JP2016128943A - Vehicle periphery state acquisition device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a vehicle periphery state acquisition device with which it is possible to efficiently acquire information about obstacles present in the periphery of a self-vehicle.SOLUTION: The position of a self-vehicle is acquired by a self-vehicle position acquisition device 20. Vehicle information such as a vehicle speed is acquired by a vehicle information acquisition device 30. The state of an obstacle such as a vehicle present in the periphery of the self-vehicle is acquired by a periphery sensing device 40. These items of acquired information are transmitted to other vehicles by vehicle-vehicle communication of a communication unit 11 of an ECU 10, and information including the positions of other vehicles is received from the other vehicles. The positions included in the information received from other vehicles are converted into relative positions from the self-vehicle by an information integration unit 12, and information from other vehicles whose positions are converted, the position of the self-vehicle, and the state of an obstacle are integrated to obtain the peripheral information of the self-vehicle, which is then stored in an information storage unit 13. The peripheral information of the self-vehicle is outputted from the information storage unit 13 to the self-vehicle by a peripheral information output unit 14.SELECTED DRAWING: Figure 2

Description

  The present invention relates to a vehicle surrounding state acquisition device that acquires the state of an obstacle existing around a host vehicle.

Preventive safety that avoids danger by automatically controlling the vehicle without a driver's operation or a system that issues a warning to the driver based on the result of the vehicle's automatic prediction of the surrounding situation. There is technology.
In order to realize this, it is necessary to acquire the exact position of an obstacle such as another vehicle existing around the host vehicle. As a method for acquiring the positions of these obstacles, there are methods using an autonomous sensor such as image recognition using a camera installed in the own vehicle and radar. Hereinafter, this method is referred to as an autonomous peripheral sensor method.
As another method, there is a method of obtaining position information of a communication partner using inter-vehicle communication. Hereinafter, this method is referred to as a communication method.
Patent Document 1 is a prior art document that combines an autonomous peripheral sensor system and a communication system.

JP 2011-34132 A (pages 4-7, FIG. 1)

As described above, obtaining more accurate information regarding the situation around the host vehicle is an important issue in realizing a preventive safety system.
However, when the surrounding environment is acquired by the autonomous peripheral sensor method alone, there is a problem that the position of the obstacle cannot be acquired in principle when the obstacle cannot be seen in a building or the like.
In addition, it is possible to obtain only at the present time, and it is difficult to say that the situation in the future several seconds from the present time is estimated from the movement from the past several seconds, so it is not accurate.
On the other hand, when acquiring by a communication method, there exists a problem that it is difficult to acquire the positional information of the vehicle which is not equipped with the communication function.

Further, Patent Document 1 is for acquiring an accurate vehicle position of a communication partner, and includes position information of a vehicle not equipped with communication equipment and position information of other vehicles that cannot be acquired by an autonomous peripheral sensor method. There is a problem that it cannot be acquired.
Moreover, in patent document 1, in order to acquire the state of the other vehicle at that time, since the situation several seconds ahead is estimated from the present time, it is considered that the accuracy is not so high.

  This invention was made in order to solve the above-mentioned subject, and it aims at obtaining the vehicle surrounding condition acquisition apparatus which can acquire the information of the obstacle which exists around the own vehicle efficiently. To do.

  The vehicle surrounding situation acquisition device according to the present invention is a vehicle surrounding situation acquisition device that is mounted on a vehicle and acquires the surrounding situation of the vehicle, the own vehicle position acquisition means for acquiring the position of the own vehicle, Peripheral sensing means for acquiring the status of obstacles including other vehicles that are present, and information including the position of the host vehicle and the status of obstacles is transmitted to the communication partner vehicle by inter-vehicle communication, and the communication partner vehicle also transmits the communication partner. Communication means for receiving information including the position of the vehicle, converting information received from the communication partner vehicle into information on the relative position from the host vehicle, and integrating with information including the position of the host vehicle and the status of the obstacle, Information integration means for making the surrounding information of the host vehicle, storage means for storing the peripheral information integrated by the information integration means, and a peripheral for outputting the peripheral information stored in the storage means Those having a data output means.

  According to this invention, it is a vehicle surrounding situation acquisition device that is mounted on a vehicle and acquires the surrounding situation of the vehicle, including own vehicle position acquisition means for acquiring the position of the own vehicle, and other vehicles existing around the own vehicle. Information including the position of the host vehicle and the status of the obstacle is transmitted to the communication partner vehicle by surrounding sensing means for acquiring the condition of the obstacle, and communication between the vehicles, and the information including the position of the communication partner vehicle from the communication partner vehicle The information received from the communication partner vehicle is converted into the information on the relative position from the own vehicle, and integrated with the information including the position of the own vehicle and the situation of the obstacle, Information integration means, storage means for storing the peripheral information integrated by the information integration means, and peripheral information output means for outputting the peripheral information stored in the storage means. By sharing the opponent vehicle and the surrounding information, it is possible to obtain more accurate surrounding information.

It is a block diagram which shows the apparatus structure (only a communication system) in the vehicle 1 of the vehicle periphery condition acquisition apparatus by Embodiment 1 of this invention. It is a block diagram which shows the apparatus structure (a communication system and an autonomous type peripheral sensor system) in the vehicle 2 of the vehicle periphery condition acquisition apparatus by Embodiment 1 of this invention. It is a figure which shows an example of the application scene of the vehicle surrounding condition acquisition apparatus by Embodiment 1 of this invention. It is a flowchart which shows the process in the vehicle 1 of the vehicle surrounding condition acquisition apparatus by Embodiment 1 of this invention. It is a flowchart which shows the process in the vehicle 2 of the vehicle periphery condition acquisition apparatus by Embodiment 1 of this invention. It is a figure which shows an example of the application scene of the vehicle surrounding condition acquisition apparatus by Embodiment 2 of this invention. It is a flowchart which shows the process in the vehicles 1 and 2 of the vehicle surrounding condition acquisition apparatus by Embodiment 2 of this invention. It is a block diagram which shows the apparatus structure in the vehicle 2 of the vehicle periphery condition acquisition apparatus by Embodiment 3 of this invention. It is a figure which shows an example of the application scene of the vehicle surrounding condition acquisition apparatus by Embodiment 3 of this invention. It is a flowchart which shows the process in the vehicle 1 of the vehicle surrounding condition acquisition apparatus by Embodiment 3 of this invention. It is a flowchart which shows the process in the vehicle 2 of the vehicle surrounding condition acquisition apparatus by Embodiment 3 of this invention. It is a figure which shows an example of the application scene of the vehicle surrounding condition acquisition apparatus by Embodiment 4 of this invention. It is a flowchart which shows the process in the vehicles 1 and 2 of the vehicle surrounding condition acquisition apparatus by Embodiment 4 of this invention.

Embodiment 1 FIG.
Hereinafter, the vehicle surrounding state acquisition device according to Embodiment 1 of the present invention will be described. In the first embodiment, the vehicle 1 is equipped with a communication method, and the vehicle 2 is for a case where a communication method and an autonomous peripheral sensor method are installed.

FIG. 1 is a configuration diagram showing a device configuration (only a communication method) in a vehicle 1 of a vehicle peripheral situation acquisition device according to Embodiment 1 of the present invention.
In FIG. 1, a vehicle surrounding state acquisition device is mounted on a vehicle 1 and is an ECU 10 for acquiring the position of a surrounding obstacle by a vehicle-to-vehicle communication method, and a vehicle position for acquiring position information of the vehicle by GPS or the like. It is comprised by the acquisition apparatus 20 (own vehicle position acquisition means) and the vehicle information acquisition apparatus 30 which acquires information, such as the vehicle speed of the own vehicle.
The ECU 10 is configured as follows.
The communication unit 11 (communication means) transmits / receives the position of the obstacle and the vehicle information to / from each other by inter-vehicle communication. The information integration unit 12 (information integration unit) integrates the information obtained by the own vehicle and the information of the other vehicle obtained via the communication unit 11 as one data so that no inconsistency occurs. Generate the surrounding situation of the vehicle.
The information storage unit 13 (storage means) plays a role of storing the surrounding situation of the host vehicle. The peripheral information output unit 14 (peripheral information output means) outputs to the outside a peripheral situation that is stored in the information storage unit 13 and includes obstacles existing around the host vehicle and the position of the host vehicle.

FIG. 2 is a configuration diagram showing a device configuration (communication method and autonomous peripheral sensor method) in the vehicle 2 of the vehicle peripheral state acquisition device according to Embodiment 1 of the present invention.
In FIG. 2, the vehicle 2 has a communication method and an autonomous peripheral sensor method. Therefore, as with the vehicle 1, the ECU 10, the host vehicle position acquisition device 20, and the vehicle information acquisition device 30 are provided, and in addition to these, a peripheral sensing device 40 (peripheral sensing means) that constitutes an autonomous peripheral sensor system is provided. Have.
The peripheral sensing device 40 is a device that acquires peripheral information such as information on obstacles such as other vehicles and lane information using various sensors such as image recognition of a radar or a camera. The ECU 10 has the same configuration as the ECU 10 mounted on the vehicle 1, and includes a communication unit 11, an information integration unit 12, an information storage unit 13, and a peripheral information output unit 14.

FIG. 3 is a diagram showing an example of an application scene of the vehicle surrounding state acquisition device according to Embodiment 1 of the present invention.
In FIG. 3, vehicles 1 to 5 entering the intersection are shown. FIG. 3 shows a scene where a plurality of vehicles enter at an intersection with poor visibility. The vehicle 1 has only a communication method, and the vehicle 2 is equipped with a system having a communication method and an autonomous peripheral sensor method. Vehicles 3 to 5 are not equipped with any of the aforementioned systems (communication method, autonomous peripheral sensor method).
In the figure, a solid line indicates information acquired by the own vehicle, and a broken line indicates information acquired from another vehicle.

Next, the operation of the first embodiment will be described using the scene of FIG.
FIG. 3 shows a scene in which a plurality of vehicles enter at an intersection with poor visibility.
The vehicle 1 has only a communication method, and the vehicle 2 has a communication method and an autonomous peripheral sensor method. Further, the vehicles 3 to 5 are not equipped with a communication method or an autonomous peripheral sensor method.
In the scene of FIG. 3, when the vehicle 1 and the vehicle 2 approach within a predetermined range, the information held by each other is shared between the vehicle 1 and the vehicle 2 to acquire the situation around each other. To do.

A series of operations of the vehicle 1 in this case will be described with reference to the flowchart of FIG.
The ECU 10 of the vehicle 1 acquires vehicle information such as the vehicle speed from the vehicle information acquisition device 30 in S101, and then acquires vehicle position information from the own vehicle position acquisition device 20 such as GPS in S102.
In S103, the peripheral state from another vehicle (in this case, vehicle 2) is acquired via inter-vehicle communication. At this time, if there is newly received data, in S104, in addition to the position information of the vehicle, the information integration unit 12 determines that the received communication partner (vehicle 2) position and communication partner are autonomous peripheral sensors. The position information of the other vehicles (vehicles 3 to 5) acquired by the method is calculated as a relative position from the position of the vehicle 1 and integrated into the surrounding information of the vehicle 1 into one.
Thereafter, in S105, the integrated peripheral information is stored in the information storage unit 13. On the other hand, if there is no new received data in S103, the process of S104 is skipped and the process of S105 is performed.
Thereafter, in S106, the latest peripheral information in the information storage unit 13 is transmitted to the communication partner via the communication unit 11. Finally, in S107, the peripheral information output unit 14 outputs the latest generated peripheral information to the host vehicle. This series of processing is repeated at a constant cycle.

On the other hand, the ECU 10 of the vehicle 2 operates according to the flowchart of FIG. This will be described below.
In S201, vehicle information such as vehicle speed is acquired from the vehicle information acquisition device 30, and in S202, vehicle position information is acquired from the vehicle position acquisition device 20 such as GPS.
In S203, peripheral information such as obstacles and lane position information existing around the vehicle 2 acquired by the peripheral sensing device 40 is acquired.
In S204, peripheral information from another vehicle (in this case, vehicle 1) is acquired via inter-vehicle communication. At this time, if there is newly received data, in S205, the information integration unit 12 adds the received communication partner (vehicle 1) position to the position of the vehicle 2 in addition to the position information of the own vehicle. The relative position is calculated and integrated as peripheral information of the vehicle 2. Thereafter, the integrated peripheral information is stored in the information storage unit 13 in S206.
Thereafter, in S207, the latest peripheral information in the information storage unit 13 is transmitted to the communication partner via vehicle-to-vehicle communication via the communication unit 11. Finally, in S208, the latest peripheral information generated is output to the host vehicle by the peripheral information output unit 14. This series of processing is repeated at a constant cycle.

By performing the series of processes described above, the vehicle 1 can acquire the information shown in the balloon of the vehicle 1 in FIG. That is, the position of the vehicle 2 is acquired directly from the vehicle 2 via inter-vehicle communication. For the vehicles 3 to 5, the position acquired by the peripheral sensing device 40 of the vehicle 2 can be acquired by using inter-vehicle communication with the vehicle 2.
On the other hand, the information shown in the balloon of the vehicle 2 in FIG. 3 can be acquired. That is, the position of the vehicle 1 is acquired directly from the vehicle 1 via inter-vehicle communication. For the vehicles 3 to 5, the position acquired by the surrounding sensing device 40 of the vehicle 2 itself can be acquired.

According to the first embodiment, since it is possible to acquire a more accurate peripheral situation at an earlier stage, it is possible to accurately determine a dangerous situation earlier than before.
As a result, it is possible to reduce false warnings to the driver and to notify the driver of a warning of danger prediction earlier.
Specifically, the following effects can be achieved.
(1) Even when the vehicle 1 cannot visually recognize the vehicle 2 at an intersection with poor visibility, the position of the vehicle 2 can be acquired by inter-vehicle communication.
(2) Even if the vehicle 1 is a vehicle (for example, the vehicle 5) that cannot be directly viewed from the vehicle 1 due to an intersection with poor visibility, the position of the vehicles 3 to 5 is set to the vehicle 2 by using inter-vehicle communication. The position information acquired by the peripheral sensing device can be obtained, and the position of other vehicles existing around the vehicle can be acquired.
(3) The vehicle 2 can acquire the vehicle position information of the vehicle 1 by inter-vehicle communication.
(4) The vehicle 1 can acquire the positions of the vehicles 3 to 5 even when the vehicle 1 does not have an autonomous peripheral sensor system.

Embodiment 2. FIG.
Below, the vehicle periphery condition acquisition apparatus by Embodiment 2 is demonstrated. In the second embodiment, both the vehicle 1 and the vehicle 2 are equipped with a communication method and an autonomous peripheral sensor method.
The device configuration of the vehicle 1 and the vehicle surrounding situation acquisition device in the vehicle 2 according to the second embodiment is the same as the device configuration of the vehicle 2 in the first embodiment (FIG. 2), and thus the description thereof is omitted.

FIG. 6 is a diagram showing an example of an application scene of the vehicle surrounding state acquisition device according to Embodiment 2 of the present invention.
In FIG. 6, the scene which drive | works the road of 2 lanes on one side is shown. Both the vehicle 1 and the vehicle 2 are equipped with a communication method and an autonomous peripheral sensor method. Vehicles 3 to 5 are not equipped with either a communication method or an autonomous peripheral sensor method.
In the figure, a solid line indicates information acquired by the own vehicle, and a broken line indicates information acquired from another vehicle.
In addition, the current position at t0, the position after t1 seconds, and the position after t2 seconds are shown continuously.

Next, the operation of the second embodiment will be described using the scene of FIG.
FIG. 6 is a scene of traveling on a two-lane road on one side. Both the vehicle 1 and the vehicle 2 are equipped with a communication method and an autonomous peripheral sensor method, and the vehicles 2 to 5 are both equipped with them. Absent.
When the vehicle 1 and the vehicle 2 approach each other within a predetermined range, the vehicle 1 and the vehicle 2 share information held by each other, thereby acquiring the situation around the vehicle with higher accuracy.

Hereinafter, the series of operations will be described with reference to FIG.
The ECU 10 of the vehicle 1 acquires vehicle information such as the vehicle speed from the vehicle information acquisition device 30 in S301, and further acquires the position information of the own vehicle from the own vehicle position acquisition device 20 such as GPS in S302. Next, in S303, the position information of obstacles and lanes existing around the vehicle 1 acquired by the peripheral sensing device 40 is acquired.
In S304, peripheral information from another vehicle (in this case, vehicle 2) is acquired via inter-vehicle communication. At this time, if there is newly received data, in S305, in addition to the position information of the own vehicle (vehicle 1) and the surrounding obstacle information acquired by the surrounding sensing device 40 of the own vehicle (vehicle 1), The received position of the communication partner (vehicle 2) is converted into a relative position based on the position of the vehicle 1 and integrated as peripheral information of the vehicle 1 into one.
At this time, if there is an obstacle in the data acquired from the vehicle 2 within a certain distance range of the obstacle information acquired by the own vehicle (vehicle 1), the data acquired by itself is given priority. Adopt and discard the data via vehicle 2. In other words, when the obstacle acquired by the host vehicle and the other vehicle is within a certain distance (within an error range), the obstacle information acquired by the host vehicle (vehicle 1) is given priority as the same obstacle. To do.

Thereafter, the integrated peripheral information is stored in the information storage unit 13 in S306. In S307, the latest peripheral information in the information storage unit 13 is transmitted to the communication partner.
Finally, in S308, the latest peripheral information generated is output to the host vehicle by the peripheral information output unit 14.
This series of processing is repeated at a constant cycle.
Since a series of operations of the ECU 10 of the vehicle 2 is the same as that of the vehicle 1, the description thereof is omitted.

  By performing the series of processes described above, the vehicle 1 can acquire the information shown in the balloon of the vehicle 1 in FIG. That is, the position of the vehicle 2 is acquired directly from the vehicle 2 via inter-vehicle communication. The vehicle 3 is acquired by the surrounding sensing device 40 of the vehicle (vehicle 1). The vehicle 4 and the vehicle 5 cannot be acquired by the peripheral sensing device 40 because they are blind spots of other vehicles from the vehicle 1, but the results acquired by the peripheral sensing device 40 of the vehicle 2 are transmitted via inter-vehicle communication with the vehicle 2. Thus, the position information of the vehicle 4 and the vehicle 5 can be acquired.

  On the other hand, the vehicle 2 can acquire the information shown in the balloon of the vehicle 2 in FIG. That is, the position of the vehicle 1 is acquired directly from the vehicle 1 via inter-vehicle communication. When the vehicle 3 cannot be acquired by the peripheral sensing device 40 of the vehicle 2, the acquisition result by the peripheral sensing device 40 of the vehicle 1 can be acquired via inter-vehicle communication. The vehicle 4 and the vehicle 5 can be acquired by the surrounding sensing device 40 of the vehicle 2.

According to the second embodiment, in addition to the effects (1) to (4) obtained in the first embodiment, the following effects can be achieved.
(5) In order to integrate each other's position information, more accurate position information and reliability can be ensured than when detected alone.
(6) It is possible to acquire a wider range of vehicle position information by integrating the detection results of the surrounding sensing devices even in areas or blind spots that cannot be detected by the surrounding sensing device alone. Become.
(7) For example, since the vehicle 4 is hidden behind the vehicle 2 by the vehicle 1, the position of the vehicle 4 cannot be acquired by the surrounding sensing device alone in the vehicle 1, but the detection result of the vehicle 2 is used. Thus, the vehicle 1 can acquire the position of the vehicle 4.
(8) Similarly, when the vehicle 3, which is a rear vehicle, is outside the detection range of the peripheral sensing device, the vehicle 2 can acquire the vehicle position and state from the information detected by the peripheral sensing device of the vehicle 1. It becomes possible.

Embodiment 3 FIG.
In the third embodiment, the vehicle 1 is equipped with a communication method, and the vehicle 2 is equipped with a communication method and an autonomous peripheral sensor method. Further, the vehicle 2 is a case where the vehicle 2 has a device for generating a planned travel route of the vehicle up to several seconds later, such as an automatically driven vehicle that does not necessarily require a driver's operation.
Since the device configuration of the vehicle surrounding state acquisition device in the vehicle 1 is the same as the device configuration (FIG. 1) in the vehicle 1 of the first embodiment, the description thereof is omitted.

FIG. 8 is a configuration diagram showing a device configuration in the vehicle 2 of the vehicle surrounding state acquisition device according to Embodiment 3 of the present invention.
In FIG. 8, 10-14, 20, 30, and 40 are the same as those in FIG. In FIG. 8, the vehicle has a travel route calculation unit 50 (travel planned route calculation means) that calculates the future travel route of the host vehicle using peripheral information of the host vehicle so that it can be used in automatic driving or the like.

FIG. 9 is a diagram showing an example of an application scene of the vehicle surrounding state acquisition device according to Embodiment 3 of the present invention.
FIG. 9 shows a scene where a plurality of vehicles enter an intersection with poor visibility. The vehicle 1 has only a communication method, the vehicle 2 is equipped with a system having a communication method and an autonomous peripheral sensor method, and further travels automatically or generates a planned travel route for driving support. A route calculation unit 50 is included.
Vehicles 3 to 5 are not equipped with either a communication method or an autonomous peripheral sensor method.

Next, the operation of the third embodiment will be described by taking the scene of FIG. 9 as an example.
In the scene of FIG. 9, when the vehicle 1 and the vehicle 2 approach within a predetermined range, the vehicle 1 and the vehicle 2 share information held by each other, thereby acquiring a situation around each other. .
A series of operations of the vehicle 1 in this case will be described using the flowchart of FIG.
The ECU 10 of the vehicle 1 acquires vehicle information such as the vehicle speed from the vehicle information acquisition device 30 in S401, and further acquires vehicle position information from the own vehicle position acquisition device 20 such as GPS in S402.

In S403, the received data is confirmed. If there is new received data, the information integration unit 12 integrates the information in S404. Specifically, the information includes the position of the own vehicle acquired in S402, the position of the vehicle 2 received from the vehicle 2, the positions of the vehicles 3 to 5 obtained by the surrounding sensing device 40 of the vehicle 2, This is a planned travel route until several seconds after the vehicle 2.
By converting these received data into positions based on the host vehicle (vehicle 1), it is possible to obtain the positions of obstacles around the vehicle 1 and the travel position several seconds after the vehicle 2. .
Furthermore, regarding the vehicles 3 to 5, the information integration unit 12 reads the positions of surrounding obstacles for the past several seconds from the information storage unit 13 and estimates the positions until several seconds later by linear prediction.
In step S405, the information is recorded as new information in the information storage unit 13. If there is no new received data in S403, the process of S404 is skipped and the process of S405 is performed.
In step S406, the latest position of the vehicle 1 in the information storage unit 13 and its peripheral information are transmitted to the communication partner. Next, in S407, the surrounding information output unit 14 outputs the information to the host vehicle.
This series of processing is repeated.

On the other hand, the vehicle 2 performs processing according to the flowchart of FIG.
In S501, vehicle information such as the vehicle speed is acquired from the vehicle information acquisition device 30, and in S502, the vehicle position information is acquired from the own vehicle position acquisition device 20 such as a GPS. In S503, the position information of the obstacles and lanes existing around the vehicle 2 acquired by the peripheral sensing device 40 is acquired.
In S504, the planned travel route up to several seconds after the host vehicle calculated by the travel route calculation unit 50 is acquired.

In S505, peripheral information from another vehicle (in this case, vehicle 1) is acquired via inter-vehicle communication. At this time, when there is newly received data, in S506, the information integration unit 12 detects the position information of the own vehicle, the obstacle information of the surrounding acquired by the surrounding sensing device 40 of the own vehicle, and a few seconds after the own vehicle. In addition to the planned travel route, the position of the communication partner (vehicle 1) is converted into a relative position based on the position of the vehicle 2 and integrated as one piece of peripheral information of the vehicle 2. Thereafter, the integrated peripheral information is stored in the information storage unit 13 in S507.
Thereafter, in S508, the latest peripheral information in the information storage unit 13 is transmitted to the communication partner. Finally, in S509, the generated latest peripheral information is output to the host vehicle by the peripheral information output unit 14. This series of processing is repeated at a constant cycle.

By performing the series of processes described above, the vehicle 1 can acquire the information shown in the balloon of the vehicle 1 in FIG. That is, the position of the vehicle 2 is acquired directly from the vehicle 2 via inter-vehicle communication. Information on the vehicles 3 to 5 can be acquired by using the inter-vehicle communication with the vehicle 2 for the position acquired by the peripheral sensing device 40 of the vehicle 2.
Furthermore, the current vehicle position and the position after a few seconds (for example, after t1 seconds and after t2 seconds) can be estimated for each vehicle, or can be acquired from the planned travel route of the vehicle.

On the other hand, the information shown in the balloon of the vehicle 2 in FIG. 9 can be acquired. That is, the position of the vehicle 1 is acquired directly from the vehicle 1 via inter-vehicle communication. The information of the vehicles 3 to 5 can acquire the position acquired by the surrounding sensing device 40 of the vehicle 2 itself.
Furthermore, the current vehicle position and the position after a few seconds (for example, after t1 seconds and after t2 seconds) can be estimated for each vehicle, or can be acquired from the planned travel route of the vehicle.
For this reason, even in the autonomous driving vehicle, the route can be set in consideration of the surrounding situation after a few seconds, so that a more accurate and safe route can be set.

According to the third embodiment, in addition to the effects (1) to (4) obtained in the first embodiment, the following effects can be achieved.
(9) Since the vehicle 1 can obtain an estimation result of the future peripheral position from the vehicle 2 until the next few seconds, an early risk prediction is possible.
(10) Since the vehicle 2 directly acquires the position information of the vehicle 1 from the vehicle 1, it is possible to acquire more accurate information than the planned travel path estimated from the detection result by the peripheral sensing device 40.

Embodiment 4 FIG.
The vehicle surrounding situation acquisition device according to Embodiment 4 will be described below.
In the fourth embodiment, both the vehicle 1 and the vehicle 2 are equipped with a communication method and an autonomous peripheral sensor method. In the fourth embodiment, the vehicle 1 and the vehicle 2 both generate information about a planned travel route and a recommended travel route of the vehicle up to a few seconds later, as in an autonomous driving vehicle that does not necessarily require a driver's operation. This is the case.
The vehicle surrounding situation acquisition device for vehicle 1 and vehicle 2 in the fourth embodiment has the same device configuration. Specifically, since it is the same as the apparatus configuration (FIG. 8) of the vehicle 2 in the third embodiment, the description thereof is omitted.

FIG. 12 is a diagram showing an example of an application scene of the vehicle surrounding state acquisition device according to Embodiment 4 of the present invention.
In FIG. 12, the scene which drive | works the road of 2 lanes on one side is shown. Both the vehicle 1 and the vehicle 2 have a communication method and an autonomous peripheral sensor method, and further include a travel route calculation unit 50 that generates a planned travel route for performing automatic driving or traveling support. Vehicles 3 to 5 are not equipped with either a communication method or an autonomous peripheral sensor method. Further, the travel route calculation unit 50 is not provided.

Next, processing of the vehicle 1 and the vehicle 2 in the scene of FIG. 12 will be described.
In the scene of FIG. 12, when the vehicle 1 and the vehicle 2 approach within a predetermined range, the vehicle 1 and the vehicle 2 share the information held by each other, thereby acquiring the surrounding situation. A series of operations of the ECU 10 of the vehicle 1 in this case will be described using the flowchart of FIG.

The ECU 10 of the vehicle 1 acquires vehicle information such as the vehicle speed from the vehicle information acquisition device 30 in S601, and further acquires vehicle position information from the own vehicle position acquisition device 20 such as GPS in S602.
In step S <b> 603, the position information of obstacles and lanes existing around the vehicle 1 acquired by the peripheral sensing device 40 is acquired. In S604, the planned travel route up to several seconds after the host vehicle calculated by the travel route calculation unit 50 is acquired.

In S605, peripheral information from another vehicle (in this case, vehicle 2) is acquired via inter-vehicle communication. At this time, if there is newly received data, in S606, the information integration unit 12 integrates it as peripheral information of the vehicle 1 in addition to the information of the own vehicle.
Specifically, the integrated peripheral information includes the position of the host vehicle acquired in S602, the obstacle (including the vehicle 3) and lane position information acquired in S603, and the planned travel route of the host vehicle acquired in S604. The position of the vehicle 2 received from the vehicle 2, the position of the vehicle 4 and the position of the vehicle 5 obtained by the surrounding sensing device 40 of the vehicle 2, and the planned travel route until several seconds after the vehicle 2.
By converting these received data into positions based on the host vehicle (vehicle 1), it is possible to obtain the positions of obstacles around the vehicle 1 and the travel position several seconds after the vehicle 2. .
Furthermore, regarding the vehicles 3 to 5, the information integration unit 12 reads the positions of surrounding obstacles for the past several seconds from the information storage unit 13 and estimates the positions until several seconds later by linear prediction.
At this time, if an obstacle exists in the data acquired from the vehicle 2 within a certain distance range of the obstacle information acquired by the own vehicle (vehicle 1), the data acquired by itself is given priority. Adopt and discard the data via vehicle 2.

Thereafter, the integrated peripheral information is stored in the information storage unit 13 in S607.
Thereafter, in S608, the latest peripheral information in the information storage unit 13 is transmitted to the communication partner. Finally, in S609, the latest peripheral information generated is output to the host vehicle by the peripheral information output unit 14. This series of processing is repeated at a constant cycle.

  Since the vehicle 2 performs the same process as the vehicle 1, the description thereof is omitted.

By performing the series of processes described above, the vehicle 1 can acquire the information shown in the balloon of the vehicle 1 in FIG. That is, the position of the vehicle 2 is acquired directly from the vehicle 2 via inter-vehicle communication.
Further, the vehicle 4 and the vehicle 5 can acquire the position acquired by the peripheral sensing device 40 of the vehicle 2 by using inter-vehicle communication with the vehicle 2.
Further, for each vehicle, the current vehicle position and the position after several seconds (for example, after t1 seconds and after t2 seconds) can be estimated or acquired from the planned travel route of the vehicle.

On the other hand, the vehicle 2 can acquire the information shown in the balloon of the vehicle 2 in FIG. That is, the position of the vehicle 1 is acquired directly from the vehicle 1 via inter-vehicle communication.
Further, the vehicle 4 and the vehicle 5 can acquire the position acquired by the peripheral sensing device 40 of the vehicle 2 itself, and the position of the vehicle 3 can be acquired from the vehicle 1 via inter-vehicle communication.
Further, for each vehicle, the current vehicle position and the position after several seconds (for example, after t1 seconds and after t2 seconds) can be estimated or acquired from the planned travel route of the vehicle.

According to the fourth embodiment, in addition to the effects of the third embodiment, the following effects can be achieved.
(11) Since positional information acquired by the peripheral sensing device is integrated by communication, more accurate positional information and reliability can be ensured.
(12) Since a plurality of pieces of information are compared, more accurate information can be obtained.
(13) With respect to the position information of the surrounding vehicles of the host vehicle, a map of estimated predicted positions from the present time to several seconds later can be created. By using this, it is possible to predict the danger up to several seconds ahead, and it is possible to promptly notify the driver of the danger and re-edit the planned travel route earlier.
(14) By detecting the vehicle with a single peripheral sensing device, it is possible to obtain a wider range of vehicle position information by integrating the results of the vehicle detection with each other's peripheral sensing device even in areas that cannot be detected or blind spots. It becomes possible to do.

  It should be noted that the present invention can be freely combined with each other within the scope of the invention, and each embodiment can be appropriately modified or omitted.

10 ECU, 11 communication unit, 12 information integration unit, 13 information storage unit,
14 peripheral information output unit, 20 own vehicle position acquisition device, 30 vehicle information acquisition device,
40 Peripheral sensing device, 50 Travel route calculation unit

The vehicle surrounding situation acquisition device according to the present invention is a vehicle surrounding situation acquisition device that is mounted on a vehicle and acquires the surrounding situation of the vehicle, the own vehicle position acquisition means for acquiring the position of the own vehicle, Peripheral sensing means for acquiring the status of obstacles including other vehicles that are present, and information including the position of the host vehicle and the status of obstacles is transmitted to the communication partner vehicle by inter-vehicle communication, communication means for receiving information including the position of the vehicle, the information received from the communication counterpart vehicle, converts the information of the relative position of the own vehicle, as well as integration with information including the status of the position and the obstacle of the vehicle after t1 seconds of the other vehicle and t2 seconds after (where, t1 <t2) to estimate the location of, information integration unit for the peripheral information of the own vehicle, the peripheral information integrated by the information integrating means Storing memory means, this peripheral information output means for outputting the peripheral information stored in the storage means, and the scheduled travel route calculating means for calculating a scheduled travel route including a position after t1 seconds and t2 seconds of the vehicle The planned travel route calculation means is integrated by the information integration means and calculates the planned travel route based on the surrounding information of the host vehicle including the estimated positions after t1 seconds and t2 seconds of the other vehicle. is there.

According to this invention, it is a vehicle surrounding situation acquisition device that is mounted on a vehicle and acquires the surrounding situation of the vehicle, including own vehicle position acquisition means for acquiring the position of the own vehicle, and other vehicles existing around the own vehicle. Information including the position of the host vehicle and the status of the obstacle is transmitted to the communication partner vehicle by surrounding sensing means for acquiring the condition of the obstacle, and communication between the vehicles, and the information including the position of the communication partner vehicle from the communication partner vehicle The information received from the communication partner vehicle is converted into the information on the relative position from the own vehicle and integrated with the information including the position of the own vehicle and the condition of the obstacle, and t1 seconds of the other vehicle. and after t2 seconds (where, t1 <t2) to estimate the location of, information integration unit for the peripheral information of the own vehicle, a storage means for storing peripheral information integrated by the information integration unit, storage of this Including a scheduled travel route calculating means for calculating a peripheral information output unit, and the planned travel route including a position after t1 seconds and t2 seconds of the vehicle and outputs a peripheral information stored in the stage, the planned travel route computing means Since the travel planned route is calculated based on the surrounding information of the host vehicle including the estimated position of the other vehicle after t1 seconds and t2 seconds after being integrated by the information integration means , the surrounding information is shared with the communication partner vehicle. Thus, it is possible to output more accurate peripheral information including the positions after t1 seconds and t2 seconds of each vehicle, and also in automatic driving and driving support, considering the surrounding situation after several seconds, The planned travel route can be set, and a more accurate and safe planned travel route can be set.

Claims (5)

A vehicle surrounding situation acquisition device that is mounted on a vehicle and acquires the surrounding situation of the vehicle,
Own vehicle position acquisition means for acquiring the position of the own vehicle;
Peripheral sensing means for acquiring the status of obstacles including other vehicles existing around the host vehicle,
Communication means for transmitting information including the position of the host vehicle and the status of the obstacle to the communication partner vehicle and receiving information including the position of the communication partner vehicle from the communication partner vehicle by inter-vehicle communication.
Information integration means for converting the information received from the communication partner vehicle into information on the relative position from the own vehicle, and integrating the information including the position of the own vehicle and the state of the obstacle into surrounding information of the own vehicle ,
Storage means for storing peripheral information integrated by the information integration means;
And a vehicle surrounding condition acquisition device comprising surrounding information output means for outputting the surrounding information stored in the storage means. It has a travel schedule route calculating means for calculating a travel schedule route of the own vehicle,
2. The vehicle surrounding state acquisition device according to claim 1, wherein the travel route is included in information transmitted to the communication partner vehicle by the communication means.   3. The vehicle surrounding state acquisition device according to claim 1, wherein the information received from the communication partner vehicle includes an obstacle state around the communication partner vehicle.   The vehicle surrounding situation acquisition device according to any one of claims 1 to 3, wherein the information received from the communication partner vehicle includes a scheduled travel route of the communication partner vehicle.   5. The vehicle surrounding state acquisition according to claim 1, wherein the information integration unit estimates a position of the other vehicle after several seconds in the surrounding information stored in the storage unit. apparatus.

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