JP2017102830A - Driving assist device and program - Google Patents

Abstract

PROBLEM TO BE SOLVED: To notify a driver, as necessary, at an intersection where an advancing-permitted mark is installed, that the driver can proceed in a direction indicated by the advancing-permitted mark.SOLUTION: A driving assist ECU 16: recognizes, using an imaging device 11 and a navigation 15, etc., an advancing-permitted mark provided at an intersection of a route ahead of the own vehicle; recognizes, using the imaging device 11, a vehicle sensor 12, a communication device 13, etc., the situation of other vehicles traveling the intersection provided with the advancing-permitted mark; and acquires information showing the operation state of the own vehicle from a vehicle information input unit 14. Then, when the recognized situation of other vehicles and the operation state of the own vehicle conform to a prescribed notification-enable condition, the driving assist ECU 16 notifies a driver of driving assist information showing that the own vehicle can proceed through the intersection in accordance with the advancing-permitted mark with previous timing to proceed.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a driving support device that provides information to a driver based on a traffic sign provided on a road.

  Patent Document 1 describes a technology for recognizing a traffic sign from an image captured by a camera.

Japanese Patent No. 4604888

  By the way, one of the traffic signs installed at an intersection indicates that the vehicle can travel in a specific direction regardless of the traffic signal instruction content at the intersection. In the present disclosure, this traffic sign is referred to as a progress permission sign. As an example of this travel permission sign, in Japan, which has traffic rules for left-hand traffic, a traffic sign called “Left Turn Allowed” is used to indicate that a left turn is possible regardless of traffic signals. Alternatively, in an area having traffic rules for right-hand traffic, traffic signs that can make a right turn regardless of traffic signals may be used.

  However, at the intersection where the above-mentioned travel permission sign is installed, the traffic signal is overlooked when the driver overlooks the travel permission sign even though there is an intention of traveling in the same direction as the direction of the travel permission sign. The vehicle may be stopped according to the stop instruction. In such a case, there is a problem of hindering traffic at the intersection.

  An object of the present disclosure is to provide a technique for notifying a driver that a travel permission sign can travel in a direction indicated by a travel permission sign if necessary at an intersection where a travel permission sign is installed. .

  The driving support device according to an embodiment of the present disclosure includes a sign recognition unit (16, S100), a vehicle recognition unit (16, S104), an operation state acquisition unit (16, S108), and a notification control unit (16, S118). , S120). In addition, the code | symbol in the parenthesis described in this column and a claim shows the correspondence with the specific means as described in embodiment mentioned later as one aspect, Comprising: The technical scope of this invention is shown. It is not limited.

  The sign recognition unit recognizes a travel permission sign provided at an intersection in front of the course of the host vehicle. A vehicle recognition part recognizes the condition of the other vehicle which passes the intersection provided with the travel permission sign recognized by the sign recognition part. An operation state acquisition part acquires the information showing the operation state of the own vehicle. The notification control unit proceeds on the condition that the situation of the recognized other vehicle and the operation state of the host vehicle meet predetermined notification enable conditions before the host vehicle passes through the intersection provided with the travel permission sign. Driving assistance information indicating that the vehicle can proceed according to the permission sign is notified to the driver. Here, the reportable condition is a given condition used as a reference for determining whether or not to report the driving support information.

  According to such a configuration, at the intersection where the travel permission sign is installed, it is possible to proceed according to the travel permission sign depending on whether or not it is determined based on the operation state of the own vehicle or the situation of other vehicles passing through the intersection. It is possible to notify the driver that this is the case. Thereby, it can suppress that a driver overlooks a progress permission sign and stops a vehicle unnecessarily.

The block diagram showing the structure of a driving assistance system. The flowchart showing the procedure of alerting | reporting process. The figure showing an example of the traffic condition in the intersection where the progress permission sign was installed. The figure showing an example of the traffic condition in the intersection where the progress permission sign was installed. The flowchart showing the procedure of a threshold value setting process.

Hereinafter, embodiments of the present invention will be described with reference to the drawings. In addition, this invention is not limited to the following embodiment, It is possible to implement in various aspects.
[Description of configuration of driving support device]
The configuration of the driving support system 1 of the embodiment will be described with reference to FIG. The driving support system 1 is a system mounted on a vehicle. Hereinafter, a vehicle equipped with the driving support system 1 is referred to as a host vehicle. As illustrated in FIG. 1, the driving support system 1 includes an imaging device 11, a vehicle detection sensor 12, a communication device 13, a vehicle information input unit 14, a navigation device 15, a driving support ECU 16, and an information output device 17. With.

  When the driving support system 1 recognizes a travel permission sign at an intersection ahead of the host vehicle, the driving support system 1 provides information to the driver indicating that the vehicle can proceed according to the progress permission sign according to the operating state of the intersection or the host vehicle. Has a function to notify. In the present embodiment, as an example of the travel permission sign, a case will be described in which a “left turn permitted” traffic sign used in Japan to which traffic rules for left-hand traffic are applied is recognized.

  The imaging device 11 is an imaging device installed toward the front of the host vehicle. The imaging device 11 captures a front area of the host vehicle and outputs data representing the captured image to the driving support ECU 16. In the present embodiment, it is assumed that the imaging device 11 is used as an image sensor for recognizing a travel permission sign installed at an intersection, a traffic signal, or another vehicle existing in front of the host vehicle.

  The vehicle detection sensor 12 is an objective sensor for detecting the presence / absence of an object existing in the detection target range in front of the host vehicle and the distance / direction from the host vehicle to the object. The vehicle detection sensor 12 is embodied by, for example, an ultrasonic sensor, a millimeter wave radar, a laser radar, or the like. In the present embodiment, it is assumed that the vehicle detection sensor 12 is used as a sensor for recognizing other vehicles existing in front of the host vehicle.

  The communication device 13 is a wireless communication device that performs wireless communication with a communication device installed on the roadside or a communication device mounted on another vehicle. The driving support ECU 16 performs inter-vehicle communication with other vehicles through the communication device 13 and acquires various types of information provided by the vehicles. Further, the driving support ECU 16 performs road-to-vehicle communication with a communication device (hereinafter referred to as a roadside device) installed on the roadside through the communication device 13, and traffic signal information that is information regarding traffic signals installed at an intersection ahead of the host vehicle. To get. It is assumed that the traffic signal information includes information regarding the light color display period of the traffic signal.

  The vehicle information input unit 14 inputs various information representing the operation state of the host vehicle to the driving support ECU 16. In the present embodiment, as information representing the operation state of the host vehicle, a measured value by a sensor that measures the behavior of the host vehicle such as speed (ie, vehicle speed) and acceleration, an operation state of the direction indicator, and the like are assumed. Yes. The vehicle information input unit 14 outputs data measured in each device of the host vehicle to the driving support ECU 16. The navigation device 15 is a well-known navigation system that performs route guidance to a destination based on a current location detected using a GPS (ie, Global Positioning System) receiver (not shown) or the like and given road map data. It is an electronic control device that forms the core.

  The road map data used for route guidance by the navigation device 15 includes information about nodes corresponding to branches such as links and intersections corresponding to roads. In addition, various data such as attribute data corresponding to nodes and links, facility data, and traffic sign data are included. In the present embodiment, it is assumed that the navigation device 15 acquires information indicating the current location of the host vehicle and information related to traffic signs installed at intersections and roads.

  The driving support ECU (that is, Electronic Control Unit) 16 is an information processing apparatus that is configured mainly with a CPU, RAM, ROM, semiconductor memory such as a flash memory (not shown), an input / output interface, and the like. The driving support ECU 16 is realized by, for example, a microcontroller or the like in which functions as a computer system are integrated. The function of the driving assistance ECU 16 is realized by the CPU executing a program stored in a non-transitional physical storage medium such as a ROM or a semiconductor memory. The method of realizing the function of the driving support ECU 16 is not limited to software, and some or all of the elements may be realized using hardware that combines a logic circuit, an analog circuit, and the like. Note that the number of microcontrollers that the driving support ECU 16 configures may be one or more. The driving support ECU 16 performs notification processing and threshold setting processing according to the above-described program. Details of these processes will be described later.

  The information output device 17 is an output device for notifying the driver of information. The information output device 17 is embodied by, for example, a display device for displaying image information to the driver or a voice output device that presents information to the driver by voice. In the present embodiment, it is assumed that the driver is notified of information indicating that the vehicle can proceed according to a travel permission sign installed at a front intersection.

[Description of notification processing]
The procedure of the notification process executed by the driving support ECU 16 will be described with reference to the flowchart of FIG. This process is executed, for example, when approaching an intersection in front of the course of the host vehicle up to a predetermined distance.

  In S100, the driving assistance ECU 16 recognizes a traffic sign in front of the course of the host vehicle. Specifically, the driving assistance ECU 16 specifies what the traffic sign is in the image captured by the imaging device 11 by using a dictionary representing a traffic sign pattern registered in advance. Here, the driving support ECU 16 detects a traffic sign “left turn allowed”, which is an example of a travel permission sign. Further, the driving support ECU 16 may recognize a traffic sign ahead of the course of the host vehicle based on information about the traffic sign included in the road map data acquired from the navigation device 15.

  In S102, the driving assistance ECU 16 determines whether or not a “left turn acceptable” traffic sign is detected. If the “Left-turnable” traffic sign is not detected (ie, S102: NO), the driving assistance ECU 16 proceeds to S120. On the other hand, when the traffic sign “possible to turn left” is detected (that is, S102: YES), the driving assistance ECU 16 proceeds to S104.

  In S104, the driving assistance ECU 16 detects another vehicle existing in front of the host vehicle. Specifically, the driving assistance ECU 16 specifies the position and traveling direction of another vehicle existing ahead of the host vehicle based on the image captured by the imaging device 11 and the detection result by the vehicle detection sensor 12. Moreover, you may acquire the information showing a position and a advancing direction from a preceding vehicle using the communication between vehicles by the communication apparatus 13. FIG.

  In S106, the driving assistance ECU 16 determines whether or not at least one of the preceding vehicle and the crossing vehicle exists among the other vehicles detected in S104. The preceding vehicle here is a vehicle that precedes the course ahead of the host vehicle. An intersecting vehicle is a vehicle that travels on a road that intersects at an intersection in front of the course of the host vehicle. When at least one of the preceding vehicle and the intersecting vehicle exists (that is, S106: YES), the driving assistance ECU 16 proceeds to S120. On the other hand, when neither the preceding vehicle nor the crossing vehicle exists (that is, S106: NO), the driving assistance ECU 16 proceeds to S108.

  In S <b> 108, the driving assistance ECU 16 acquires host vehicle information representing the operation state of the host vehicle from the vehicle information input unit 14. Specifically, the driving support ECU 16 acquires information representing the vehicle speed and the operation state of the direction indicator as the own vehicle information. In S110, the driving assistance ECU 16 determines whether or not the left turn signal of the direction indicator is on based on the own vehicle information acquired in S108. When the left turn signal of the direction indicator is not turned on (that is, S110: NO), the driving assistance ECU 16 proceeds to S120. On the other hand, when the left turn signal of the direction indicator is on (that is, S110: YES), the driving assistance ECU 16 proceeds to S112.

  In S112, the driving assistance ECU 16 determines whether or not the vehicle speed of the host vehicle is equal to or less than a preset vehicle speed threshold based on the host vehicle information acquired in S108. Note that the threshold value of the vehicle speed used for this determination can be adjusted as appropriate according to the situation in a threshold setting process described later. When the vehicle speed of the host vehicle exceeds the threshold (that is, S112: NO), the driving assistance ECU 16 proceeds to S120. On the other hand, when the vehicle speed of the host vehicle is equal to or less than the threshold (that is, S112: YES), the driving assistance ECU 16 proceeds to S114.

  In S <b> 114, the driving assistance ECU 16 recognizes the instruction content (that is, the light color) related to the host vehicle that is shown by the traffic signal installed at the intersection ahead of the host vehicle. Specifically, the driving support ECU 16 identifies the image portion of the traffic signal in the image captured by the imaging device 11, and recognizes the brightest light color as the instruction content related to the host vehicle. Moreover, the traffic signal information regarding the said traffic signal apparatus may be acquired from the roadside apparatus using the road-to-vehicle communication by the communication apparatus 13, and the instruction content currently displayed may be grasped | ascertained.

  In S116, the driving assistance ECU 16 determines whether or not a stop instruction (for example, red or yellow) is displayed on the own vehicle side based on the recognition result in S114. When the stop instruction is not currently displayed on the own vehicle side (that is, S116: NO), the driving assistance ECU 16 proceeds to S120. On the other hand, when the stop instruction is currently displayed on the own vehicle side (that is, S116: YES), the driving assistance ECU 16 proceeds to S118.

  In S118, the driving support ECU 16 notifies the driver through the information output device 17 of driving support information indicating that the vehicle can turn left in accordance with a traffic sign of “Turn left” at an advance timing when the host vehicle passes through the intersection. On the other hand, in S120 that proceeds when a negative determination is made in any of S102, S100, S112, and S116, or when an affirmative determination is made in S106, the driving support ECU 16 indicates that the vehicle can turn left in accordance with a traffic sign of “left turn allowed”. Do not broadcast support information.

Here, a specific control example when the host vehicle passes through an intersection where a traffic sign of “Left turn permitted” is installed will be described with reference to FIGS.
In FIG. 3, reference numeral 30 is a “left turn permitted” traffic sign installed at an intersection. Reference numeral 40 denotes a traffic signal installed at an intersection, and represents a situation in which a stop instruction is displayed on the road on the side where the traffic sign of “Left turn is possible” is installed. Reference symbol A denotes a vehicle that is about to turn left at the intersection by giving a left turn signal in front of the intersection where the traffic sign 30 indicating “left turn is possible” is installed.

  In this situation, the host vehicle A can make a left turn regardless of the stop instruction that the traffic signal 40 is showing. However, at this intersection, there is an intersecting vehicle B that passes the road on the side that intersects with the road on which the host vehicle A is passing. Therefore, in this situation, the driving assistance ECU 16 does not notify the driving assistance information indicating that the vehicle can turn left according to the traffic sign of “Left turn is possible”.

  In FIG. 4, reference numeral 30 denotes a “left turn permitted” traffic sign installed at an intersection. Reference numeral 40 denotes a traffic signal installed at an intersection, and represents a situation in which a stop instruction is displayed on the road on the side where the traffic sign of “Left turn is possible” is installed. Reference symbol A denotes a vehicle that is about to turn left at the intersection by giving a left turn signal in front of the intersection where the traffic sign 30 indicating “left turn is possible” is installed.

  In this situation, the host vehicle A can make a left turn regardless of the stop instruction that the traffic signal 40 is showing. However, the preceding vehicle C exists in front of the course of the host vehicle A. Therefore, in this situation, the driving assistance ECU 16 does not notify the driving assistance information indicating that the vehicle can turn left according to the traffic sign of “Left turn is possible”.

[Explanation of threshold setting process]
The procedure of threshold setting processing executed by the driving support ECU 16 will be described with reference to the flowchart of FIG. This process is executed, for example, when approaching an intersection in front of the course of the host vehicle up to a predetermined distance.

  In S200, the driving assistance ECU 16 acquires information representing the current period of traffic signals installed at an intersection ahead of the host vehicle. Specifically, it is conceivable to use the road-to-vehicle communication by the communication device 13 to acquire the traffic signal information indicating the display period of each lamp color in the signal cycle of the traffic signal from the road side device. And driving assistance ECU16 estimates the nearest period when the said traffic signal shows a stop instruction | indication based on the acquired traffic signal information.

  In S <b> 202, the driving support ECU 16 acquires information representing the current location of the host vehicle from the navigation device 15. In S204, the driving assistance ECU 16 sets a threshold value of speed used in S112 of the notification process based on the information acquired in S200 and S202. For example, the driving support ECU 16 determines that the stop instruction is displayed based on the relationship between the distance from the current location of the host vehicle to the intersection and the period in which the traffic signal installed at the front intersection displays the stop instruction. The upper limit value of the vehicle speed at which the host vehicle can reach the intersection is calculated. Then, it is conceivable to set the calculated upper limit value of the vehicle speed as the speed threshold value used in S112 of the notification process.

[effect]
The driving support system 1 according to the embodiment has the following effects.
For example, at an intersection where a travel permission sign such as “Left Turn Allowed” in Japan is installed, according to the travel permission sign, depending on the necessity of judgment based on the operating state of the vehicle and the situation of other vehicles at the intersection The driver can be informed that the vehicle can proceed. Thereby, it can suppress that a driver overlooks a progress permission sign and stops a vehicle unnecessarily.

  Moreover, it is suitable for notifying the driving support information regarding the travel permission sign by determining the presence / absence of a preceding vehicle or an intersecting vehicle at the intersection, the operating state of the direction indicator, the vehicle speed of the host vehicle, etc. The situation can be judged accurately. In addition, it is possible to suppress unnecessary notification of driving support information in a traffic situation that is not suitable for proceeding according to the travel permission sign or in a situation where the driver does not need driving support information.

[Correspondence with configuration described in claims]
The correspondence between each configuration of the embodiment and the configuration described in the claims is as follows. S100 executed by the driving support ECU 16 corresponds to processing as a sign recognition unit. S104 executed by the driving support ECU 16 corresponds to processing as a vehicle recognition unit. S108 executed by the driving support ECU 16 corresponds to processing as an operation state acquisition unit. S114 executed by the driving support ECU 16 corresponds to processing as a signal recognition unit. S106, S110, S112, S116, S118, and S120 executed by the driving support ECU 16 correspond to the following processes. S200 executed by the driving support ECU 16 corresponds to processing as an estimation unit. S204 executed by the driving support ECU 16 corresponds to processing as an adjustment unit.

[Modification]
In the above-described embodiment, as an example of the travel permission sign in the area where the traffic rule for left-hand traffic is applied, the example of notifying the driving support information related to the traffic sign of “left turn allowed” has been described. Separately from this, in an area where right-hand traffic restrictions are applied, as an example of a travel permission sign, a configuration in which driving support information related to a traffic sign indicating that a right turn is possible regardless of a signal may be provided.

  Note that the functions of one component in the above embodiment may be distributed as a plurality of components, or the functions of a plurality of components may be integrated into one component. Moreover, you may abbreviate | omit a part of structure of the said embodiment as long as a subject can be solved. In addition, at least a part of the configuration of the above embodiment may be added to or replaced with the configuration of the other embodiment. In addition, all the aspects included in the technical idea specified from the wording described in the claims are embodiments of the present invention.

  The present invention can also be realized in various forms such as a program for causing a computer to function as the above-described driving support ECU 16 and a non-transition actual recording medium such as a semiconductor memory in which the program is recorded.

  DESCRIPTION OF SYMBOLS 1 ... Driving assistance system, 11 ... Imaging device, 12 ... Vehicle detection sensor, 13 ... Communication apparatus, 14 ... Vehicle information input part, 15 ... Navigation apparatus, 16 ... Driving assistance ECU, 17 ... Information output device.

Claims (7)

A sign recognition unit (16) for recognizing a travel permission sign that is provided at an intersection ahead of the own vehicle and that permits the vehicle to travel in a specific direction regardless of traffic signal instructions at the intersection. , S100),
A vehicle recognition unit (16, S104) for recognizing a situation of another vehicle passing through an intersection provided with a travel permission sign recognized by the sign recognition unit;
An operation state acquisition unit (16, S108) for acquiring information representing the operation state of the host vehicle;
The situation of the other vehicle recognized by the vehicle recognition unit and the operation state of the own vehicle acquired by the operation state acquisition unit are determined in advance before the host vehicle passes through the recognized intersection. A notification control unit (16, S118, S120) for notifying the driver of driving support information indicating that the vehicle can proceed according to the progress permission sign, on the condition that the notification permission condition is met.
A driving support apparatus comprising: As the notification possible condition (S106), the other vehicle traveling on the road intersecting with the other vehicle that precedes the course of the own vehicle and the road on which the own vehicle is present in the situation of the other vehicle recognized by the vehicle recognition unit. Configured to include the condition that the vehicle does not exist,
The driving support device according to claim 1. The operation state acquisition unit acquires information indicating the operation state of the direction indicator as the operation state of the host vehicle,
The notification possible condition (S110) includes a condition that the direction indicated by the progress permission mark and the direction indicated by the direction indicator coincide with each other regarding the operation state of the direction indicator acquired by the operation state acquisition unit. Configured to,
The driving support device according to claim 1 or 2. The operation state acquisition unit acquires information representing the speed of the host vehicle as the operation state of the host vehicle,
The notification possible condition (S112) is configured to include a condition that the speed of the host vehicle acquired by the operation state acquisition unit is equal to or less than a threshold value.
The driving support device according to any one of claims 1 to 3. An estimation unit (16, S200) for estimating a period during which a traffic signal provided at an intersection ahead of the course of the host vehicle displays a stop instruction;
An adjustment unit (16, S204) that adjusts the threshold value in the reportable condition based on the relationship between the period estimated by the estimation unit and the distance from the current location of the host vehicle to the intersection;
The driving support device according to claim 4, further comprising: A signal recognizing unit (16, S114) for recognizing instructions regarding the own vehicle in a traffic signal provided at an intersection ahead of the own vehicle;
The notification enabling condition (S116) is configured to include a condition that a traffic signal at an intersection having the recognized travel permission sign indicates a stop instruction to the host vehicle.
The driving support device according to any one of claims 1 to 5. A sign recognition step (S100) for recognizing a traffic sign provided at an intersection in front of the own vehicle and permitting the vehicle to travel in a specific direction regardless of a traffic signal instruction at the intersection. )When,
A vehicle recognition step (S104) for recognizing a situation of another vehicle passing through an intersection provided with the travel permission sign recognized in the sign recognition step;
An operation state acquisition step (S108) for acquiring information representing the operation state of the host vehicle;
Before the host vehicle passes through the intersection including the recognized travel permission sign, the situation of the other vehicle recognized in the vehicle recognition step and the operation state of the host vehicle acquired in the operation state acquisition step are predetermined. A notification control step (S118, S120) for notifying the driver of driving support information indicating that the vehicle can proceed according to the progress permission sign on the condition that the information is in conformity with the notification enabling condition of
A program that causes a computer to execute.

Images