JP2017004214A - Driving support device and driving support system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a driving support device and a driving support system that can support driving so that a vehicle appropriately passes through a railroad crossing.SOLUTION: A driving support device determines a position where a vehicle can move relative to a railroad crossing and whether or not the vehicle can pass through the railroad crossing from the position by using information on an open or closed state of the railroad crossing, a road traffic situation of a road ahead of the railroad crossing, positional relation between the railroad crossing and the vehicle, positional relation between the vehicle and a preceding vehicle, a travel speed of the preceding vehicle, and a travel speed of the vehicle. The driving support device creates guidance information corresponding to the determination result and has a display 7 and a speaker 8 output it.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a driving support device and a driving support system that support driving in passing through a railroad crossing.

  For example, Patent Document 1 describes an apparatus that presents a route for avoiding a level crossing in order to reduce the level crossing waiting time. Patent Document 2 describes a navigation device that displays a crossing position, a blocking time, and a blocking time together with map information. Furthermore, in the vehicle travel support apparatus described in Patent Document 3, a recommended speed for the host vehicle to reach the level crossing is calculated before or after the train passes the level crossing, and is notified to the occupant.

International Publication No. 2008/146398 JP 2007-218636 A JP 2010-146163 A

On the other hand, the inventions described in Patent Documents 1 to 3 do not support driving when actually passing a railroad crossing with a vehicle. For this reason, it is necessary for the driver himself to determine the traffic condition of the road ahead of the level crossing.
However, even if the driver determines that he can cross the railroad crossing considering the distance from the vehicle to the railroad crossing and the vehicle speed of the vehicle, if the road ahead of the railroad crossing is congested, the driver Vehicle space may not be available.
Further, when the vehicle ahead of the host vehicle is a large vehicle, the driver cannot visually recognize the front of the large vehicle, so it is difficult to determine the traffic situation on the road ahead of the level crossing.

  This invention solves said subject, and it aims at obtaining the driving assistance apparatus and driving assistance system which can support driving so that a vehicle may pass a level crossing appropriately.

  The driving support apparatus according to the present invention includes an information acquisition unit, a calculation unit, and an output control unit. The information acquisition unit is configured to open / close the level crossing, the traffic situation of the road ahead of the level crossing, the positional relationship between the level crossing and the own vehicle, the positional relationship between the own vehicle and the preceding vehicle, the moving speed of the preceding vehicle, and the moving speed of the own vehicle. Get each information about. The calculation unit uses each piece of information acquired by the information acquisition unit to identify a position with respect to a crossing where the host vehicle can move, and determines whether the host vehicle can pass through the level crossing from the position. The output control unit creates guidance information indicating that the own vehicle can pass the level crossing when the calculation unit determines that the level crossing can be passed, and outputs the guidance information to the output device. If it is determined by the calculation unit that the crossing is impossible, the guide information indicating that the vehicle cannot pass the crossing is created and output to the output device.

  According to the present invention, driving assistance can be provided so that the vehicle appropriately passes through the crossing by presenting the driver with guidance information indicating whether or not the crossing has passed.

It is a block diagram which shows the structure of the driving assistance system which concerns on Embodiment 1 of this invention. FIG. 3 is a diagram illustrating a hardware configuration of the driving support apparatus according to the first embodiment. 4 is a flowchart illustrating an operation of the driving support apparatus according to the first embodiment. It is a figure which shows the outline | summary of the crossing determination of a level crossing in consideration of the positional relationship between a level crossing and the own vehicle. It is a figure which shows the outline | summary of the crossing determination of a level crossing which considered the level crossing, the own vehicle, and the front vehicle. FIG. 5A shows a case where the own vehicle can pass a level crossing, and FIG. 5B shows a case where the own vehicle cannot pass a level crossing. It is a figure which shows the outline | summary of the crossing determination of a level crossing in consideration of the traffic condition of the road connected to the point of a level crossing. It is a figure which shows an example of the driving assistance display when a level crossing is possible. It is a figure which shows the example of a driving assistance display in case a level crossing passage is impossible. FIG. 8A and FIG. 8B show a display mode when the crossing is impossible. It is a figure which shows the outline | summary of the road condition and traffic condition which can apply the driving assistance in this invention. FIG. 9A shows a case where the road ahead of the level crossing meanders, and FIG. 9B shows a case where a large vehicle exists or is under construction.

Embodiment 1 FIG.
FIG. 1 is a block diagram showing a configuration of a driving support system 1 according to Embodiment 1 of the present invention. As shown in FIG. 1, the driving support system 1 includes a driving support device 2, an ITS (Intelligent Transport Systems) device 3, a crossing control device 4, a communication device 5, a vehicle sensor 6, a display 7, a speaker 8, and a vehicle control unit 9. Is provided.
The driving support device 2 is a device that is mounted on a vehicle and supports driving in passing through the crossing of the vehicle, and includes an information acquisition unit 20, a calculation unit 21, and an output control unit 22.

The ITS device 3 is a device that embodies the roadside device in the present invention, and transmits information related to the traffic condition of the road ahead of the railroad crossing to the vehicle. For example, it is realized by a beacon device that transmits information by a beacon transmitted toward a vehicle.
The traffic situation of the road ahead of the level crossing includes the number of vehicles traveling on the road ahead of the level crossing, the positional relationship between the intersection ahead of the road and the host vehicle, and the light color information of the traffic lights at the intersection .

The railroad crossing control device 4 is a device that embodies the roadside device of the present invention, and is provided at the railroad crossing, and transmits information regarding the open / closed state of the railroad crossing and the positional relationship between the railroad crossing and the vehicle.
Further, the crossing control device 4 manages the crossing position, train operation information, control information of the crossing breaker according to this, and information about the crossing width. The level crossing control device 4 generates information on the open / close state of the level crossing after the present time and the positional relationship between the level crossing and the vehicle based on these pieces of information.

  The communication device 5 is a communication device that relays communication between the ITS device 3 and the level crossing control device 4 and the driving support device 2. For example, it is realized by a receiver that receives a beacon signal and a wireless communication device such as DSRC (Dedicated Short Range Communications). Information received by the communication device 5 from the ITS device 3 and the level crossing control device 4 is sent to the information acquisition unit 20 of the driving support device 2.

  The vehicle sensor 6 is a sensor that is mounted on the vehicle and detects an object around the vehicle. For example, it is realized by a millimeter wave radar provided in front of the vehicle. The millimeter wave signal is irradiated in front of the host vehicle, the reflection is received, the distance between the host vehicle and the host vehicle, and the traveling speed of the host vehicle are calculated from the time variation of this distance. In this way, information on the positional relationship between the host vehicle and the preceding vehicle and the traveling speed of the preceding vehicle is obtained.

  The display 7 embodies the output device according to the present invention, and the display is controlled by the output control unit 22 of the driving support device 2. For example, a navigation device, a display device included in a vehicle-mounted device such as display audio, a head-up display, or the like can be given. The speaker 8 embodies the output device according to the present invention, and the sound output is controlled by the output control unit 22 of the driving support device 2. For example, the speaker 8 is realized by an in-vehicle speaker that outputs sound into the vehicle interior. The vehicle control unit 9 is a control unit that operates the vehicle in accordance with the driving operation of the driver. Further, the vehicle control unit 9 automatically controls the brake and accelerator operation of the vehicle by the control from the output control unit 22 of the driving support device 2 regardless of the driving operation of the driver.

  The information acquisition unit 20 acquires the open / close state of the crossing and the traffic situation of the road ahead of the crossing from the ITS device 3 and the crossing control device 4 via the communication device 5. Further, the information acquisition unit 20 acquires, from the vehicle sensor 6, information related to the positional relationship between the railroad crossing and the host vehicle, the positional relationship between the host vehicle and the preceding vehicle, the traveling speed of the preceding vehicle, and the traveling speed of the host vehicle.

The calculation unit 21 specifies a position with respect to a crossing where the host vehicle can move using each piece of information acquired by the information acquisition unit 20, and determines whether the host vehicle can pass the crossing from the position.
The configuration includes a parameter calculation unit 210 and a determination unit 211.

The parameter calculation unit 210 uses the information acquired by the information acquisition unit 20 to calculate a parameter for specifying the position relative to the level crossing where the host vehicle can move.
Examples of the parameters include a distance d1 from the host vehicle to the level crossing, a distance d2 from the host vehicle to the intersection at the end of the level crossing, and a distance d3 from the host vehicle to the preceding vehicle. In addition to this, the red light and green light switching time T1 of the traffic light at the intersection, the remaining time T2 until the train passes the railroad crossing, the breaker operating time (closing time) T3, the position of the own vehicle, the traveling of the own vehicle Speed, traveling speed of the vehicle ahead, and the like.

  Based on the parameter calculated by the parameter calculation unit 210, the determination unit 211 identifies a position with respect to the crossing where the host vehicle can move, and determines whether the host vehicle can pass through the level crossing based on the position. For example, before the circuit breaker starts the closing operation, the host vehicle is at a level crossing passing position at a distance da obtained by adding the level crossing width W and the length L of the host vehicle to the distance d1 from the host vehicle to the level crossing. It is determined whether it can be reached.

The output control unit 22 generates driving assistance guidance information according to the determination result of the determination unit 211, and outputs it to the display 7 and the speaker 8 which are output devices. In particular, when the determination unit 211 determines that a level crossing can be passed, guidance information indicating that the vehicle can pass a level crossing is created and output to the output device. If the determination unit 211 determines that the crossing is impossible, the guidance information indicating that the vehicle cannot pass the crossing is created and output to the output device.
As its configuration, a driving support guidance creating unit 221, a display control unit 222, an audio output control unit 223, and a vehicle control unit 224 are provided.

When the determination unit 211 determines that a crossing can be passed, the driving support guidance creation unit 221 generates guidance information indicating that the host vehicle can pass a crossing. If the determination unit 211 determines that a crossing is not possible, it creates guidance information indicating that the vehicle cannot pass a crossing.
For example, guide information is generated that is displayed or voice guidance is output for the travel time during which the vehicle can move from the current position until the level crossing closing operation is started. Moreover, you may create the guidance information which displays the figure attached | subjected to the color according to whether the own vehicle can pass a level crossing, and the icon which shows whether the entry to a level crossing is possible.

The display control unit 222 is an output control unit that controls display on the display 7, and causes the display 7 to display the guidance information created by the driving support guidance creation unit 221.
The voice output control unit 223 is an output control unit that controls voice output from the speaker 8, and causes the speaker 8 to output the guidance information created by the driving support guidance creation unit 221 by voice.
The vehicle control unit 224 automatically controls driving of the host vehicle according to the determination result of the determination unit 211. For example, when the determination unit 211 determines that it is not possible to pass the level crossing, the brake of the host vehicle is automatically controlled to prohibit movement to the level crossing.

  The output device connected to the driving support device 2 is the display 7 and the speaker 8 as described above. Each function of the information acquisition unit 20, the calculation unit 21, and the output control unit 22 in the driving support device 2 is realized by a processing circuit. That is, the driving support device 2 includes a processing circuit for executing each process as will be described later with reference to FIG. The processing circuit may be dedicated hardware or a CPU (Central Processing Unit) that executes a program stored in the memory.

As shown in FIG. 2A, when the processing circuit 100 is dedicated hardware, the processing circuit 100 may be, for example, a single circuit, a composite circuit, a programmed processor, a parallel programmed processor, or an ASIC. (Application Specific Integrated Circuit), FPGA (Field Programmable Gate Array), or a combination thereof.
Each function of the information acquisition unit 20, the calculation unit 21, and the output control unit 22 may be realized by corresponding processing circuits, or each function may be realized by one processing circuit.

As shown in FIG. 2B, when the processing circuit is the CPU 101, the functions of the information acquisition unit 20, the calculation unit 21, and the output control unit 22 are realized by software, firmware, or a combination of software and firmware. Software and firmware are described as programs and stored in the memory 102. The CPU 101 reads out and executes the program stored in the memory 102, thereby realizing the functions of each unit.
That is, the driving support device 2 includes a memory 102 for storing a program that, when executed by the CPU 101, results in each process described later with reference to FIG.
In addition, these programs cause the computer to execute the procedures and methods of the information acquisition unit 20, the calculation unit 21, and the output control unit 22.

  Here, the memory 102 is, for example, a RAM (Random Access Memory), a ROM (Read Only Memory), a flash memory, an EPROM (Erasable Programmable ROM), an EEPROM (Electrically Erasable Programmable ROM), or the like. A semiconductor memory, a magnetic disk, a flexible disk, an optical disk, a magneto-optical disk, a CD (Compact Disc), a mini disk, a DVD (Digital Versatile Disc), and the like are applicable.

In addition, about each function of the information acquisition part 20, the calculating part 21, and the output control part 22, a part may be implement | achieved by exclusive hardware and a part may be implement | achieved by software or firmware.
For example, the function of the information acquisition unit 20 is realized with a processing circuit as dedicated hardware, and the processing unit 21 and the output control unit 22 have their functions read and executed by the processing circuit read out from the memory. A function can be realized.
Thus, each function described above can be realized in the processing circuit by hardware, software, firmware, or a combination thereof.

Next, the operation will be described.
FIG. 3 is a flowchart showing the operation of the driving support apparatus 2 according to the first embodiment, and shows a series of operations for supporting driving in passing through the crossing of the vehicle.
First, until the own vehicle reaches the stop position before the railroad crossing, the information acquisition unit 20 transmits the open / close state of the railroad crossing and the front of the railroad crossing from the ITS device 3 and the railroad crossing control device 4 via the communication device 5. Get traffic conditions on a road. Furthermore, the information acquisition part 20 acquires each information regarding the positional relationship between a railroad crossing and the own vehicle, the positional relationship between the own vehicle and the preceding vehicle, the traveling speed of the preceding vehicle, and the traveling speed of the own vehicle from the vehicle sensor 6. This process corresponds to step ST1.

Next, the parameter calculation unit 210 of the calculation unit 21 uses each piece of information acquired by the information acquisition unit 20 to calculate a parameter for specifying the position relative to the crossing where the host vehicle can move at the recommended speed (step ST2). . Note that the length L of the host vehicle is set in the parameter calculation unit 210 in advance. The crossing width W is a fixed value acquired from the ITS device 3 or the crossing control device 4.
For example, the parameter calculation unit 210 calculates the distance d1 from the host vehicle to the level crossing based on the position information of the host vehicle and the level crossing position information acquired from the level crossing control device 4.
The distance d2 between the host vehicle and the intersection ahead of the railroad crossing is calculated based on the position information of the host vehicle and the position information of the intersection acquired from the ITS device 3.
When the host vehicle is stopped at the stop position before the railroad crossing, the distance da from the host vehicle to the railroad crossing position is equal to the railroad crossing width W and the length L of the host vehicle with respect to the distance d1 from the host vehicle to the railroad crossing. Is obtained as a value obtained by adding.
The distance db from the host vehicle to the preceding vehicle is calculated based on the detection information acquired from the vehicle sensor 6.
Further, based on the information obtained from the ITS device 3, a red signal and a green signal switching time T1 of the traffic light at the intersection ahead of the level crossing is calculated.
Based on the information from the level crossing control device 4, the remaining time T2 until the train passes the level crossing and the operating time (closing time) T3 of the breaker are calculated. Based on the detection information acquired from the vehicle sensor 6, the position of the own vehicle, the traveling speed of the own vehicle, and the traveling speed of the preceding vehicle are calculated.

Subsequently, the determination unit 211 determines whether or not the host vehicle can pass the level crossing based on the parameter calculated by the parameter calculation unit 210 in consideration of only the positional relationship between the level crossing and the host vehicle (step ST3). . FIG. 4 is a diagram illustrating an outline of a crossing determination of a crossing in consideration of the positional relationship between the crossing and the vehicle A. The determination unit 211 starts the closing operation of the circuit breaker from the current time based on the remaining time T2 until the train passes the railroad crossing calculated by the parameter calculation unit 210 and the operation time (closing time) T3 of the circuit breaker. The remaining time T until the time is calculated.
Next, based on the current traveling speed of the host vehicle A and the distance d1, a crossing arrival time Ta from the current position P1 until the host vehicle A reaches the crossing is calculated. It is assumed that a typical value is set in advance in the determination unit 211 for the suspension time Tb at a crossing.
Subsequently, the determination unit 211 calculates a passing position arrival time Tc until the host vehicle A reaches the level crossing passing position P2 from the current position P1 based on a recommended speed and a distance da recommended for passing the level crossing. The recommended speed may be, for example, a speed of about 20 km / h.

  When the remaining time T is longer than the time obtained by adding the time Ta, the time Tb, and the time Tc, and the determination unit 211 determines that the host vehicle A can pass the level crossing (step ST3; yes), step ST4 Move on to processing. In this case, although it is possible to pass in the determination in consideration of the positional relationship between the railroad crossing and the own vehicle A in step ST3, it is not known whether the vehicle can pass through considering the traffic conditions of the vehicle ahead and the road ahead of the railroad crossing. The determination made is continued.

If the remaining time T is equal to or less than the time obtained by adding the time Ta, the time Tb, and the time Tc, and the determination unit 211 determines that the host vehicle A cannot pass the railroad crossing (step ST3; No), the step The process proceeds to ST7.
In step ST <b> 4, the determination unit 211 determines whether or not a level crossing can be passed in consideration of the level crossing, the host vehicle A, and the preceding vehicle B based on the parameter calculated by the parameter calculation unit 210. FIG. 5 is a diagram showing an outline of a crossing determination of a railroad crossing considering the railroad crossing, the own vehicle A, and the preceding vehicle B. FIG. 5A shows a case where the host vehicle A can pass a level crossing, and FIG. 5B shows a case where the host vehicle A cannot pass a level crossing.

The determination unit 211 has a case where the remaining time T is longer than the time obtained by adding the time Ta, the time Tb, and the time Tc, and the distance db from the host vehicle A to the preceding vehicle B is longer than the distance da. If so, it is determined that the host vehicle A can pass the railroad crossing (step ST4; yes). In this case, the process proceeds to step ST5.
On the other hand, the remaining time T is longer than the time obtained by adding the time Ta, the time Tb, and the time Tc. As shown in FIG. 5B, the distance db from the host vehicle A to the preceding vehicle B is a distance da. In the following cases, it is determined that the own vehicle A cannot pass the railroad crossing (step ST4; No). In this case, the process proceeds to step ST7.

  In step ST <b> 5, the determination unit 211 determines whether or not a level crossing can be passed based on the parameters calculated by the parameter calculation unit 210 in consideration of the traffic situation of the road leading to the level crossing. FIG. 6 is a diagram showing an outline of a crossing determination of a level crossing in consideration of the traffic situation of a road leading to the level crossing. First, let us consider a case where the preceding vehicle has not passed the railroad crossing like the preceding vehicle B1. In this case, if the remaining time T is longer than the time obtained by adding the time Ta, Tb × 2, and the time Tc, and the distance db from the own vehicle A to the preceding vehicle B1 is longer than the distance da, the own vehicle A It is determined that a crossing can be passed. The calculation of Tb × 2, that is, twice the time Tb, takes into account the time during which both the host vehicle A and the preceding vehicle B1 pause before the crossing.

Next, consider a case where the preceding vehicle has completely passed the railroad crossing as in the preceding vehicle B2.
Even in this case, the remaining time T is longer than the time obtained by adding the time Ta, Tb × 2, and the time Tc, and the distance db from the own vehicle A to the preceding vehicle B1 is longer than the distance da. This is a precondition for determining that A can pass the railroad crossing.
In addition to this, when the change in the distance db from the own vehicle A passing the level crossing to the preceding vehicle B2 is longer than the length L of the own vehicle A, it is determined that the own vehicle A can pass the level crossing.
That is, if the change in the distance db from the own vehicle A to the preceding vehicle B2 is longer than the length L of the own vehicle A, as shown in FIG. 6, when the own vehicle A reaches the level crossing passing position P2, the preceding vehicle B2 Is traveling ahead of the crossing passing position P2. Therefore, the host vehicle A can pass through the railroad crossing without overlapping the position of the forward vehicle B2.

  On the other hand, when the change in the distance db from the own vehicle A to the preceding vehicle B2 is less than or equal to the length L of the own vehicle A, the own vehicle A that has reached the level crossing passing position P2 and the preceding vehicle B2 are considerably close to each other It is. Such a state may occur when the road ahead of the railroad crossing is congested and the inter-vehicle distance from the preceding vehicle B2 cannot be obtained. In this case, it is determined that the vehicle A cannot pass through the railroad crossing.

In addition, although the case where it was determined whether or not the crossing of the railroad crossing is possible based on the positional relationship between the preceding vehicles B1 and B2 with the own vehicle A, the determination is also based on the positional relationship between the own vehicle A and the rear vehicle C. Good.
In this case, it may be determined whether or not the host vehicle A and the rear vehicle C can appropriately pass the railroad crossing, and the result may be notified to the rear vehicle C.

If it is determined that the vehicle can pass in consideration of the traffic situation ahead (step ST5; yes), the driving assistance guidance creation unit 221 creates guidance information indicating that the host vehicle can pass through the railroad crossing (step ST5). ST6).
If it is determined that the passage is impossible in consideration of the traffic situation ahead (step ST5; No), the process proceeds to step ST7.
In step ST <b> 7, the driving assistance guidance creating unit 221 creates guidance information indicating that the host vehicle cannot pass through the railroad crossing.

Subsequently, the display control unit 222 causes the display 7 to display the passage guidance information or the passage impossibility guidance information created by the driving support guidance creation unit 221. Alternatively, the voice output control unit 223 causes the speaker 8 to output the voice guidance of the passing guidance information or the non-passing guidance information (step ST8).
When displaying the passage guidance information on the display 7, a passage guidance screen 7A as shown in FIG. 7 is displayed. In FIG. 7, the time display 10 is an allowable time during which the host vehicle is allowed to move from the current position P1 to the crossing passing position P2. This permissible time is, for example, a time during which the host vehicle can move from the current position P1 before the level crossing closing operation is started.
In the case shown in FIG. 7, since the allowable time is 20 seconds, the host vehicle can sufficiently reach the crossing passing position P2 from the current position P1 at the recommended speed.

The figure 11 is a figure imitating a road ahead of a level crossing, and is colored according to whether or not the own vehicle can pass through the level crossing. In the case of FIG. 7, a blue color indicating that a crossing can be passed is attached to the graphic 11. As a result, the driver can intuitively recognize that the railroad crossing is possible from the color of the graphic 11.
Since there is an intersection at the end of this road, the lighting state 12 of the traffic signal at the intersection is also described in the graphic 11. In the case of FIG. 7, the lighting state 12 of the traffic light indicates blue lighting.

An icon 13 representing the host vehicle is an icon indicating whether or not the vehicle can enter a railroad crossing. As shown in FIG. 7, since the icon 13 is an image imitating a running car, the driver can intuitively recognize that a crossing can be passed from the icon 13.
Further, the speed display 14 indicates a recommended speed recommended for passing through a level crossing. In the case of FIG. 7, it is 20 km / h.

FIG. 8 is a diagram illustrating an example of a driving support display when the crossing is impossible. FIG. 8A and FIG. 8B show display modes when the crossing is impossible.
In the case shown in FIG. 8A, the blue light of the traffic light is lit from the lighting state 12 of the traffic light, but the allowable time in the time display 10 is 5 seconds. That is, since it can be seen that there are only 5 seconds until the closing operation of the crossing is started, the graphic 11 is given a red color indicating that the crossing of the crossing is impossible. At this time, an icon simulating a vehicle with a brake applied is displayed as the icon 13. Accordingly, the driver can intuitively recognize that it is impossible to pass the level crossing.

  In the case shown in FIG. 8 (b), the allowable time in the time display 10 is 10 seconds, but the red color of the traffic light is lit from the lighting state 12 of the traffic light. In this case, since a vehicle accumulates on the road ahead of the level crossing and it is difficult to pass the level crossing, the graphic 11 is given a red color indicating that the level crossing is impossible to pass. At this time, as in FIG. 8A, an icon simulating a vehicle on which a brake is applied is displayed as the icon 13. As a result, the driver can intuitively recognize that it is impossible to pass the level crossing.

Returning to the description of FIG. After outputting the driving assistance guidance as described above, the vehicle control unit 224 determines whether or not automatic control of the host vehicle is possible (step ST9).
When the own vehicle is a vehicle that can be automatically controlled (step ST9; Yes), the vehicle control unit 224 prohibits the movement to the level crossing when the determination unit 211 determines that the level crossing is impossible. Next, the operation of the host vehicle is controlled (step ST10). In this way, it is possible to prevent the driver from accidentally entering the level crossing when it is impossible to pass the level crossing.
If the vehicle is not a vehicle that can be automatically controlled (step ST9; No), the process is terminated.

FIG. 9 is a diagram showing an outline of road conditions and traffic conditions to which driving assistance in the present invention can be applied. FIG. 9A shows a case where the road ahead of the level crossing meanders, and FIG. 9B shows a case where a large vehicle exists or is under construction.
As shown in FIG. 9 (a), when the road ahead of the level crossing is meandering, there is a possibility of traffic congestion because the vehicle ahead needs to travel at a low speed. In this case, even if it is determined that the driver can pass the level crossing, the level crossing may not be possible due to the positional relationship with the preceding vehicle.
Therefore, even in the road situation shown in FIG. 9A, it is possible to accurately indicate whether or not the host vehicle can pass the level crossing by executing the series of processes described above.

In addition, as shown in FIG. 9B, when the road ahead of the railroad crossing is under construction, there is a possibility that the vehicle ahead will run at a low speed due to traffic restrictions or the like, resulting in traffic jams. In this case, even if it is determined that the driver can pass the level crossing, the level crossing may not be possible due to the positional relationship with the preceding vehicle.
Therefore, even in the road situation shown in FIG. 9B, it is possible to accurately indicate whether or not the host vehicle can pass the level crossing by executing the series of processes described above.
Furthermore, as shown in FIG. 9B, when there is a large vehicle ahead, the driver of the host vehicle may not see the traffic light. Even in this case, it is possible to accurately indicate whether or not the own vehicle can pass the railroad crossing by executing the series of processes described above.

As described above, the driving support system 1 according to the first embodiment includes the ITS device 3 and the level crossing control device 4 installed corresponding to the level crossing, the vehicle sensor 6 that detects an object around the vehicle, the ITS device 3 or A driving support device 2 capable of communicating with the level crossing control device 4. The ITS device 3 and the level crossing control device 4 transmit information on the open / close state of the level crossing and the traffic situation of the road ahead of the level crossing. The driving support device 2 includes an information acquisition unit 20, a calculation unit 21, and an output control unit 22. The information acquisition unit 20 receives the ITS device 3, the level crossing control device 4 and the vehicle sensor 6 from the crossing state of the level crossing, the traffic condition of the road ahead of the level crossing, the positional relationship between the level crossing and the own vehicle, the own vehicle and the vehicle ahead. Each information regarding the positional relationship, the moving speed of the preceding vehicle, and the moving speed of the host vehicle is acquired. The calculation unit 21 uses each piece of information acquired by the information acquisition unit 20 to specify a position with respect to a crossing where the host vehicle can move, and determines whether the host vehicle can pass the crossing from the position. The output control unit 22 creates guidance information indicating that the own vehicle can pass the level crossing when the calculation unit 21 determines that the level crossing can be passed, and outputs the guidance information to the display 7 and the speaker 8. . If it is determined by the computing unit 21 that a crossing is not possible, guidance information indicating that the vehicle cannot pass a crossing is created and output to the display 7 and the speaker 8.
Thus, by providing the driver with guidance information indicating whether or not a crossing has passed, driving assistance can be provided so that the vehicle appropriately passes the crossing.

  In the driving support apparatus 2 according to the first embodiment, the information on the traffic situation of the road ahead of the level crossing includes the positional relationship between the intersection ahead of the road and the own vehicle, and the light color of the traffic light at the intersection Contains information. As a result, it is possible to determine whether or not a crossing can be passed in consideration of the detailed traffic situation of the road ahead of the crossing.

  Furthermore, in the driving support device 2 according to the first embodiment, when the output control unit 22 determines that the crossing of the level crossing is impossible by the calculation unit 21, the driving of the host vehicle is prohibited so as to prohibit the movement to the level crossing. To control. By configuring in this way, it is possible to prevent the driver from accidentally entering the level crossing when it is impossible to pass the level crossing.

Furthermore, in the driving support device 2 according to Embodiment 1, the guidance information created by the output control unit 22 includes at least one of an allowable time, a graphic, and an icon.
The allowable time is a time during which the host vehicle is allowed to move from the current position to the crossing passing position. The figure is a figure given a color according to whether or not the own vehicle can pass through the railroad crossing. The icon is an icon indicating whether or not it is possible to enter the railroad crossing. With this configuration, the driver can intuitively recognize whether or not a railroad crossing can pass.

  In the present invention, any component of the embodiment can be modified or any component of the embodiment can be omitted within the scope of the invention.

  DESCRIPTION OF SYMBOLS 1 Driving assistance system, 2 Driving assistance apparatus, 3 ITS apparatus, 4 Level crossing control apparatus, 5 Communication apparatus, 6 Vehicle sensor, 7 Display, 7A Passing guidance screen, 8 Speaker, 9 Vehicle control part, 10 time display, 11 figure, 12 lighting state, 13 icons, 14 speed display, 20 information acquisition unit, 21 calculation unit, 22 output control unit, 100 processing circuit, 101 CPU, 102 memory, 210 parameter calculation unit, 211 determination unit, 221 driving support guidance creation unit , 222 Display control unit, 223 Audio output control unit, 224 Vehicle control unit.

Claims (5)

Acquires information on the level of the level crossing, the traffic conditions of the road ahead of the level crossing, the positional relationship between the level crossing and the host vehicle, the positional relationship between the host vehicle and the preceding vehicle, the moving speed of the preceding vehicle, and the moving speed of the host vehicle. An information acquisition unit to
Using each piece of information acquired by the information acquisition unit, a position relative to a level crossing where the host vehicle is movable, and a calculation unit that determines whether the host vehicle can pass the level crossing from the position;
When it is determined that the crossing can be passed by the calculation unit, guidance information indicating that the vehicle can pass the crossing is created and output to the output device, and the crossing is not allowed by the calculation unit. A driving support device comprising: an output control unit configured to generate guidance information indicating that the own vehicle cannot pass a railroad crossing and output the information to the output device when it is determined to be possible .   2. The driving support according to claim 1, wherein the information on the traffic condition of the road ahead of the level crossing includes a positional relationship between the intersection ahead of the road and the host vehicle and light color information of a traffic light at the intersection. apparatus.   The said output control part controls the driving | running | working of the own vehicle so that the movement to a level crossing is prohibited when it determines with the passage of a level crossing being impossible by the said calculating part. The driving assistance apparatus as described.   The output control unit is configured to enter a figure and a crossing that are colored according to whether the own vehicle is allowed to move from the current position to the crossing passing position, whether the own vehicle can pass the crossing, or not. The driving support device according to any one of claims 1 to 3, wherein guidance information including at least one of icons indicating availability is created and displayed on the output device. A driving support system comprising a roadside device having a wireless communication function, a vehicle sensor for detecting an object around the vehicle, and a driving support device capable of communicating with the roadside device,
The roadside device is
Send information about the level of crossing and the traffic conditions on the road ahead of the level crossing,
The driving support device includes:
From the vehicle sensor and the roadside device, the crossing state of the level crossing, the traffic situation of the road ahead of the level crossing, the positional relationship between the level crossing and the own vehicle, the positional relationship between the own vehicle and the preceding vehicle, the moving speed of the preceding vehicle and the own vehicle An information acquisition unit for acquiring information on the moving speed of the vehicle;
Using each piece of information acquired by the information acquisition unit, a position relative to a level crossing where the host vehicle is movable, and a calculation unit that determines whether the host vehicle can pass the level crossing from the position;
When it is determined that the crossing can be passed by the calculation unit, guidance information indicating that the vehicle can pass the crossing is created and output to the output device, and the crossing is not allowed by the calculation unit. A driving support system comprising: an output control unit configured to generate guidance information indicating that the own vehicle cannot pass through a level crossing and output the guidance information to the output device when it is determined that the vehicle is allowed to pass;

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