle driving assistance device 2 by embodiment of this invention, and Fig.6 (a) is a rear side vehicle. The figure which illustrated the information screen which alert | reports the presence of the other vehicle 42 (crossing vehicle) which 44 does not accompany, FIG.6 (b) is the alerting | reporting which alert | reports the presence of the other vehicle 42 (crossing vehicle) which the rear side vehicle 44 accompanied. It is the figure which illustrated the screen. Moreover, FIG. 7 is the figure which illustrated the alerting | reporting screen which alert | reports the presence of the other vehicle 42 (opposite vehicle) by the vehicle driving assistance device 2 by embodiment of this invention, and Fig.7 (a) is a rear side vehicle. The figure which illustrated the information screen which alert | reports the presence of the other vehicle 42 (opposite vehicle) which 44 does not accompany, FIG.7 (b) is the notification which alert | reports the presence of the other vehicle 42 (opposite vehicle) which the rear side vehicle 44 accompanied. It is the figure which illustrated the screen.

  First, the inter-vehicle communication data transmission process shown in FIG. 4 is started and repeatedly executed when the ignition of the vehicle 1 is turned on and the vehicle driving support device 2 is turned on.

  As shown in FIG. 4, when the vehicle-to-vehicle communication data transmission process is started, first, in step S1, the notification control unit 32 causes the own vehicle 1 to approach an intersection 40 without a traffic signal to a predetermined distance (for example, 500 m). Determine whether or not. Specifically, based on the map information acquired from the navigation system 6 and the current position of the host vehicle 1 acquired from the GPS 8, the notification control unit 32 determines whether the host vehicle 1 has approached the intersection 40 without a traffic signal to a predetermined distance. Determine whether or not. As a result, when the own vehicle 1 has not approached the intersection 40 without a traffic signal up to a predetermined distance, step S1 is repeated.

  On the other hand, when the own vehicle 1 has approached the intersection 40 without a traffic signal up to a predetermined distance, the process proceeds to step S <b> 2, and the notification control unit 32 uses the rear millimeter wave radar 22 to travel on the rear side of the own vehicle 1. It is determined whether or not a direction vehicle has been detected.

  As a result, when a rear side vehicle traveling on the rear side of the host vehicle 1 is detected, the process proceeds to step S3, and the notification control unit 32 includes the rear side side included in the data transmitted to the other vehicle by inter-vehicle communication. Turn on the vehicle flag.

  On the other hand, when the rear side vehicle traveling behind the host vehicle 1 is not detected, the process proceeds to step S4, where the notification control unit 32 includes the rear side vehicle flag included in the data transmitted to the other vehicle by the inter-vehicle communication. Set to OFF.

After step S3 or S4, the process proceeds to step S5, where the notification control unit 32 causes the vehicle-to-vehicle communication data including the rear side vehicle flag set to ON or OFF in step S3 or S4 to be transmitted.
After step S5, the vehicle driving assistance device 2 ends the driving assistance processing.

  Next, the driving support process shown in FIG. 5 is started and executed repeatedly when the ignition of the vehicle 1 is turned on and the vehicle driving support device 2 is powered on. This driving support process is executed in parallel with the inter-vehicle communication data transmission process shown in FIG.

  As shown in FIG. 5, when the driving support process is started, first, in step S11, the collision possibility determination unit 30 causes the own vehicle 1 to approach an intersection 40 without a traffic signal to a predetermined distance (for example, 500 m). It is determined whether or not. As a result, when the own vehicle 1 has not approached the intersection 40 without a traffic signal to a predetermined distance, step S11 is repeated.

  On the other hand, when the own vehicle 1 approaches the intersection 40 having no traffic signal to a predetermined distance, the process proceeds to step S12, and the collision possibility determination unit 30 transmits the inter-vehicle communication transmitted from the other vehicle 42 by the inter-vehicle communication system 10. Receive data.

  Next, in step S <b> 13, the collision possibility determination unit 30 has a high possibility that the host vehicle 1 will collide with another vehicle 42 at the intersection 40 based on the inter-vehicle communication data received by the inter-vehicle communication system 10 in step S <b> 12. It is determined whether or not. For example, the collision possibility determination unit 30 includes the vehicle speed of the host vehicle 1 acquired via the CAN 16, the current position of the host vehicle 1 acquired by the GPS 8, and the inter-vehicle communication data received by the inter-vehicle communication system 10. Based on the vehicle speed, traveling direction, and current position of the vehicle 42, the distance between the host vehicle 1 and the other vehicle 42 when the host vehicle 1 enters the intersection 40 is estimated, and the estimated distance is equal to or less than a predetermined threshold value. In this case, it is determined that the possibility that the own vehicle 1 collides with another vehicle 42 at the intersection 40 is high.

  As a result, when the possibility that the own vehicle 1 collides with the other vehicle 42 at the intersection 40 is high, the process proceeds to step S14, and the notification control unit 32 includes the rear side vehicle flag included in the inter-vehicle communication data received in step S12. It is determined whether or not is ON.

  As a result, when the rear side vehicle flag included in the inter-vehicle communication data is ON, the process proceeds to step S15, and the notification control unit 32 outputs information for notifying the existence of the other vehicle 42 accompanied by the rear side vehicle. It is output by the device 14.

  For example, as shown in FIG. 2, there are another vehicle 42 (crossing vehicle) approaching from the front left side of the host vehicle 1 toward the crossroad 40 and a rear side vehicle 44 traveling behind the other vehicle 42. In this case, the notification control unit 32, as shown in FIG. 6B, the other vehicle 42 (intersection vehicle) that enters the intersection 40 from the direction specified by the inter-vehicle communication data received by the inter-vehicle communication system 10, and thereafter An image representing the rear side vehicle 44 traveling sideways is displayed on the display 36, and the other vehicle 42 approaching the intersection 40 in front of the host vehicle 1 and the rear side vehicle 44 traveling rearward are displayed. A sound for notifying the presence is output from the speaker 38.

  Further, as shown in FIG. 3, there are another vehicle 42 (an oncoming vehicle) that approaches the opposite lane of the host vehicle 1 toward the cross road 40, and a rear side vehicle 44 that travels behind the other vehicle 42. In this case, the notification control unit 32, as shown in FIG. 7 (b), the other vehicle 42 (oncoming vehicle) that enters the intersection 40 from the direction specified by the inter-vehicle communication data received by the inter-vehicle communication system 10, and thereafter An image representing the rear side vehicle 44 traveling sideways is displayed on the display 36, and the other vehicle 42 approaching the intersection 40 in front of the host vehicle 1 and the rear side vehicle 44 traveling rearward are displayed. A sound for notifying the presence is output from the speaker 38.

  On the other hand, when the rear side vehicle flag included in the vehicle-to-vehicle communication data is not ON (OFF) in step S14, the process proceeds to step S16, and the notification control unit 32 includes the other vehicle 42 not accompanied by the rear side vehicle. The output device 14 outputs information for reporting the presence of.

  For example, as shown in FIG. 2, when there is another vehicle 42 (crossing vehicle) approaching from the front left side of the host vehicle 1 toward the crossroad 40, the notification control unit 32 is as shown in FIG. In addition, an image representing the other vehicle 42 (intersection vehicle) entering the intersection 40 from the direction specified by the inter-vehicle communication data received by the inter-vehicle communication system 10 is displayed on the display 36 and the front of the host vehicle 1 is displayed. A sound for notifying the existence of another vehicle 42 approaching the intersection 40 is output from the speaker 38.

  In addition, as shown in FIG. 3, when there is another vehicle 42 (an oncoming vehicle) that approaches the opposite lane of the host vehicle 1 toward the cross road 40, the notification control unit 32, as shown in FIG. In addition, an image representing another vehicle 42 (an oncoming vehicle) entering the intersection 40 from the direction specified by the inter-vehicle communication data received by the inter-vehicle communication system 10 is displayed on the display 36, and the front of the host vehicle 1 is displayed. A sound for notifying the existence of another vehicle 42 approaching the intersection 40 is output from the speaker 38.

  In step S13, when the possibility that the own vehicle 1 collides with another vehicle 42 at the intersection 40 is high, or after step S15 or S16, the process proceeds to step S17, where the collision possibility determination unit 30 determines that the own vehicle 1 It is determined whether or not the vehicle has passed an intersection 40 without a traffic light. Specifically, the collision possibility determination unit 30 determines whether or not the host vehicle 1 has passed the intersection 40 without a traffic signal based on the map information acquired from the navigation system 6 and the current position of the host vehicle 1 acquired from the GPS 8. Determine. As a result, if the host vehicle 1 does not pass through the intersection 40 without a traffic light, the process returns to step S12. Thereafter, the processes in steps S12 to S17 are repeated until the host vehicle 1 passes through the intersection 40 without a traffic signal.

  On the other hand, when the own vehicle 1 passes through the intersection 40 without a traffic light in step S17, the vehicle driving assistance device 2 ends the driving assistance processing.

  Next, the effect by the vehicle driving assistance device 2 of this embodiment mentioned above is demonstrated.

  First, based on the inter-vehicle communication information including the presence / absence of the rear side vehicle detected by the rear millimeter wave radar 22, the notification control unit 32, along with the presence of the other vehicle 42 that may collide with the host vehicle 1, Since the output device 14 outputs information for reporting the presence / absence of the rear side vehicle 44 traveling on the rear side of the vehicle, the driver can be notified of information about the vehicle traveling in the vicinity of the vehicle performing inter-vehicle communication. Thus, the driver's attention can be improved not only for other vehicles that have performed vehicle-to-vehicle communication, but also for vehicles that are traveling in the vicinity of other vehicles.

  In particular, the inter-vehicle communication system 10 transmits / receives inter-vehicle communication data including a rear side vehicle flag indicating the presence / absence of a rear side vehicle detected by the rear millimeter wave radar 22, and the notification control unit 32 performs inter-vehicle communication. Based on the rear side vehicle flag of the data, because the output device 14 outputs information for reporting the presence / absence of the rear side vehicle 44 traveling behind the other vehicle 42 that may collide with the host vehicle 1, A vehicle that can identify the presence or absence of the rear side vehicle 44 based only on the ON or OFF of the rear side vehicle flag, thereby performing vehicle-to-vehicle communication while suppressing an increase in the data amount of the vehicle-to-vehicle communication information. The driver can be notified of information about the vehicle traveling in the vicinity of the vehicle.

1 Vehicle (own vehicle)
2 Vehicle Driving Support Device 4 Vehicle-mounted Sensor Group 6 Navigation System 8 GPS
10 Inter-Vehicle Communication System 12 Driving Support Control Unit 14 Output Device 16 CAN
DESCRIPTION OF SYMBOLS 18 Front millimeter wave radar 20 Front camera 22 Back millimeter wave radar 24 Communication device 26 Decoder 28 Encoder 30 Collision possibility judgment part 32 Notification control part 34 Behavior control part 36 Display 38 Speaker 40 Crossing (cross road)
42 Other vehicle 44 Rear side vehicle 46 Building 48 Side mirror

Claims (2)

A vehicle driving support device for supporting driving of a driver,
An in-vehicle sensor that detects a rear side vehicle traveling behind the host vehicle;
A vehicle-to-vehicle communication unit that transmits and receives vehicle-to-vehicle communication information including the position of the vehicle, the traveling direction, the vehicle speed, and the presence or absence of a rear side vehicle detected by the in-vehicle sensor;
Based on the inter-vehicle communication information, collision possibility determination means for determining the possibility of collision between the own vehicle and another vehicle;
Output means for outputting information for reporting the presence of another vehicle;
When it is determined by the collision possibility determination means that there is a possibility of collision between the own vehicle and another vehicle, along with the presence of other vehicles that may collide with the own vehicle based on the inter-vehicle communication information, other A vehicle driving support apparatus, comprising: a notification control unit that outputs, by the output unit, information for reporting the presence / absence of a rear side vehicle traveling behind the vehicle. The inter-vehicle communication unit transmits / receives inter-vehicle communication information including a rear side vehicle flag indicating the presence / absence of a rear side vehicle detected by the in-vehicle sensor,
The notification control means is configured to notify the presence / absence of a rear side vehicle traveling behind the other vehicle that may collide with the host vehicle based on the rear side vehicle flag of the inter-vehicle communication information. The vehicle driving support apparatus according to claim 1, wherein the driving means is output by the output means.

Images