JP2016143089A - Dangerous vehicle detection system and on-vehicle information processing apparatus - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a dangerous vehicle detection system configured to identify a position of a vehicle having no GPS receiver and located outside a service area of a ranging sensor, over an inter-vehicle communication, as well as detecting a dangerous vehicle.SOLUTION: A position detection system includes: a GPS 1 mounted on each of a plurality of vehicles C to detect a position thereof; a ranging sensor 4a for detecting a distance and a direction of another vehicle based on one vehicle; an in-vehicle radio communication device 2 which transmits/receives the obtained position information and ranging information over an inter-vehicle communication, so as to be shared with the vehicles C; and an in-vehicle information processing device 3. The in-vehicle information processing device 3 identifies a position of the other vehicle with respect to the one vehicle, on the basis of the received ranging information and position information, and the position information of the one vehicle detected by the GPS 1, or the distance and direction of the one vehicle detected by the ranging sensor 4a. The in-vehicle information processing device 3 determines whether the other vehicle is a dangerous vehicle or not, on the basis of the identified position of the other vehicle.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a dangerous vehicle detection system and an in-vehicle information processing apparatus that specify the position of another vehicle with respect to the host vehicle by inter-vehicle communication and identify the dangerous vehicle.

  Patent Document 1 discloses a navigation device that can measure the position of its own device with high accuracy even in a GPS signal blocking environment. The navigation device includes a GPS receiver, and when the power is turned on, the reception status of the GPS signal by the GPS receiver is confirmed. When the GPS signal can be received, positioning of the own device is performed based on the GPS signal. The navigation device also includes connection means to which a mobile phone can be connected. The mobile phone can communicate with the base station and acquire position data of the mobile phone. When the navigation apparatus cannot receive the GPS signal, it acquires the position data of the mobile phone and measures the position of the mobile device.

  Patent Document 2 discloses a portable navigation device. The portable navigation device can be connected to the in-vehicle information processing device using a USB cable. The in-vehicle information processing apparatus collects information necessary for specifying the position via the in-vehicle network and transmits the information to the navigation apparatus. The navigation device specifies the position of the vehicle based on the information of the GPS receiver and the gyro sensor that the navigation device has and the information obtained from the in-vehicle information processing device.

  Patent Document 3 discloses a position guidance system that includes a plurality of portable terminal devices that perform position detection with a GPS receiver and can display the positions of the terminal devices. Each terminal device detects its own position, performs short-range wireless communication with other terminal devices existing in the communication area, and shares position information. One terminal device displays the current position of another terminal device on the display unit based on the received position information.

Japanese Patent No. 3788328 JP 2012-136210 A JP 2003-166835 A

However, all of Patent Documents 1 to 3 are based on the premise that a GPS receiver is present, and there is a problem that the position of a vehicle not equipped with a GPS receiver cannot be specified.
On the other hand, other vehicles existing around the host vehicle are detected by a distance measuring sensor mounted on the vehicle. However, the position of the vehicle existing outside the detection range of the distance measuring sensor cannot be specified.

  The purpose of the present application is to detect a dangerous vehicle because a GPS receiver is not mounted by vehicle-to-vehicle communication, and the position of a vehicle outside the distance measurement range of the distance sensor can be specified. The object is to provide a vehicle detection system and an in-vehicle information processing apparatus.

  A dangerous vehicle detection system according to an aspect of the present invention is mounted on each of a plurality of vehicles, and a position detection unit that detects the position of each vehicle, and position information detected by the position detection unit of each vehicle is communicated between vehicles. And a plurality of in-vehicle wireless communication devices that transmit and receive in the vehicle, and on-vehicle information processing that executes dangerous vehicle detection processing for the host vehicle in which the in-vehicle wireless communication device is mounted, based on position information received by the in-vehicle wireless communication device A dangerous vehicle detection system comprising a device, provided in each vehicle, provided with a distance measuring sensor that detects a distance between the own vehicle and another vehicle and a direction of the other vehicle based on the own vehicle, The wireless communication device transmits the distance information including the distance and direction detected by the distance sensor of the host vehicle on which the vehicle-mounted wireless communication device is mounted, and the position information detected by the position detection unit to the other vehicle-mounted wireless devices. Send to communication device And a receiving unit that receives ranging information and position information transmitted from the other in-vehicle wireless communication device, and the in-vehicle information processing apparatus includes the ranging information and position received by the receiving unit. Based on the information and the position information detected by the position detection unit of the own vehicle on which the in-vehicle information processing apparatus is mounted or the distance and direction detected by the distance measuring sensor of the own vehicle, A position specifying unit that specifies a position, and a determination unit that determines whether or not the other vehicle is a dangerous vehicle based on the position of the other vehicle with respect to the host vehicle specified by the position specifying unit.

  An in-vehicle information processing apparatus according to an aspect of the present invention includes a position detection unit that detects the position of the host vehicle, a distance between the host vehicle and the other vehicle, and a distance measurement sensor that detects the direction of the other vehicle based on the host vehicle. Is a vehicle-mounted information processing apparatus that executes detection processing of a dangerous vehicle with respect to the host vehicle on which the vehicle is mounted, and includes position information detected by a position detection unit mounted on the other vehicle, and a distance measurement sensor mounted on the other vehicle. An acquisition unit that acquires distance measurement information including the distance and direction detected in Step 1, distance measurement information and position information acquired by the acquisition unit, and position information of the host vehicle detected by the position detection unit of the host vehicle Alternatively, based on the distance and direction detected by the distance measuring sensor, based on the position specifying unit that specifies the position of the other vehicle with respect to the own vehicle and the position of the other vehicle with respect to the own vehicle specified by the position specifying unit, Whether other vehicles are dangerous vehicles And a determination unit for determining.

  Note that the present application can be realized not only as an in-vehicle information processing apparatus having such a characteristic processing unit, but also as an in-vehicle information processing method using such characteristic processing as a step, or such a step as a computer. Or can be realized as a program to be executed. Further, it can be realized as a semiconductor integrated circuit that realizes part or all of the in-vehicle information processing apparatus, or can be realized as another system including the in-vehicle information processing apparatus.

  According to the above, through the vehicle-to-vehicle communication, the GPS receiver is not mounted, the position of the vehicle that is outside the distance measuring range of the distance measuring sensor can be specified, and the dangerous vehicle can be detected. A vehicle detection system and an in-vehicle information processing apparatus can be provided.

It is a block diagram which shows the example of 1 structure of the dangerous vehicle detection system which concerns on embodiment of this invention. It is a block diagram which shows the example of 1 structure of a vehicle-mounted radio | wireless communication apparatus. It is the conceptual diagram which showed the data structure of the information transmitted / received between vehicle-mounted radio | wireless communication apparatuses. It is a block diagram which shows the example of 1 structure of a vehicle-mounted information processing apparatus. It is a flowchart which shows the process sequence of a control part. It is a flowchart which shows the process sequence of vehicle-to-vehicle communication. It is a flowchart which shows the process sequence which concerns on position specification. It is a conceptual diagram which shows an example of the position specific method of another vehicle. It is a conceptual diagram which shows an example of the position specific method of another vehicle. It is a conceptual diagram which shows an example of the position specific method of another vehicle. It is a flowchart which shows the process sequence which concerns on identification of a dangerous vehicle. It is a flowchart which shows the process sequence which concerns on surrounding condition determination. It is a flowchart which shows the process sequence which concerns on surrounding condition determination. It is a schematic diagram which shows an example of another vehicle display screen. It is a schematic diagram which shows an example of a dangerous vehicle display screen.

[Description of Embodiment of the Present Invention]
First, embodiments of the present invention will be listed and described. Moreover, you may combine arbitrarily at least one part of embodiment described below.

(1) A dangerous vehicle detection system according to an aspect of the present invention is mounted on each of a plurality of vehicles, and a position detection unit that detects the position of each vehicle, and position information detected by the position detection unit of each vehicle. Based on a plurality of in-vehicle wireless communication devices that transmit and receive by inter-vehicle communication and position information received by the in-vehicle wireless communication device, a dangerous vehicle detection process is executed for the host vehicle in which the in-vehicle wireless communication device is mounted. A dangerous vehicle detection system including an in-vehicle information processing apparatus, provided in each vehicle, including a distance measuring sensor that detects a distance between the own vehicle and another vehicle and a direction of the other vehicle based on the own vehicle. The in-vehicle wireless communication device uses the distance information including the distance and direction detected by the distance sensor of the host vehicle in which the in-vehicle wireless communication device is mounted, and the position information detected by the position detection unit as other information. The in-vehicle wireless communication device A transmission unit for transmitting, and a reception unit for receiving distance measurement information and position information transmitted from the other in-vehicle wireless communication device, wherein the in-vehicle information processing apparatus includes the distance measurement information received by the reception unit and Other vehicles with respect to the host vehicle based on the position information and the position information detected by the position detection unit of the host vehicle on which the in-vehicle information processing apparatus is mounted or the distance and direction detected by the distance measuring sensor of the host vehicle And a determination unit that determines whether or not the other vehicle is a dangerous vehicle based on the position of the other vehicle relative to the host vehicle specified by the position specifying unit.

In the present application, the position of the host vehicle can be detected by the position detection unit mounted on the vehicle. In addition, other vehicles can be detected by a distance measuring sensor mounted on the vehicle. Specifically, it is possible to detect the distance between the own vehicle on which the distance measuring sensor is mounted and the other vehicle, and the direction of the other vehicle based on the own vehicle. And the vehicle-mounted radio | wireless communication apparatus of each vehicle transmits / receives positional information and ranging information. Each vehicle can share the position information and distance measurement information. The in-vehicle information processing device of each vehicle specifies the position of the other vehicle with respect to the own vehicle based on the position information or distance measurement information of the own vehicle and the position information and distance measurement information of the other vehicle. The determination unit determines whether or not the other vehicle is a dangerous vehicle with respect to the own vehicle based on the position of the other vehicle thus identified.
The on-vehicle information processing device of each vehicle uses the distance measurement information obtained by the distance sensor of the host vehicle or another vehicle, thereby detecting the position of the dangerous vehicle on which the position detection unit and the vehicle-mounted wireless communication device are not mounted. Can be specified. Moreover, the position of the dangerous vehicle which is not mounted with the position detection unit and the in-vehicle wireless communication device and is outside the detection range of the distance measuring sensor mounted on the own vehicle can be specified.

(2) The position specifying unit specifies the position of the other vehicle with respect to the own vehicle over time, and the in-vehicle information processing apparatus determines the position of the other vehicle with respect to the own vehicle based on the position specified by the position specifying unit. A speed calculation unit that calculates a speed is provided, and the determination unit compares the speed of the other vehicle with respect to the host vehicle calculated by the speed calculation unit and a predetermined speed to determine whether the other vehicle is a dangerous vehicle. It is preferable to determine whether or not.

  In the present application, the speed calculation unit calculates the speed of the other vehicle relative to the host vehicle, and the determination unit compares the speed of the other vehicle with respect to the host vehicle and a predetermined speed, so that the other vehicle is a dangerous vehicle. It can be determined whether or not. That is, the determination unit can determine a dangerous vehicle from the viewpoint of the speed of another vehicle relative to the host vehicle.

(3) The in-vehicle information processing apparatus includes a distance calculation unit that calculates a distance between the host vehicle and another vehicle based on the position specified by the position specifying unit, and the determination unit includes the distance calculation unit. It is preferable to determine whether or not the other vehicle is a dangerous vehicle by comparing the distance between the host vehicle and the other vehicle calculated in the above and a predetermined distance.

  In the present application, the distance calculation unit calculates the distance between the host vehicle and the other vehicle, and the determination unit compares the distance between the host vehicle and the other vehicle with a predetermined distance so that the other vehicle is a dangerous vehicle. It can be determined whether or not. That is, the determination unit can determine the dangerous vehicle from the viewpoint of the distance of the other vehicle to the host vehicle.

(4) The position specifying unit specifies the position of another vehicle with respect to the own vehicle over time, and the in-vehicle information processing device is configured to determine whether the vehicle and the vehicle are based on the temporal change of the position specified by the position specifying unit. A configuration is provided that includes a lane identification unit that identifies a lane difference in which another vehicle is traveling, and the determination unit determines whether the other vehicle is a dangerous vehicle based on a determination result of the lane identification unit. preferable.

  In the present application, the lane identification unit identifies the difference between the lane in which the host vehicle and the other vehicle are traveling from the temporal change in the position of the other vehicle, and the determination unit is traveling in the host vehicle and the other vehicle. It is possible to determine whether the other vehicle is a dangerous vehicle in consideration of the lane relationship.

(5) The position specifying unit specifies the position of another vehicle with respect to the own vehicle over time, and the in-vehicle information processing apparatus detects the own vehicle based on the temporal change of the position specified by the position specifying unit. A traveling direction identifying unit that identifies the traveling direction of the other vehicle as a reference is provided, and the determination unit determines whether the other vehicle is a dangerous vehicle based on the traveling direction of the other vehicle identified by the traveling direction identifying unit. It is preferable to determine whether or not.

  In the present application, the advancing direction specifying unit specifies the advancing direction of the host vehicle and the other vehicle from the temporal change of the position of the other vehicle, and the determination unit considers the relationship between the advancing direction of the host vehicle and the other vehicle. It can be determined whether or not the other vehicle is a dangerous vehicle.

(6) The position specifying unit specifies the position of the other vehicle with respect to the host vehicle over time, and the in-vehicle information processing apparatus is configured so that the other vehicle is based on the temporal change of the position specified by the position specifying unit. A front-rear specifying unit that specifies whether the host vehicle is in the front direction or the rear side of the traveling direction of the host vehicle is provided, and the determination unit is configured based on the front-rear relationship of the other vehicle with respect to the host vehicle specified by the front-rear specifying unit. It is preferable to determine whether or not the vehicle is a dangerous vehicle.

  In the present application, the front-rear specifying unit specifies whether the other vehicle is forward or backward in the traveling direction with respect to the own vehicle from the time-dependent change of the position of the other vehicle, and the determination unit is the other vehicle relative to the own vehicle. It is possible to determine whether the other vehicle is a dangerous vehicle in consideration of

(7) The position specifying unit specifies the position of another vehicle with respect to the own vehicle over time, and the in-vehicle information processing apparatus detects the own vehicle based on the temporal change of the position specified by the position specifying unit. A traveling direction identifying unit that identifies the traveling direction of the other vehicle as a reference, and a lane that identifies a difference between the lanes in which the host vehicle and the other vehicle are traveling based on changes over time of the position identified by the position identifying unit A front-rear specifying unit that specifies whether the other vehicle is on the front side or the rear side in the traveling direction of the host vehicle based on a time-dependent change in the position specified by the position specifying unit, and the position specifying unit; A speed calculation unit that calculates the speed of the other vehicle relative to the host vehicle based on the position specified in the above, and a distance calculation unit that calculates a distance between the host vehicle and the other vehicle based on the position specified by the position specifying unit. The determination unit includes the own vehicle and another vehicle. When the traveling direction and lane are the same, the other vehicle is behind the traveling direction of the own vehicle, the speed of the other vehicle with respect to the own vehicle is equal to or higher than a predetermined speed, and the distance between the own vehicle and the other vehicle is less than the predetermined distance. A configuration in which it is determined that the other vehicle is a dangerous vehicle is preferable.

  In the present application, the determination unit determines that another vehicle behind the vehicle that may collide with the host vehicle is a dangerous vehicle.

(8) Each vehicle includes an operation detection unit that detects the presence or absence of the operation of the direction indicator of the host vehicle. The determination unit has the same traveling direction and lane of the host vehicle and the other vehicle, and the other vehicle is the host vehicle. When the speed of the other vehicle relative to the own vehicle is equal to or higher than the predetermined speed and the distance between the own vehicle and the other vehicle is less than the predetermined distance, the direction indicator of the own vehicle is inactive. A configuration in which it is determined that the other vehicle is a dangerous vehicle is preferable.

  In the present application, when there is another vehicle approaching at a predetermined speed or more from behind with the direction indicator of the own vehicle not operating, the other vehicle is determined to be a dangerous vehicle. When the direction indicator is operating, the possibility of a rear-end collision by the other vehicle can be avoided by changing the lane, so that the other vehicle is not determined as a dangerous vehicle.

(9) Each vehicle includes an operation detection unit that detects whether or not the direction indicator of the host vehicle is operating, and the position specifying unit specifies a position of another vehicle with respect to the host vehicle over time, and the in-vehicle information processing The apparatus includes: a traveling direction identifying unit that identifies a traveling direction of another vehicle based on the host vehicle based on a temporal change of the position identified by the position identifying unit; and a time of the position identified by the position identifying unit. Based on the change, the lane identification unit that identifies the difference between the lane in which the host vehicle and the other vehicle are traveling, and the traveling direction of the host vehicle based on the temporal change of the position identified by the position identification unit The determination includes: a front / rear specifying unit that specifies whether the vehicle is on the front side or the rear side; and a distance calculation unit that calculates a distance between the host vehicle and another vehicle based on the position specified by the position specifying unit. The traveling direction of the vehicle and the vehicle is the same, The vehicle and the lane in which the host vehicle travels are different, the other vehicle is behind the traveling direction of the host vehicle, the distance between the host vehicle and the other vehicle is less than a predetermined distance, and the direction indicator of the host vehicle is operating In this case, a configuration in which it is determined that the other vehicle is a dangerous vehicle is preferable.

  In the present application, when the own vehicle changes lanes, the determination unit determines the other vehicle in the rear that may collide as a dangerous vehicle.

(10) Each vehicle includes an operation detection unit that detects the presence / absence of an operation of the direction indicator of the host vehicle, and the position specifying unit specifies a position of another vehicle with respect to the host vehicle over time, and the in-vehicle information processing The apparatus includes: a traveling direction identifying unit that identifies a traveling direction of another vehicle based on the host vehicle based on a temporal change of the position identified by the position identifying unit; and a time of the position identified by the position identifying unit. Based on the change, the lane identification unit that identifies the difference between the lane in which the host vehicle and the other vehicle are traveling, and the traveling direction of the host vehicle based on the temporal change of the position identified by the position identification unit A front-rear specifying unit that specifies whether the vehicle is on the front side or the rear side, a speed calculating unit that calculates the speed of another vehicle relative to the host vehicle based on the position specified by the position specifying unit, and the position specifying unit Vehicle and other vehicles based on the specified position A distance calculation unit that calculates the distance of the vehicle, and the determination unit has different traveling directions of the host vehicle and the host vehicle, the other vehicle is traveling in the opposite lane, and the other vehicle is in front of the traveling direction of the host vehicle. When the distance between the host vehicle and the other vehicle is less than a predetermined distance, the speed of the other vehicle with respect to the host vehicle is equal to or higher than the predetermined speed, and the direction indicator of the host vehicle is operating, the other vehicle is a dangerous vehicle. The structure which determines with is preferable.

  If it is in this application, a judgment part will judge other vehicles which may collide as a dangerous vehicle at the time of the right-and-left turn of the own vehicle. Particularly in Japan, other vehicles that may collide during a right turn are determined as dangerous vehicles.

(11) A configuration including a display unit that displays the position of another vehicle specified by the position specifying unit is preferable.

  In the present application, the display unit displays the position of the other vehicle specified by the position specifying unit. The driver of the vehicle can specify the position of another vehicle based on the own vehicle. In this aspect, a navigation system, map information, etc. are not essential.

(12) A configuration including a display unit that displays a position of another vehicle determined as a dangerous vehicle by the determination unit is preferable.

  In this application, a display part displays the position of the other vehicle determined as the dangerous vehicle by the determination part. The driver of the vehicle can specify the position of the dangerous vehicle based on the own vehicle. In this aspect, a navigation system, map information, etc. are not essential.

(13) A configuration including a warning unit that issues a warning when the determination unit determines that the other vehicle is a dangerous vehicle is preferable.

  In the present application, the warning unit issues a warning according to the position of the other vehicle determined as a dangerous vehicle by the determination unit.

(14) It is preferable that the transmission unit transmits information related to another vehicle determined as a dangerous vehicle by the determination unit to the other in-vehicle communication device.

  In the present application, the in-vehicle wireless communication device transmits information related to the other vehicle determined to be a dangerous vehicle to the other in-vehicle wireless communication device. Each vehicle can share dangerous vehicle information.

(15) An in-vehicle information processing apparatus according to an aspect of the present invention detects a position detection unit that detects the position of the host vehicle, a distance between the host vehicle and another vehicle, and a direction of the other vehicle based on the host vehicle. An in-vehicle information processing apparatus that executes detection processing of a dangerous vehicle for a host vehicle equipped with a distance measuring sensor, the position information detected by a position detection unit mounted on the other vehicle, and mounted on the other vehicle An acquisition unit that acquires distance measurement information including the distance and direction detected by the distance measurement sensor, the distance measurement information and position information acquired by the acquisition unit, and the host vehicle detected by the position detection unit of the host vehicle Based on the position information of the vehicle or the distance and direction detected by the distance measuring sensor, the position specifying unit for specifying the position of the other vehicle with respect to the own vehicle, and the position of the other vehicle with respect to the own vehicle specified by the position specifying unit. The other vehicle is a dangerous vehicle And a determination section for determining whether Luke.

In the present application, as in the aspect (1), the vehicle-mounted information processing apparatus uses the distance measurement information obtained by the distance measurement sensor of the host vehicle or another vehicle to thereby detect the position detection unit and the vehicle-mounted wireless communication. The position of a dangerous vehicle that is not equipped with a machine can be specified. Moreover, the position of the dangerous vehicle which is not mounted with the position detection unit and the in-vehicle wireless communication device and is outside the detection range of the distance measuring sensor mounted on the own vehicle can be specified.
In addition, when the distance measurement information is obtained by the distance measurement sensor, sensor identification information for identifying the distance measurement sensor may be included in or associated with the distance measurement information. The distance measurement sensor may be mounted on a plurality of vehicles, and the sensor identification information can indicate which distance measurement information the distance measurement information is detected by. When an in-vehicle information processing apparatus specifies the position of another vehicle using a plurality of distance measurement information, whether the same vehicle is recognized by different distance measurement sensors based on sensor identification information included in or associated with the distance measurement information. This makes it possible to determine the reliability of the information related to the position of the other vehicle. When the position of the same vehicle is specified based on the distance information obtained by detection by a plurality of different distance sensors, the vehicle information is obtained based on the distance information obtained by detection by a single distance sensor. Compared to the case where the position is specified, the reliability of the information on the position of the vehicle is high. Such a configuration can also be applied to the dangerous vehicle detection systems of modes (1) to (14), and the same operational effects can be obtained.

[Details of the embodiment of the present invention]
A specific example of a dangerous vehicle detection system according to an embodiment of the present invention will be described below with reference to the drawings. In addition, this invention is not limited to these illustrations, is shown by the claim, and intends that all the changes within the meaning and range equivalent to a claim are included.

  FIG. 1 is a block diagram illustrating a configuration example of a dangerous vehicle detection system according to an embodiment of the present invention. The dangerous vehicle detection system according to the present embodiment includes a GPS 1, an in-vehicle wireless communication device 2, an in-vehicle information processing device 3, and a ranging ECU 4 that are respectively mounted on a plurality of vehicles C. The GPS 1 is connected to the in-vehicle wireless communication device 2. The in-vehicle wireless communication device 2 is connected to the in-vehicle information processing device 3, the ranging ECU 4, and other various ECUs (not shown) via a communication line such as CAN.

  Hereinafter, assuming that the position of another vehicle C with respect to one vehicle C on which the in-vehicle information processing apparatus 3 according to the present embodiment is mounted, the one vehicle C is appropriately referred to as a host vehicle C. The other vehicle C is referred to as another vehicle C. The other vehicle C includes a vehicle C in which the in-vehicle information processing device 3 and the in-vehicle wireless communication device 2 are not mounted.

  FIG. 2 is a block diagram illustrating a configuration example of the in-vehicle wireless communication device 2. The in-vehicle wireless communication device 2 is a gateway, for example, and includes a communication control unit 21 configured by a microprocessor having a CPU (Central Processing Unit) and the like. An input unit 22, a first in-vehicle communication unit 23, a second in-vehicle communication unit 24, a transmission unit 25 and a reception unit 26 are connected to the communication control unit 21.

  The input unit 22 is an interface to which the GPS 1 is connected. The GPS 1 is an example of a position detection unit that detects the position of the host vehicle C. The GPS 1 includes a GPS receiver. The GPS receiver constitutes a GPS system together with GPS satellites, receives radio waves from artificial satellites, and specifies the position of the GPS 1 itself, that is, the position of the vehicle C on which the GPS 1 is mounted. The position of the vehicle C is represented by latitude and longitude, for example. The GPS 1 adds time information to the detected position information of the vehicle C and outputs the position information to the communication control unit 21. The time information indicates the time when the position of the vehicle C is detected. The communication control unit 21 acquires the position information output from the GPS 1 via the input unit 22 and transmits the acquired position information to the in-vehicle information processing device 3. Since the position of the vehicle C detected by the GPS 1 has an error of about 3 to 10 m, it is corrected using the speed, acceleration, gyro sensor information, etc. of the vehicle C.

  The first in-vehicle communication unit 23 and the second in-vehicle communication units 23 and 24 are circuits that transmit and receive information according to a CAN protocol, for example. The first and second in-vehicle communication units 24 are connected to different communication lines, respectively. For example, the in-vehicle information processing device 3, the distance measuring ECU 4, and the like are connected to the communication line connected to the first in-vehicle communication unit 23.

  A distance measuring sensor 4a is connected to the distance measuring ECU 4. The distance sensor 4a is used to determine the distance between the host vehicle C on which the distance measuring ECU 4 is mounted and another vehicle C, and the host vehicle C as a reference. The direction of the other vehicle C is detected. The distance measurement ECU 4 detects the speed of the other vehicle C relative to the host vehicle C on which the distance measurement ECU 4 is mounted, using the distance measurement sensor 4a. The distance measuring sensor 4a is, for example, a millimeter wave radar, a laser radar, an ultrasonic radar, a camera or the like. As the camera, either a monocular camera or a stereo camera can be used. Various sensors are provided in the vehicle width direction center part of the front part or the rear part of the vehicle C, or the left side or the right side of the front part or the rear part of the vehicle C. The detection accuracy of the distance measuring sensor 4a is less than 1 m, which is higher than the position detection accuracy of the GPS 1. The ranging ECU 4 adds time information and sensor identification information of the ranging sensor 4a to the ranging information including the distance and direction detected by the ranging sensor 4a, and uses the ranging information as the in-vehicle information processing device 3. Send to.

  Various ECUs (not shown) are connected to the communication line connected to the second in-vehicle communication unit 24. The ECU controls the operation of various sensors provided in the vehicle C, and transmits various information necessary for specifying the position of the other vehicle C with respect to the host vehicle C as in-vehicle information. The in-vehicle information includes, for example, the speed and acceleration of the vehicle C, the contents of the brake operation, the contents of the accelerator operation, the direction indicator information indicating the operation state of the direction indicator, and the steering angle information of the steering wheel.

  The communication control unit 21 transmits and receives various information necessary for specifying the position of the other vehicle C with respect to the host vehicle C via the first and second in-vehicle communication units 23 and 24. For example, the communication control unit 21 transmits position information detected by the GPS 1, distance measurement information obtained from the distance measurement ECU 4, and other in-vehicle information to the in-vehicle information processing apparatus 3.

  The transmission unit 25 and the reception unit 26 are communication circuits that perform inter-vehicle communication with other in-vehicle wireless communication devices 2. The transmission unit 25 and the reception unit 26 perform wireless communication according to a predetermined communication protocol based on, for example, IEEE 802.11p. The frequency used for wireless communication is not particularly limited, and examples thereof include 5.9 GHz and 700 MHz band frequencies.

  FIG. 3 is a conceptual diagram showing a data structure of information transmitted / received to / from the in-vehicle wireless communication device 2. As shown in FIG. 3, the in-vehicle wireless communication device 2 receives other information including vehicle ID for identifying the host vehicle C, time information, position information of the host vehicle C, distance measurement information, and other in-vehicle information. It periodically transmits to the in-vehicle wireless communication device 2.

  FIG. 4 is a block diagram illustrating a configuration example of the in-vehicle information processing apparatus 3. The in-vehicle information processing apparatus 3 includes a control unit 31 configured with a microprocessor having a CPU and the like. A storage unit 32, a clock 33, an in-vehicle communication unit 34, an operation unit 35, a display unit 36 and a warning unit 37 are connected to the control unit 31.

  The storage unit 32 includes, for example, a nonvolatile memory and a volatile memory. The non-volatile memory is, for example, a ROM such as an EEPROM. The nonvolatile memory stores a control program necessary for the initial operation of the computer and a computer program for executing processing such as detection of the position of the other vehicle C and determination of a dangerous vehicle. The volatile memory is a RAM such as a DRAM (Dynamic RAM) or an SRAM (Static RAM), for example, and a control program, a computer program, or a control unit read from the non-volatile memory when the arithmetic processing of the control unit 31 is executed. Various data generated by the arithmetic processing 31 are temporarily stored.

The in-vehicle communication unit 34 is connected to the ranging ECU 4, the in-vehicle wireless communication device 2, and other ECUs (not shown) via a communication line, and is a circuit that transmits and receives information according to the CAN protocol. The control unit 31 receives information necessary for specifying the position of the other vehicle C with respect to the host vehicle C via the in-vehicle communication unit 34. For example, the control unit 31 detects the position information of the host vehicle C detected by the GPS 1, the distance measurement information detected by the distance measurement sensor 4 a, the position information of the other vehicle C received via the in-vehicle wireless communication device 2, and the measurement information. Receive distance information. In addition, the control unit 31 receives in-vehicle information such as the speed and acceleration of the vehicle C, the contents of the brake operation, the contents of the accelerator operation, and the steering angle of the steering wheel.
On the other hand, the control unit 31 transmits the position information of the host vehicle C and the distance measurement information obtained by measurement by the distance measuring sensor 4a of the host vehicle C to the in-vehicle wireless communication device 2, and each information is transmitted to the other by inter-vehicle communication. Transmit to the in-vehicle wireless communication device 2.

  The operation unit 35 is, for example, an operation panel having a touch sensor provided on the display unit 36, an operation button, or the like. In the present embodiment, the user selects either the standard mode for displaying all the positions of the other vehicle C around the host vehicle C or the warning display mode for displaying the position of the dangerous vehicle as the display mode of the other vehicle C. You can choose. The user can select one of the modes with the operation unit 35, and the control unit 31 receives the operation content through the operation unit 35 and stores the received display mode in the storage unit 32.

  The display unit 36 is a liquid crystal panel or an organic EL display. The display unit 36 displays other vehicles C and pedestrians around the host vehicle C, road images of intersections, dangerous vehicles, and the like in real time according to the operation of the control unit 31.

  The warning unit 37 is, for example, a speaker or a warning light that warns the presence of a dangerous vehicle or a pedestrian. The controller 31 can warn the driver of the vehicle C of the presence of a dangerous vehicle or a pedestrian by voice by outputting a voice signal to the speaker. In addition, the control unit 31 can similarly warn the driver of the presence of a dangerous vehicle or a pedestrian by turning on a warning lamp.

  FIG. 5 is a flowchart showing a processing procedure of the control unit 31. The control unit 31 periodically executes the following processing to specify the position of the other vehicle C around the host vehicle C and the dangerous vehicle over time. The control unit 31 performs inter-vehicle communication with the in-vehicle wireless communication device 2 (step S11). Each vehicle C can share the position information and distance measurement information of the vehicle C by the inter-vehicle communication.

  And the control part 31 pinpoints the position of the other vehicle C with respect to the own vehicle C based on the positional information and ranging information of the own vehicle C, and the positional information and ranging information of the other vehicle C (step S12). And the control part 31 specifies the dangerous vehicle with respect to the own vehicle C using the information of the position of the other vehicle C specified by step S12 (step S13). The control unit 31 causes the storage unit 32 to store the position of the vehicle C specified by the processes of step S12 and step S13.

  Hereinafter, before describing step S14 and subsequent steps, details of processing contents of inter-vehicle communication, position specification, and dangerous vehicle specification will be described in order.

  FIG. 6 is a flowchart showing a processing procedure of inter-vehicle communication. The control unit 31 of the host vehicle C uses the in-vehicle communication unit 34 to acquire position information, distance measurement information, and other in-vehicle information of the host vehicle C (step S31). And the control part 31 transmits vehicle ID, the positional information, ranging information, etc. of the own vehicle C by vehicle-to-vehicle communication by the vehicle-mounted wireless communication apparatus 2 (step S32). Time information at which each information is detected in the host vehicle C is added to the position information and the distance measurement information. In addition, sensor identification information is added to the distance measurement information.

  On the other hand, the control unit 31 receives the vehicle ID, position information, distance measurement information, and the like of the other vehicle C transmitted from the other in-vehicle wireless communication device 2 by inter-vehicle communication (step S33). In addition, the time information when each information was detected in the other vehicle C is added to the position information and the distance measurement information. And the control part 31 memorize | stores the positional information, ranging information, etc. of the other vehicle C which were received in the memory | storage part 32 (step S34), and complete | finishes the process which concerns on vehicle-to-vehicle communication.

  FIG. 7 is a flowchart showing a processing procedure related to position specification. The control part 31 acquires the positional information and ranging information of the own vehicle C in the in-vehicle communication part 34 (step S51).

  Next, the control unit 31 specifies the position of the other vehicle C with respect to the host vehicle C based on the position information of the host vehicle C and the other vehicle C (step S52). Moreover, the position of the other vehicle C with respect to the own vehicle C is specified based on the ranging information detected by the ranging sensor 4a of the own vehicle C (step S53).

  Next, the control unit 31 determines whether or not the same other vehicle C is specified by the methods of Step S52 and Step S53 (Step S54). For example, when the distance between the two positions specified in the processes of steps S52 and S53 is less than a predetermined threshold, the same other vehicle C is specified by the methods of steps S52 and S53.

  When it determines with the same other vehicle C having been specified by step S52 and step S53 (step S54: YES), the control part 31 selects the position of the other vehicle C specified based on ranging information (step S55). ).

  When the process of step S55 is completed, or when it is determined in step S54 that the position of the other vehicle C is specified only by any one method of step S52 or step S53 (step S54: NO), the control unit 31 Based on the distance measurement information of the own vehicle C and the other vehicle C, the position of the other vehicle C is specified (step S56).

Next, the control unit 31 specifies the position of the other vehicle C based on the position information of the own vehicle C and the other vehicle C and the distance measurement information obtained by the distance measurement sensor 4a of the other vehicle C (step S57). ) Finish the process.
Since sensor identification information is added to the distance measurement information, the control unit 31 specifies which distance measurement sensor 4a is the distance measurement information when a plurality of distance measurement information is acquired. can do. Therefore, the control unit 31 can detect the position of the same other vehicle C by using a plurality of different distance measuring sensors 4a, and can improve the position accuracy of the other vehicle C.

An example of the method for specifying the position of the other vehicle C in steps S52 and S53 will be described.
FIG. 8 is a conceptual diagram illustrating an example of a method for specifying the position of the other vehicle C. A large-diameter circle indicated by a broken line in the figure indicates an error range included in the position information detected by the GPS 1. A small-diameter circle indicated by a dotted line in the figure indicates an error range of the position detected by the distance measuring sensor 4a. FIG. 8 shows that vehicle-to-vehicle communication can be performed with another vehicle C traveling around the host vehicle C, position information of the other vehicle C can be acquired, and the distance sensor 4a of the host vehicle C is used. The other vehicle C can be detected. Thus, when the position of the other vehicle C can be detected by each method, the position of the other vehicle C specified based on the distance measurement information with a smaller measurement error is selected.

An example of the method for specifying the position of the other vehicle C in step S56 will be specifically described.
FIG. 9 is a conceptual diagram showing an example of a method for specifying the position of the other vehicle C. The meanings of the circles indicated by broken lines and the circles indicated by dotted lines are the same as those in FIG. In the example shown in FIG. 9, two other vehicles C are traveling. The other vehicle C close to the host vehicle C is referred to as a first other vehicle C, and the other vehicle C far from the host vehicle C is referred to as a second other vehicle C. Since the second other vehicle C is not equipped with the GPS 1 and the in-vehicle wireless communication device 2, the position information of the second other vehicle C cannot be acquired. The second other vehicle C is outside the detection range of the distance measuring sensor 4a. For this reason, the own vehicle C cannot detect the position of the second other vehicle C by its own distance measuring sensor 4a.
However, the second other vehicle C is within the detection range of the distance measurement sensor 4a of the first other vehicle C, and the first other vehicle C is within the detection range of the distance measurement sensor 4a of the own vehicle C. Further, the in-vehicle wireless communication device 2 of the host vehicle C can perform inter-vehicle communication with the first other vehicle C.
In such a situation, the host vehicle C can specify the position of the first other vehicle C with respect to the host vehicle C based on the distance measurement information obtained by the distance measuring sensor 4a. Further, the position of the second other vehicle C relative to the first other vehicle C is specified using the distance measurement information obtained by the distance measuring sensor 4a of the first other vehicle C obtained by the inter-vehicle communication. can do. Therefore, the position of the second other vehicle C relative to the host vehicle C can also be specified.

An example of specifying the position of the other vehicle C in step S57 will be specifically described.
FIG. 10 is a conceptual diagram showing an example of a method for specifying the position of the other vehicle C. The meanings of the circles indicated by broken lines and the circles indicated by dotted lines are the same as those in FIG. In the example shown in FIG. 10, two other vehicles C are traveling. The other vehicle C close to the host vehicle C is referred to as a first other vehicle C, and the other vehicle C far from the host vehicle C is referred to as a second other vehicle C. Since the second other vehicle C is not equipped with the GPS 1 and the in-vehicle wireless communication device 2, the position information of the second other vehicle C cannot be acquired. The second other vehicle C is outside the detection range of the distance measuring sensor 4a. For this reason, the own vehicle C cannot detect the position of the second other vehicle C by its own distance measuring sensor 4a.
However, the second other vehicle C is within the detection range of the distance measuring sensor 4a of the first other vehicle C, and the in-vehicle wireless communication device 2 of the host vehicle C performs inter-vehicle communication with the first other vehicle C. It can be carried out.
In such a situation, the host vehicle C uses the position information of the host vehicle C obtained by the GPS 1 and the position information of the other vehicle C obtained by the inter-vehicle communication, so that the host vehicle C The position can be specified. Further, the position of the second other vehicle C relative to the first other vehicle C is specified using the distance measurement information obtained by the distance measuring sensor 4a of the first other vehicle C obtained by the inter-vehicle communication. can do. Therefore, the position of the second other vehicle C relative to the host vehicle C can also be specified.

  FIG. 11 is a flowchart showing a processing procedure related to identification of a dangerous vehicle. Based on the change over time of the position of the other vehicle C identified in the process of step S12, the traveling direction of the other vehicle C with respect to the own vehicle C is identified (step S111). The position specification of the other vehicle C is repeatedly executed periodically, and the position of the other vehicle C specified at each time point is stored in the storage unit 32. The control unit 31 can specify the time-dependent change of the other vehicle C based on the position of the other vehicle C at each time point. The traveling directions of the own vehicle C and the other vehicle C can be obtained based on the position information of each vehicle C. The traveling direction includes the same traveling direction as the own vehicle C, the traveling direction opposite to the traveling direction of the own vehicle C, the traveling direction intersecting the traveling direction of the own vehicle C, and the like.

  Next, the control unit 31 specifies the lane in which the host vehicle C and the other vehicle C are traveling based on the temporal change in the position of the other vehicle C specified in the process of step S12 (step S112). For example, the control unit 31 calculates the similarity between the travel route of the host vehicle C and the travel route of the other vehicle C. If the similarity is less than a predetermined threshold, the other vehicle C is the same as the host vehicle C. Determine that you are driving in a lane. Further, when the travel route of the host vehicle C and the travel route of the other vehicle C are separated from each other by a predetermined distance and are parallel to each other, the control unit 31 travels in a different lane from the host vehicle C. Judge. In addition, when the traveling route of the own vehicle C and the traveling route of the other vehicle C intersect, the control unit 31 determines that the other vehicle C and the own vehicle C are traveling on the intersecting roads.

  Next, the control unit 31 specifies whether the other vehicle C is on the front side or the rear side in the traveling direction of the host vehicle C based on the temporal change of the position of the other vehicle C specified in the process of step S12 ( Step S113).

  Next, the control unit 31 calculates the speed of the other vehicle C relative to the host vehicle C based on the temporal change in the position of the other vehicle C specified in the process of step S12 (step S114). Moreover, the control part 31 calculates the distance of the other vehicle C with respect to the own vehicle C based on the position of the other vehicle C specified by the process of step S12 (step S115).

Next, the control unit 31 detects the presence / absence of the operation of the direction indicator provided in the host vehicle C based on the direction indicator information included in the in-vehicle information of the host vehicle C (step S116). Next, the control unit 31 determines the surrounding situation based on the information obtained by the vehicle-to-vehicle communication (step S117). That is, the control unit 31 specifies dangerous vehicles around the host vehicle C using the information specified or calculated in steps S111 to S116 based mainly on information obtained by inter-vehicle communication.
Next, the control unit 31 performs processing related to determination of the surrounding situation, that is, identification of the dangerous vehicle by executing processing similar to that in step S117 based on information obtained by the distance measuring sensor 4a (step S117). S118), the process ends.

  12 and 13 are flowcharts showing a processing procedure related to the determination of the surrounding situation. In the following, a process for determining whether or not the other vehicle C is a dangerous vehicle for one other vehicle C will be described. It is determined whether C is a dangerous vehicle.

  The control part 31 determines whether the traveling direction of the own vehicle C and the other vehicle C is the same using the specific result of step S111 (step S151). When it determines with the advancing direction being the same (step S151: YES), the control part 31 uses the specific result of step S112, whether the own vehicle C and the other vehicle C are driving the same lane, or a different lane. It is determined whether the vehicle is traveling (step S152). When it determines with the own vehicle C and the other vehicle C driving | running the same lane (step S152: YES), the control part 31 uses the specific result of step S113, and is the other vehicle C a back vehicle C? It is determined whether or not (step S153). When it determines with the other vehicle C not being the back vehicle C (step S153: NO), the control part 31 memorize | stores this other vehicle C in the memory | storage part 32 as a non-dangerous vehicle (step S168), and complete | finishes a process.

  When it determines with the other vehicle C being the back vehicle C (step S153: YES), the control part 31 uses the calculation result of step S114, and the speed difference of the own vehicle C and the other vehicle C is 1st predetermined. It is determined whether or not the speed is exceeded (step S154). That is, the control unit 31 determines whether or not the other vehicle C is approaching the host vehicle C at the first predetermined speed or higher. When it is determined that the speed difference is not equal to or higher than the first predetermined speed (step S154: NO), the control unit 31 stores the other vehicle C as a non-dangerous vehicle in the storage unit 32 (step S168) and ends the process.

  If it is determined that the speed difference is greater than or equal to the first predetermined speed (step S154: YES), whether or not the distance of the other vehicle C to the host vehicle C is equal to or less than the first predetermined distance using the calculation result of step S115. Is determined (step S155). When it determines with the distance of the other vehicle C with respect to the own vehicle C being larger than the 1st predetermined distance (step S155: NO), the control part 31 memorize | stores this other vehicle C in the memory | storage part 32 as a non-dangerous vehicle (step S168). ) Finish the process.

  When it determines with the distance of the other vehicle C with respect to the own vehicle C being below a 1st predetermined distance (step S155: YES), the control part 31 is the direction indicator of the own vehicle C based on the detection result of step S116. It is determined whether or not it is non-operating (step S156). When it determines with the direction indicator operating (step S156: NO), the control part 31 memorize | stores this other vehicle C in the memory | storage part 32 as a non-dangerous vehicle (step S168), and complete | finishes a process. Even if there is another vehicle C that is approaching the host vehicle C from the rear of the host vehicle C at the first predetermined speed, if the host vehicle C is operating the direction indicator, A rear-end collision by another vehicle C can be avoided.

  When it is determined that the direction indicator is non-operation (step S156: YES), the control unit 31 stores the other vehicle C as a rear dangerous vehicle in the storage unit 32 (step S157), and ends the process.

  When it is determined in step S152 that the other vehicle C is traveling on a different lane of the host vehicle C (step S152: NO), the control unit 31 uses the specific result in step S113 to determine that the other vehicle C is a rear vehicle. It is determined whether it is C (step S158). When it determines with the other vehicle C not being the back vehicle C (step S158: NO), the control part 31 memorize | stores this other vehicle C in the memory | storage part 32 as a non-dangerous vehicle (step S168), and complete | finishes a process.

  When it determines with the other vehicle C being the back vehicle C (step S158: YES), the control part 31 uses the calculation result of step S115, and the distance of the other vehicle C with respect to the own vehicle C is below 1st predetermined distance. It is determined whether or not there is (step S159). When it determines with the distance of the other vehicle C with respect to the own vehicle C being larger than 1st predetermined distance (step S159: NO), the control part 31 memorize | stores this other vehicle C in the memory | storage part 32 as a non-dangerous vehicle (step S168). ) Finish the process.

  When it determines with the distance of the other vehicle C with respect to the own vehicle C being below 1st predetermined distance (step S159: YES), the control part 31 is based on the detection result of step S116, and the direction indicator of the own vehicle C is It is determined whether or not it is operating (step S160). When it determines with the direction indicator not operating (step S160: NO), the control part 31 memorize | stores this other vehicle C in the memory | storage part 32 as a non-dangerous vehicle (step S168), and complete | finishes a process.

  When it determines with the direction indicator operating (step S160: YES), the control part 31 memorize | stores the said other vehicle C in the memory | storage part 32 as a rear dangerous vehicle at the time of the lane change of the own vehicle C ( Step S161), the process ends. The dangerous vehicle is a vehicle C that may collide with the host vehicle C when the host vehicle C changes lanes.

  If it is determined in step S151 that the traveling directions of the host vehicle C and the other vehicle C are not the same (step S151: NO), the control unit 31 uses the specific result of step S112 to determine that the other vehicle C has an oncoming lane. It is determined whether the vehicle is traveling (step S162). When it is determined that the other vehicle C is traveling in the oncoming lane (step S162: YES), the control unit 31 determines whether or not the other vehicle C is the front vehicle C using the specific result of step S113. (Step S163). When it is determined that the other vehicle C is not traveling in the oncoming lane (step S162: NO), or when it is determined that the other vehicle C is not the front vehicle C (step S163: NO), the control unit 31 The vehicle C is stored in the storage unit 32 as a non-dangerous vehicle (step S168), and the process ends.

  When it determines with the other vehicle C being the front vehicle C (step S163: YES), the control part 31 uses the calculation result of step S114, and the speed difference of the own vehicle C and the other vehicle C is 2nd predetermined. It is determined whether or not the speed is exceeded (step S164). If it is determined that the speed difference is not equal to or greater than the second predetermined speed (step S164: NO), the control unit 31 stores the other vehicle C as a non-dangerous vehicle in the storage unit 32 (step S168) and ends the process.

  If it is determined that the speed difference is equal to or greater than the second predetermined speed (step S164: YES), whether or not the distance of the other vehicle C to the host vehicle C is equal to or less than the second predetermined distance using the calculation result of step S115. Is determined (step S165). When it determines with the distance of the other vehicle C with respect to the own vehicle C being larger than the 1st predetermined distance (step S165: NO), the control part 31 memorize | stores this other vehicle C in the memory | storage part 32 as a non-dangerous vehicle (step S168). ) Finish the process.

  When it is determined that the distance of the other vehicle C with respect to the host vehicle C is equal to or less than the second predetermined distance (step S165: YES), the control unit 31 determines that the direction indicator of the host vehicle C is based on the detection result of step S116. It is determined whether or not it is operating (step S166). When it determines with the direction indicator not operating (step S166: NO), the control part 31 memorize | stores this other vehicle C in the memory | storage part 32 as a non-dangerous vehicle (step S168), and complete | finishes a process.

  When it determines with the direction indicator operating (step S166: YES), the control part 31 memorize | stores the said other vehicle C in the memory | storage part 32 as a dangerous vehicle at the time of a right / left turn (step S167), and performs a process. Finish.

  The above processing specifies the position of the other vehicle C using information obtained by inter-vehicle communication, and specifies the dangerous vehicle based on the positional relationship, speed difference, etc. between the host vehicle C and the other vehicle C. Is. In step S118, the control unit 31 executes the same processing based on the detection result of the distance measuring sensor 4a of the host vehicle C. That is, the control unit 31 specifies the traveling direction, the traveling lane, the front-rear relationship, the speed difference, the distance, and the like of the other vehicle C based on the own vehicle C based on the detection result of the distance measuring sensor 4a. A dangerous vehicle is identified by the same processing procedure.

  Returning to FIG. 5, step S14 and subsequent steps will be described. The control unit 31 refers to the information stored in the storage unit 32, and determines whether or not the display mode of the other vehicle C is the warning display mode (step S14). The user can select the display mode with the operation unit 35, and the selection result of the display mode selected by the user is stored in the storage unit 32.

  When it is determined that the warning display mode is not selected (step S14: NO), that is, when the standard mode is selected, the control unit 31 determines the position of the other vehicle C specified in step S12, and the received road information. Based on the position information of the pedestrian, an image representing the position of the other vehicle C and the pedestrian is displayed on the display unit 36 on the road image at the intersection (step S15).

FIG. 14 is a schematic diagram showing an example of another vehicle display screen. 14A and 14B are images displayed on the display unit 36 at different points in time. The control unit 31 displays the host vehicle C in the center and displays the other vehicle C at a location corresponding to the position of the other vehicle C. The rectangular image at the center shows the host vehicle, and the rectangular images displayed around it show other vehicles. A triangle mark attached to one side of the rectangular image indicates the traveling direction of the vehicle. A rectangular image of the other vehicle with hatching indicates a vehicle capable of vehicle-to-vehicle communication, and a white rectangular image indicates a vehicle incapable of vehicle-to-vehicle communication.
In addition, the control part 31 is good to comprise so that the own vehicle C and the other vehicle C may be displayed on a different aspect. Moreover, it is good to comprise so that the vehicle C which has the function of vehicle-to-vehicle communication, and the vehicle C which does not have this function may be displayed in a different aspect. For example, in FIG. 14, a rectangular image with fine hatching indicates the own vehicle C, a rectangular image with rough hatching indicates the other vehicle C having the above function, and a white rectangular image has the above function. The other vehicle C which is not shown is shown. Whether or not the other vehicle C has the function can be confirmed from the result of the inter-vehicle communication. The triangular image drawn on the short side of each rectangular image indicates the traveling direction of each vehicle C. The traveling direction of each vehicle C can be specified based on the change over time of the position of each vehicle C. From the display in FIG. 14A, the driver can recognize that another vehicle C exists before and after the same lane as the own vehicle C, on the opposite lane, and on the left side. Since the position of the other vehicle C is specified from the distance measurement information and the position information obtained by the vehicle-to-vehicle communication, the other vehicle C existing at a position where it becomes a blind spot from the own vehicle C is also displayed.
After the image shown in FIG. 14A is displayed on the display unit 36, when a certain time has elapsed and the host vehicle C passes the intersection, an image as shown in FIG. 14B is displayed. The control unit 31 updates the image of each vehicle C every predetermined time, for example, every second. The driver of the vehicle C can recognize the position, distance and traveling direction of the other vehicle C with respect to the own vehicle C, and the time change thereof.

  When it is determined that the warning display mode is selected (step S14: YES), the control unit 31 creates a danger on the road image at the intersection based on the position of the dangerous vehicle specified in step S13 and the received road information. An image representing the position of the vehicle is displayed on the display unit 36 (step S16).

FIG. 15 is a schematic diagram illustrating an example of a dangerous vehicle display screen. 15A and 15B are images displayed on the display unit 36 at different points in time. Similarly to FIG. 14, the control unit 31 displays the host vehicle C in the center, and displays an image indicating that a dangerous vehicle exists at the position of the dangerous vehicle. For example, “danger!” Is displayed. An image showing that a dangerous vehicle is present may be displayed at a location corresponding to the dangerous vehicle.
From the display in FIG. 15A, the driver can recognize that a dangerous vehicle exists in front of the host vehicle C. For example, the driver can recognize the presence of a dangerous vehicle at risk of rear-end collision. Similarly, from the display in FIG. 15B, the driver can recognize that dangerous vehicles exist on the left and right and behind the host vehicle C.

  Next, the control unit 31 determines whether or not there is a dangerous vehicle for the host vehicle C based on the processing result of step S13 (step S17). When it determines with a dangerous vehicle not existing (step S17: NO), the control part 31 finishes a process. When it is determined that a dangerous vehicle exists (step S17: YES), the control unit 31 executes a warning process corresponding to the dangerous vehicle (step S18). For example, the control unit 31 warns the driver of the vehicle C of the presence of a dangerous vehicle or a pedestrian by voice. And the information which concerns on a dangerous vehicle is transmitted to the other vehicle-mounted radio | wireless communication apparatus 2 by vehicle-to-vehicle communication or road-to-vehicle communication (step S19), and a process is complete | finished.

  According to the dangerous vehicle detection system and the in-vehicle information processing device 3 configured as described above, the in-vehicle information processing device 3 of each vehicle C is measured by the distance sensor 4a detected by the own vehicle C or the other vehicle C. By using the distance information, it is possible to specify the position of a dangerous vehicle in which the GPS 1 and the in-vehicle wireless communication device 2 are not mounted. Further, the position of a dangerous vehicle that is not equipped with the GPS 1 and the in-vehicle wireless communication device 2 and is outside the detection range of the distance measuring sensor 4a mounted on the host vehicle C can be specified.

  Further, the in-vehicle information processing device 3 can determine a dangerous vehicle based on the speed of the other vehicle C with respect to the host vehicle C.

  Furthermore, the in-vehicle information processing device 3 can determine a dangerous vehicle based on the distance of the other vehicle C to the host vehicle C.

  Furthermore, the in-vehicle information processing device 3 identifies the difference between the lanes in which the host vehicle C and the other vehicle C are traveling from the temporal change in the position of the other vehicle C, and the host vehicle C and the other vehicle C are traveling. It is possible to determine whether the other vehicle C is a dangerous vehicle in consideration of the relationship of the lanes that are present.

  Furthermore, the in-vehicle information processing device 3 identifies the traveling direction of the own vehicle C and the other vehicle C from the temporal change of the position of the other vehicle C, and considers the relationship between the traveling direction of the own vehicle C and the other vehicle C. It can be determined whether or not the other vehicle C is a dangerous vehicle.

  Furthermore, the in-vehicle information processing device 3 identifies whether the other vehicle C is ahead or behind in the traveling direction with respect to the own vehicle C from the time-dependent change of the position of the other vehicle C. It is possible to determine whether or not the other vehicle C is a dangerous vehicle in consideration of the context of C.

  Furthermore, the in-vehicle information processing device 3 can determine that the other vehicle C in the rear that may collide with the host vehicle C is a dangerous vehicle.

In particular, the in-vehicle information processing device 3 in the present application, when there is another vehicle C that is approaching at a predetermined speed or more from the rear with the direction indicator of the own vehicle C not operating, The other vehicle C can be determined as a dangerous vehicle.
When the direction indicator is operating, the possibility of a rear-end collision by the other vehicle C can be avoided by changing the lane, so the other vehicle C is not determined as a dangerous vehicle.

  Furthermore, when the host vehicle C changes lanes, the in-vehicle information processing device 3 can determine the other vehicle C in the rear that may collide as a dangerous vehicle.

  Furthermore, the in-vehicle information processing apparatus 3 can determine the other vehicle C that may collide as a dangerous vehicle when the host vehicle C turns right or left. In particular, in Japan, the other vehicle C that may collide during a right turn is determined as a dangerous vehicle.

  Furthermore, the in-vehicle information processing apparatus 3 can display the position of the other vehicle C specified by the position specifying unit on the display unit 36.

  Furthermore, the in-vehicle information processing device 3 can display the position of the other vehicle C determined as a dangerous vehicle on the display unit 36.

  Furthermore, the warning unit 37 of the in-vehicle information processing device 3 can issue a warning according to the position of the other vehicle C determined to be a dangerous vehicle.

  Furthermore, the in-vehicle information processing apparatus 3 transmits information related to the other vehicle C determined that the in-vehicle wireless communication device 2 is a dangerous vehicle to the other in-vehicle wireless communication device 2. Information can be shared.

In the present embodiment, an example in which position information and distance measurement information are transmitted and received mainly by inter-vehicle communication has been described. However, various types of information may be transmitted and received via a roadside communication device (not shown).
In the above-described embodiment, various methods for specifying the position of the other vehicle C and a method for specifying the dangerous vehicle have been described. However, the dangerous vehicle detection system and the vehicle-mounted information processing device 3 can be configured by arbitrarily combining the methods. Can be configured. Depending on the specifications, the dangerous vehicle detection system and the in-vehicle information processing apparatus 3 according to the present invention can be configured even if some methods are omitted.

1 GPS
2 In-vehicle wireless communication device 3 In-vehicle information processing device 4 Ranging ECU
4a Distance sensor 21 Communication control unit 22 Input unit 23 First in-vehicle communication unit 24 Second in-vehicle communication unit 25 Transmission unit 26 Reception unit 31 Control unit 32 Storage unit 33 Clock 34 In-vehicle communication unit 35 Operation unit 36 Display unit 37 Warning unit C vehicle

Claims (15)

A plurality of in-vehicle wireless communication devices that are mounted on a plurality of vehicles and detect the position of each vehicle, and a plurality of in-vehicle wireless communication devices that transmit and receive position information detected by the position detection unit of each vehicle by inter-vehicle communication; A dangerous vehicle detection system comprising: an in-vehicle information processing device that executes detection processing of a dangerous vehicle for a host vehicle equipped with the in-vehicle wireless communication device based on position information received by the in-vehicle wireless communication device;
Provided in each vehicle, equipped with a distance measuring sensor that detects the distance between the host vehicle and the other vehicle and the direction of the other vehicle based on the host vehicle,
The in-vehicle wireless communication device is
Ranging information including the distance and direction detected by the ranging sensor of the host vehicle on which the in-vehicle wireless communication device is mounted and the position information detected by the position detecting unit are transmitted to the other in-vehicle wireless communication device. A transmission unit;
A receiving unit that receives distance measurement information and position information transmitted from the other in-vehicle wireless communication device, and
The in-vehicle information processing apparatus
Ranging information and position information received by the receiving unit, position information detected by the position detecting unit of the host vehicle on which the in-vehicle information processing apparatus is mounted, or a distance detected by the ranging sensor of the host vehicle And a position specifying unit that specifies the position of the other vehicle with respect to the host vehicle based on the direction;
A dangerous vehicle detection system comprising: a determination unit that determines whether or not the other vehicle is a dangerous vehicle based on the position of the other vehicle with respect to the host vehicle specified by the position specifying unit. The position specifying unit specifies the position of another vehicle with respect to the host vehicle over time,
The in-vehicle information processing apparatus
Based on the position specified by the position specifying unit, a speed calculating unit that calculates the speed of the other vehicle relative to the host vehicle,
The determination unit
The dangerous vehicle detection system according to claim 1, wherein it is determined whether or not the other vehicle is a dangerous vehicle by comparing the speed of the other vehicle with respect to the host vehicle calculated by the speed calculation unit and a predetermined speed. The in-vehicle information processing apparatus
Based on the position specified by the position specifying unit, a distance calculating unit that calculates the distance between the host vehicle and the other vehicle,
The determination unit
The distance between the host vehicle calculated by the distance calculation unit and the other vehicle and a predetermined distance are compared to determine whether the other vehicle is a dangerous vehicle. Dangerous vehicle detection system. The position specifying unit specifies the position of another vehicle with respect to the host vehicle over time,
The in-vehicle information processing apparatus
Based on the time-dependent change of the position specified by the position specifying unit, the vehicle includes a lane specifying unit that specifies the difference between the lane in which the host vehicle and the other vehicle are traveling,
The determination unit
The dangerous vehicle detection system according to any one of claims 1 to 3, wherein whether or not another vehicle is a dangerous vehicle is determined based on a determination result of the lane specifying unit. The position specifying unit specifies the position of another vehicle with respect to the host vehicle over time,
The in-vehicle information processing apparatus
Based on the temporal change of the position specified by the position specifying unit, a traveling direction specifying unit that specifies the traveling direction of another vehicle based on the own vehicle,
The determination unit
The dangerous vehicle detection system according to any one of claims 1 to 4, wherein it is determined whether or not the other vehicle is a dangerous vehicle based on a traveling direction of the other vehicle specified by the traveling direction specifying unit. . The position specifying unit specifies the position of another vehicle with respect to the host vehicle over time,
The in-vehicle information processing apparatus
Based on the temporal change of the position specified by the position specifying unit, comprising a front-rear specifying unit that specifies whether the other vehicle is on the front side or the rear side of the traveling direction of the host vehicle,
The determination unit
The dangerous vehicle according to any one of claims 1 to 5, wherein whether or not the other vehicle is a dangerous vehicle is determined based on a front-rear relationship of the other vehicle with respect to the host vehicle specified by the front-rear specifying unit. Detection system. The position specifying unit specifies the position of another vehicle with respect to the host vehicle over time,
The in-vehicle information processing apparatus
Based on the temporal change of the position specified by the position specifying unit, a traveling direction specifying unit that specifies the traveling direction of another vehicle based on the own vehicle;
A lane identifying unit that identifies the difference between the lane in which the host vehicle and other vehicles are traveling based on the temporal change of the position identified by the position identifying unit;
Based on the temporal change of the position specified by the position specifying unit, the front and rear specifying unit for specifying whether the other vehicle is on the front side or the rear side of the traveling direction of the host vehicle,
Based on the position specified by the position specifying unit, a speed calculating unit that calculates the speed of the other vehicle relative to the host vehicle;
A distance calculating unit that calculates a distance between the host vehicle and another vehicle based on the position specified by the position specifying unit;
The determination unit
The traveling direction and lanes of the host vehicle and the other vehicle are the same, the other vehicle is behind the traveling direction of the host vehicle, the speed of the other vehicle with respect to the host vehicle is equal to or higher than a predetermined speed, and the distance between the host vehicle and the other vehicle is predetermined. The dangerous vehicle detection system according to claim 1, wherein when the distance is less than the distance, the other vehicle is determined to be a dangerous vehicle. Each vehicle includes an operation detection unit that detects the presence or absence of the operation of the direction indicator of the host vehicle,
The determination unit
The traveling direction and lanes of the host vehicle and the other vehicle are the same, the other vehicle is behind the traveling direction of the host vehicle, the speed of the other vehicle with respect to the host vehicle is equal to or higher than a predetermined speed, and the distance between the host vehicle and the other vehicle is predetermined. The dangerous vehicle detection system according to claim 7, wherein, when the distance is less than the distance, the other vehicle is determined to be a dangerous vehicle when the direction indicator of the host vehicle is inactive. Each vehicle includes an operation detection unit that detects the presence or absence of the operation of the direction indicator of the host vehicle,
The position specifying unit specifies the position of another vehicle with respect to the host vehicle over time,
The in-vehicle information processing apparatus
Based on the temporal change of the position specified by the position specifying unit, a traveling direction specifying unit that specifies the traveling direction of another vehicle based on the own vehicle;
A lane identifying unit that identifies the difference between the lane in which the host vehicle and other vehicles are traveling based on the temporal change of the position identified by the position identifying unit;
Based on the temporal change of the position specified by the position specifying unit, the front and rear specifying unit for specifying whether the other vehicle is on the front side or the rear side of the traveling direction of the host vehicle,
A distance calculating unit that calculates a distance between the host vehicle and another vehicle based on the position specified by the position specifying unit;
The determination unit
The own vehicle and the traveling direction of the own vehicle are the same, the own vehicle and the lane in which the own vehicle travels are different, the other vehicle is behind the traveling direction of the own vehicle, and the distance between the own vehicle and the other vehicle is a predetermined distance. 2. The dangerous vehicle detection system according to claim 1, wherein when the direction indicator of the host vehicle is operating less than, the other vehicle is determined to be a dangerous vehicle. Each vehicle includes an operation detection unit that detects the presence or absence of the operation of the direction indicator of the host vehicle,
The position specifying unit specifies the position of another vehicle with respect to the host vehicle over time,
The in-vehicle information processing apparatus
Based on the temporal change of the position specified by the position specifying unit, a traveling direction specifying unit that specifies the traveling direction of another vehicle based on the own vehicle;
A lane identifying unit that identifies the difference between the lane in which the host vehicle and other vehicles are traveling based on the temporal change of the position identified by the position identifying unit;
Based on the temporal change of the position specified by the position specifying unit, the front and rear specifying unit for specifying whether the other vehicle is on the front side or the rear side of the traveling direction of the host vehicle,
Based on the position specified by the position specifying unit, a speed calculating unit that calculates the speed of the other vehicle relative to the host vehicle;
A distance calculating unit that calculates a distance between the host vehicle and another vehicle based on the position specified by the position specifying unit;
The determination unit
The traveling direction of the host vehicle and the host vehicle are different, the other vehicle is traveling in the opposite lane, the other vehicle is in front of the traveling direction of the host vehicle, and the distance between the host vehicle and the other vehicle is less than a predetermined distance, The dangerous vehicle detection system according to claim 1, wherein when the speed of the other vehicle is equal to or higher than a predetermined speed and the direction indicator of the own vehicle is operating, the other vehicle is determined to be a dangerous vehicle. The dangerous vehicle detection system according to claim 1, further comprising: a display unit that displays a position of another vehicle specified by the position specifying unit. The dangerous vehicle detection system according to any one of claims 1 to 10, further comprising a display unit that displays a position of another vehicle determined as a dangerous vehicle by the determination unit. The dangerous vehicle detection system according to any one of claims 1 to 12, further comprising a warning unit that issues a warning when the determination unit determines that the other vehicle is a dangerous vehicle. The transmitter is
The dangerous vehicle detection system according to any one of claims 1 to 13, wherein information relating to another vehicle determined as a dangerous vehicle by the determination unit is transmitted to the other in-vehicle communication device. Dangerous vehicle detection processing for a host vehicle equipped with a position detection unit for detecting the position of the host vehicle and a distance measuring sensor for detecting the distance between the host vehicle and the other vehicle and the direction of the other vehicle with respect to the host vehicle. An in-vehicle information processing apparatus that executes
An acquisition unit for acquiring position information detected by a position detection unit mounted on another vehicle, and distance measurement information including a distance and direction detected by a distance measurement sensor mounted on the other vehicle;
Based on the distance measurement information and position information acquired by the acquisition unit, and the position information of the host vehicle detected by the position detection unit of the host vehicle or the distance and direction detected by the distance sensor, A position specifying unit for specifying the position of another vehicle;
A vehicle-mounted information processing apparatus comprising: a determination unit that determines whether the other vehicle is a dangerous vehicle based on the position of the other vehicle relative to the host vehicle specified by the position specifying unit.

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