JP2018206235A - Driving support apparatus - Google Patents

Abstract

To provide a driving support apparatus capable of preventing a display flicker related to driving support information.SOLUTION: When a vehicle 14 travels support target sections A and B for a first time, a beacon 18A that transmits signal information 60 of the support target section A and a beacon 18B that transmits the signal information 60 of the support target section B are associated with each other. If the beacon 18B is associated with the beacon 18A when the vehicle 14 passes through the support target section A from a next time onward, driving support information for a driver after the vehicle 14 passes through the support target sections A and B changes a way of display as compared to before association.SELECTED DRAWING: Figure 7

Description

  The present invention relates to a driving support apparatus that displays driving support information in a vehicle based on signal information transmitted from a roadside machine.

  In Patent Literature 1, at a point upstream of an intersection, a vehicle-side communication device receives traffic signal (hereinafter, signal signal) information (hereinafter, signal information) from a roadside device-side communication device, and the vehicle side. Is a driving support technique for displaying driving support information, here a recommended speed for passing an intersection without a green light and without stopping.

  In the driving support technology of Patent Document 1, the display device displays a recommended speed when the vehicle travels within the target section for driving support, and displays a notification regarding the end of driving support when the vehicle passes the target section for driving support. Or the display itself is terminated.

Japanese Patent No. 3859663

  According to the driving support technology of Patent Document 1, when the first support target section and the second support target section as the target section of the driving support are continuous, the notification regarding the recommended speed of the first support target section and the driving support end ( Or the display transitions in the order of the recommended speed of the second support target section. At this time, if the first support target section and the second support target section are close, display transition, so-called flickering, occurs in a short time. The display flicker is uncomfortable for the passenger.

  The present invention has been made in consideration of such problems, and an object of the present invention is to provide a driving support apparatus that can prevent display flickering related to driving support information.

The present invention
A driving support device that receives signal information as information on a traffic signal installed at an intersection located in a traveling direction of a vehicle from outside the vehicle, and displays driving support information for a driver based on the signal information,
A first roadside device that transmits the signal information of the first support target section when an interval from passing through the first support target section to entering the second support target section is less than a predetermined interval; Associating with the second roadside machine that transmits the signal information of the second support target section,
When the vehicle travels in the first support target section, if the second roadside machine is associated with the first roadside machine, the driver after the vehicle has passed through the first support target section The display of the driving support information with respect to is changed.

  According to the above configuration, when the vehicle enters the second support target section after passing through the first support target section, when detecting that the interval between both sections is less than the predetermined interval, The roadside device is associated and stored. And after a vehicle passes the 1st assistance object area on and after next time, the method of displaying driving assistance information is changed compared with before association. For this reason, flickering of the display regarding the driving support information can be prevented.

In the present invention,
If the interval from passing through the first support target section to entering the second support target section is less than a predetermined interval, the first roadside machine that transmits the signal information of the first support target section The first identification number is linked to the second identification number of the second roadside machine that transmits the signal information of the second support target section,
When the vehicle travels in the first support target section, and the second identification number is associated with the first identification number, the vehicle has passed through the first support target section. It is also possible to change the display of the driving support information for the driver.

  According to the above configuration, when the vehicle enters the second support target section after passing through the first support target section, when detecting that the interval between both sections is less than the predetermined interval, The identification number of the roadside machine is linked and stored. And after a vehicle passes the 1st assistance object area on and after next time, the method of displaying driving assistance information is changed compared with before association. For this reason, flickering of the display regarding the driving support information can be prevented.

In the present invention,
When the vehicle travels through the first support target section, if the second identification number is associated with the first identification number, after the vehicle passes through the first support target section, It is also possible to change so that the driver is notified of the end of driving support.

  According to the above configuration, after the vehicle has passed through the first support target section, the notification regarding the end of the driving support is prohibited. For this reason, the display does not change in the order of the driving support information of the first support target section, the notification about the end of driving support, and the driving support information of the second support target section in a short time. For this reason, flickering of the display regarding the driving support information can be prevented.

In the present invention,
When the vehicle travels through the first support target section, if the second identification number is associated with the first identification number, after the vehicle passes through the first support target section, It is also possible to change so that the display of the driving support information to the driver is continued.

  According to the said structure, after a vehicle passes the 1st assistance object area after tied, the display of driving assistance information is continued. For this reason, in a short time, the display does not transit in the order of driving support information of the first support target section, display end, and driving support information of the second support target section. For this reason, flickering of the display regarding the driving support information can be prevented.

In the present invention,
The interval is a distance interval or a time interval;
The predetermined interval may be a predetermined distance interval or a predetermined time interval.

  According to the above configuration, when the vehicle travels between two support target sections adjacent to each other, an interval between the two support target sections can be grasped by measuring a travel distance or a travel time.

In the present invention,
The predetermined distance interval or the predetermined time interval may be determined based on a vehicle speed.

  According to the above configuration, the predetermined interval can be appropriately changed according to the vehicle speed.

The present invention also provides:
First signal information as information on a first traffic signal installed at an intersection located in a straight direction of the vehicle and second signal information as information on a second traffic signal are received from outside the vehicle, and the first signal information and the first signal information A driving support device that displays driving support information for a driver based on two-signal information,
A first roadside device that transmits the first signal information and the second signal information when an interval from the reception of the first signal information to the reception of the second signal information is less than a predetermined interval; Is associated with the second roadside machine that transmits
When receiving the first signal information, if the second roadside machine is associated with the first roadside machine, the driving support information is displayed to the driver after receiving the first signal information. It is characterized by changing.

  According to the above configuration, when the vehicle enters the second support target section after passing through the first support target section, when detecting that the interval between both sections is less than the predetermined interval, The roadside device is associated and stored. And after a vehicle passes the 1st assistance object area on and after next time, the method of displaying driving assistance information is changed compared with before association. For this reason, flickering of the display regarding the driving support information can be prevented.

The present invention also provides:
A control unit that performs display control based on signal information as signal information transmitted from a roadside device;
A display unit that displays driving support information in a passenger compartment according to display content determined by the control unit, and a driving support device comprising:
A storage unit for storing unique information of the roadside device added to the signal information;
When the vehicle travels through the first support target section and the second support target section, which are target sections for driving support, the signal information of the first support target section is transmitted from the first roadside machine, and the second roadside machine The signal information of the second support target section is transmitted,
The controller is
When the interval between the vehicle passing through the first support target section and entering the second support target section is less than a predetermined interval, the first unique information of the first roadside machine and the second The second specific information of the roadside machine is associated with and stored in the storage unit,
Further, the storage unit stores the first unique information and the second unique information in association with each other, and the storage unit stores the first unique information and the second unique information in association with each other. The display content after the vehicle has passed through the first support target section is changed in the case where the vehicle does not exist.

  According to the above configuration, when the vehicle enters the second support target section after passing through the first support target section, when detecting that the interval between both sections is less than the predetermined interval, The unique information of the roadside device is stored in association with it. And after a vehicle passes the 1st assistance object area on and after next time, the method of displaying driving assistance information is changed compared with before association. For this reason, flickering of the display regarding the driving support information can be prevented.

  According to the present invention, it is possible to prevent display flickering related to driving support information.

FIG. 1 is a configuration diagram of a driving support system. FIG. 2 is a block diagram of a driving support apparatus provided in the vehicle. FIG. 3 is a configuration diagram for explaining the travel environment information. FIG. 4 is a flowchart for explaining the operation of the driving support apparatus. FIG. 5 is a flowchart for explaining the operation of the driving support device. FIG. 6 is a transition diagram of the display that changes as the vehicle travels. FIG. 7 is a transition diagram of a display that changes as the vehicle travels.

  Hereinafter, preferred embodiments of the driving support apparatus according to the present invention will be described in detail with reference to the accompanying drawings.

[1 Configuration of Driving Support System 10]
The configuration of the driving support system 10 including the driving support device 26 will be described with reference to FIG. The driving support system 10 includes a roadside device 12 and a vehicle 14.

  The roadside device 12 includes traffic lights 16a to 16d (hereinafter collectively referred to as traffic lights 16) and beacons 18 installed on the road 100, and signal controllers 20a to 20d (hereinafter collectively) that control operations of the traffic lights 16a to 16d. A signal controller 20), a beacon controller 22 that controls the operation of the beacon 18, an information relay device 24 that collects signal information 60 (FIG. 3) from the signal controller 20 and transmits it to the beacon controller 22. Have.

  The beacon 18, the traffic light 16 a, the traffic light 16 b, the traffic light 16 c, and the traffic light 16 d are installed in this order in the straight direction of the vehicle 14 (direction along the road). The beacon 18 transmits a signal (radio wave signal or optical signal) S including traveling environment information 50 (FIG. 3) corresponding to driving support information toward a predetermined range of the road 100. The signal S includes traveling environment information 50 described in [3] below.

  Instead of the information relay device 24, an information management device (not shown) that collectively manages the signal information 60 of the traffic light 16 may be provided. In this case, the information management apparatus outputs an operation instruction to the signal controller 20 and transmits the signal information 60 to the beacon controller 22.

  One driving support target section (hereinafter referred to as a support target section) is formed by one beacon 18 and one or more traffic lights 16 to which signal information 60 is transmitted by the beacon 18. The start point of the support target section is the installation position of the beacon 18, and the end point is the installation position of the traffic light 16 (the traffic light 16d in FIG. 1) arranged farthest away.

[2 Configuration of Driving Support Device 26]
The configuration of the driving support device 26 will be described with reference to FIG. The vehicle 14 has a driving support device 26. The driving support device 26 includes a positioning device 28 that measures the latest position of the vehicle 14, a beacon receiver 30 that receives the signal S transmitted from the beacon 18, a driving support ECU 32 that performs various calculations, and various information. The HMI 34 informing the 14 occupants and the vehicle speed sensor 36 for detecting the vehicle speed of the vehicle 14.

  The positioning device 28 includes a GPS device and a sensor for performing autonomous navigation such as a gyroscope and an acceleration sensor, and outputs positioning information to the driving support ECU 32. The beacon receiver 30 receives the signal S transmitted from the beacon 18 within a predetermined range of the road 100 and outputs the received information to the driving support ECU 32. The driving support ECU 32 realizes various functions for driving support by causing the processing unit 38 configured by a processor such as a CPU to read out and execute a program stored in the storage unit 40. In the present embodiment, as driving assistance, in order to prevent the vehicle 14 from being stopped by the traffic light 16 in the straight traveling direction, an optimal traveling speed is notified. A database 42 for storing the ID of the beacon 18 is constructed in the storage unit 40. The driving support ECU 32 outputs a notification instruction to the HMI 34. The HMI 34 includes a display device 44 that outputs information such as the optimum traveling speed to the occupant as a video, and an acoustic device (not shown) that outputs information such as the optimum traveling speed as sound. The display device 44 is, for example, an MID (multi-information display) provided on the instrument panel, and has a screen 44a.

[3 Driving environment information 50]
The travel environment information 50 transmitted from the beacon 18 to the vehicle 14 will be described with reference to FIG. The traveling environment information 50 includes beacon information 52 and traffic signal information 58.

  The beacon information 52 includes identification information 54 and road information 56. The identification information 54 is information indicating an ID assigned to each beacon 18. The road information 56 is information indicating the installation position P0 of the beacon 18 {coordinates (latitude, longitude) of the position where the beacon 18 is installed}.

  The traffic signal information 58 includes signal information 60 and road information 62 corresponding to the traffic lights 16 (16a to 16d). Here, the signal information 58 of the signal 16a will be described as a representative. The signal information 60 includes traffic signal transitions indicated by the traffic light 16a, specifically information indicating lamp color transitions, and information on the remaining number of seconds for each lamp color. The information indicating the transition of the lamp color refers to the lighting order of the lamp colors. In the example of FIG. 3, the current lamp color (first lamp color), the next lamp color (second lamp color), and the next The order of the lamp color (third lamp color). The information on the remaining number of seconds for each lamp color refers to the lighting time. The remaining number of seconds of the first lamp color indicates the lighting time from when the traffic light 16a transmits the signal information 60 until the first lamp color is turned off, and the remaining number of seconds of the second and third lamp colors indicates the scheduled lighting. Show time. The signal information 60 can also include information after the fourth lamp color. The road information 62 includes information indicating the installation position Pa of the traffic signal 16a {coordinates (latitude, longitude) of the position of the intersection where the traffic signal 16a is installed} and the distance Xa from the installation position P0 of the beacon 18 to the stop line of the intersection. Information. The traffic signal information 58 of the traffic signals 16b to 16d has the same configuration.

  Information that changes with time, in this case, signal information 60 is transmitted from the signal controller 20 to the beacon controller 22 via the information relay device 24. On the other hand, each information of the driving environment information 50 excluding certain information, here, the signal information 60 is stored in advance in a storage device (not shown) of the beacon controller 22. As described above, when an information management device is provided instead of the information relay device 24, an arithmetic device inside the information management device generates the signal information 60, and an internal storage device excludes the signal information 60. Each information of the driving environment information 50 is stored. Then, the travel environment information 50 is generated by the information management device and transmitted to the beacon controller 22.

[4 Operation of driving support device 26]
The operation of the driving support device 26 will be described with reference to FIGS. A series of processing described below is repeatedly executed every predetermined time. However, this is not the case when the process of step S4 and the process of step S5 are repeatedly performed (during driving support).

  In this embodiment, when a support non-target section sandwiched between two support target sections is short, driving support (display of driving support information) is performed in the support non-target section, and flickering of display of driving support information is performed. It is to prevent. In order to prevent flickering, in the present embodiment, when the vehicle 14 travels on the road 100 including the support target section for the first time, the ID of the beacon 18 is associated (association of the beacon 18), and then travels on the road 100. Driving assistance (displaying driving assistance information) is performed based on the information associated with the driving. In the following, description will be made assuming a scene in which the vehicle 14 travels for the first time on the road 100 including the support target section (FIG. 6) and a scene in which the vehicle 14 travels for the second time or later (FIG. 7). 6 and 7, only the beacons 18A to 18C and the last traffic lights 16A to 16C are shown in the support target sections A to C.

[4-1 Process when vehicle 14 travels on road 100 for the first time (linking process)]
The operation of the driving support device 26 when the vehicle 14 travels on the road 100 for the first time will be described with reference to FIGS. In the following, in order to facilitate understanding of the description, the description starts from a specific scene, here, a scene in which the beacon receiver 30 of the vehicle 14 receives the signal S transmitted from the beacon 18B of the support target section B. As shown in FIG. 6, when the road 100 includes support target sections A, B, C,..., A display device is used while the vehicle 14 is traveling in each support target section A, B, C. The recommended speed as the driving support information is displayed on the screen 44a.

  In step S <b> 1, the processing unit 38 determines whether or not the beacon receiver 30 has received the signal S. As described above, here, the vehicle 14 is traveling in the transmission range of the signal S, and the beacon receiver 30 receives the signal S (step S1: YES). For this reason, a process transfers to step S2.

  In step S2, the processing unit 38 determines whether or not the interval of the support non-target segment Dab that has passed immediately before is less than a predetermined interval. The processing unit 38 measures the travel distance and / or travel time from passing through the end point of the support target section A until reaching the start point of the support target section B. The travel distance can be calculated from the detection result of the vehicle speed sensor 36, for example, and can be acquired from the detection result of the distance sensor (not shown). The travel time can be acquired from a measurement result of a timer (not shown) provided in the driving support ECU 32. This travel distance and / or travel time corresponds to the interval of the support non-target section Dab, that is, the distance interval and / or the time interval. When the measured interval is less than the predetermined interval stored in the storage unit 40, that is, when the support non-target section Dab is short (step S2: YES), the process proceeds to step S3. On the other hand, when the measured interval is equal to or greater than the predetermined interval, that is, when the support non-target section Dab is long (step S2: NO), the process proceeds to step S4.

  When the process proceeds from step S2 to step S3, the processing unit 38 associates the IDs of the beacons 18 before and after the support non-target section Dab, that is, the ID of the beacon 18A of the support target section A and the ID of the beacon 18B of the support target section B. I do. The storage unit 40 temporarily stores the travel environment information 50 of the support target sections A and B. The processing unit 38 extracts the ID of each beacon 18 from the identification information 54 of each traveling environment information 50. The database 42 is constructed so that the ID of the beacon 18 of the support target section that has already passed is used as a base beacon, and the ID of the beacon 18 of the support target section that will be passed from now on is linked as a linked beacon. The processing unit 38 associates both IDs with the ID (XXX) of the beacon 18A of the support target section A that has already passed as the base beacon and the ID (YYY) of the beacon 18B of the support target section B that will pass from now on as the linked beacon. And stored in the database 42. In the example of FIG. 6, the database 42 stores the ID (XXX) of the beacon 18A as a base beacon and the ID (YYY) of the beacon 18B as a linked beacon.

  When the process proceeds from step S2 or step S3 to step S4, the processing unit 38 determines whether or not the travel position of the vehicle 14 is inside the support target section B. The processing unit 38 starts measuring the travel distance after receiving the signal S transmitted from the beacon 18B. Then, when the travel distance to be measured exceeds the distance to the stop line of the last traffic light 16B in the support target section B (road information 62), it is determined that the travel distance has come from the support target section B. When the traveling position of the vehicle 14 is inside the support target section B (step S4: YES), the process proceeds to step S5. On the other hand, when the traveling position of the vehicle 14 is out of the support target section B (step S4: NO), the process proceeds to step S6.

  When the process proceeds from step S4 to step S5, the processing unit 38 performs driving support. While the vehicle 14 travels in the support target section B in the example of FIG. 6, the recommended speed VB as the driving support information is displayed on the screen 44 a of the display device 44. For example, the processing unit 38 travels the nearest traffic light 16B at that time, the current light color of the traffic light 16B, the remaining number of seconds of the light color, the distance from the travel position of the vehicle 14 to the traffic light 16, and the like. The estimated speed VB is estimated based on the elapsed time and the travel distance since the environment information 50 and the signal S are received, and the recommended speed VB is calculated based on the estimation result. The processing unit 38 notifies the recommended speed VB with the HMI 34. The display device 44 displays the recommended speed VB on the screen 44a.

  When the process proceeds from step S4 to step S6, the processing unit 38 has the association information in which the ID of the beacon 18B of the support target section B that has passed immediately before, specifically, the beacon 18B of the support target section B, is the base beacon. It is determined whether or not. As described above, it is assumed here that the vehicle 14 travels for the first time in the support target section B. In this case, as shown in FIG. 6, after the vehicle 14 passes through the support target section B, the database 42 has no linking information with the ID (YYY) of the beacon 18B as the base beacon (step S6: NO). ). For this reason, a process transfers to step S8.

  In step S8, the processing unit 38 ends the driving support. In the example of FIG. 6, when the vehicle 14 leaves the support target section B and enters the support non-target section Dbc, the processing unit 38 hides the recommended speed as the driving support information on the screen 44 a of the display device 44. Here, the processing of one cycle is finished, and the processing shifts to the processing of the next cycle.

  Next, a new process starts from step S1. In step S <b> 1, the processing unit 38 determines whether or not the beacon receiver 30 has received the signal S. Here, the vehicle 14 is traveling in the non-support section Dbc, and the beacon receiver 30 does not receive the signal S (step S1: NO). Therefore, the process proceeds to step S9 shown in FIG.

  In step S <b> 9, the processing unit 38 determines whether the database 42 has association information in which the ID of the beacon 18 </ b> B of the support target section B that has passed immediately before, specifically, the beacon 18 </ b> B of the support target section B is the base beacon. To do. As shown in FIG. 6, the database 42 after passing through the support target section B has no linking information having the beacon 18B ID (YYY) as a base beacon (step S9: NO). For this reason, a process transfers to step S12.

  In step S12, the processing unit 38 maintains the driving support end state. In the example of FIG. 6, the recommended speed as the driving support information is not displayed on the screen 44 a of the display device 44 until the vehicle 14 travels through the support non-target section Dbc and receives the next signal S. Here, the processing of one cycle is finished, and the processing shifts to the processing of the next cycle.

  Until the vehicle 14 travels through the non-support section Dbc and receives the next signal S, the processes of step S1, step S9, and step S12 are repeatedly executed.

  It is assumed that the vehicle 14 has reached the transmission range of the signal S of the beacon 18C in the support target section C. In step S1 of the new cycle, the processing unit 38 of the driving assistance ECU 32 determines whether or not the beacon receiver 30 has received the signal S. Here, the vehicle 14 is traveling in the transmission range of the signal S, and the beacon receiver 30 receives the signal S (step S1: YES). For this reason, a process transfers to step S2. Thereafter, the processing after step S2 described above is executed.

  Here, it is assumed that the interval of the support non-target section Dbc is equal to or greater than the predetermined interval, and the process directly proceeds from step S2 to step S4. For this reason, as shown in FIG. 6, the processing unit 38 does not link the ID (YYY) of the beacon 18B and the ID (ZZZ) of the beacon 18C. However, when the interval of the support non-target section Dbc is less than the predetermined interval, the process proceeds from step S2 to step S3. At this time, the processing unit 38 associates the ID (YYY) of the beacon 18B with the ID (ZZZ) of the beacon 18C.

[4-2 Processing when the vehicle 14 travels on the road 100 that has already traveled]
The operation of the driving support device 26 when traveling on the road 100 on which the vehicle 14 has already traveled will be described with reference to FIGS. 4, 5, and 7. In the following, in order to facilitate understanding of the description, the description starts from a specific scene, here, a scene in which the beacon receiver 30 of the vehicle 14 receives the signal S transmitted from the beacon 18A of the support target section A. As shown in FIG. 7, when the road 100 includes support target sections A, B, C,..., A display device is used while the vehicle 14 is traveling in each support target section A, B, C. The recommended speed as the driving support information is displayed on the screen 44a.

  In step S <b> 1, the processing unit 38 determines whether or not the beacon receiver 30 has received the signal S. Here, the vehicle 14 is traveling in the transmission range of the signal S, and the beacon receiver 30 receives the signal S (step S1: YES). For this reason, a process transfers to step S2.

  Thereafter, while the vehicle 14 travels in the support target section A, the process is performed in the same order as the process described in [4-1] (the process of Steps S1 to S5), and Steps S4 and S5 are performed. This process is repeated. The processing unit 38 calculates the recommended speed VA of the support target section A every predetermined time. As shown in FIG. 7, the latest recommended speed VA in the support target section A is displayed on the screen 44 a of the display device 44. When the vehicle 14 leaves the support target section A and enters the support non-target section Dab (step S4: NO), the process proceeds to step S6.

  In step S <b> 6, the processing unit 38 determines whether the database 42 has association information in which the ID of the beacon 18 </ b> A of the support target section A that has passed immediately before, specifically, the beacon 18 </ b> A of the support target section A is the base point beacon. To do. The vehicle 14 is already traveling in the support target section A. In this case, as shown in FIG. 7, the database 42 has linking information in which the ID (XXX) of the beacon 18A is a base beacon and the ID (YYY) of the beacon 18B is a linked beacon (step S6: YES). For this reason, a process transfers to step S7.

  In step S7, the processing unit 38 continues driving support. While the vehicle 14 travels in the support target section A in the example of FIG. 7, the recommended speed VA as the driving support information is displayed on the screen 44 a of the display device 44. When the vehicle 14 enters the non-support section Dab, the processing unit 38 displays (maintains) the recommended speed as the driving support information, here the recommended speed VA, on the screen 44a of the display device 44. Here, the processing of one cycle is finished, and the processing shifts to the processing of the next cycle.

  Next, a new process starts from step S1. In step S <b> 1, the processing unit 38 determines whether or not the beacon receiver 30 has received the signal S. Here, the vehicle 14 is traveling in the non-support section Dab, and the beacon receiver 30 does not receive the signal S (step S1: NO). For this reason, a process transfers to step S9.

  In step S <b> 9, the processing unit 38 determines whether the database 42 has association information in which the ID of the beacon 18 </ b> A of the support target section A that has passed immediately before, specifically, the beacon 18 </ b> A of the support target section A is the base point beacon. . The vehicle 14 is already traveling in the support target sections A and B. In this case, as shown in FIG. 7, the database 42 has linking information in which the ID (XXX) of the beacon 18A is a base beacon and the ID (YYY) of the beacon 18B is a linked beacon (step S9: YES). For this reason, a process transfers to step S10.

  In step S10, the processing unit 38 determines whether or not the interval of the support non-target interval Dab is less than a predetermined interval. The processing unit 38 measures the travel distance and / or travel time while the vehicle 14 travels in the non-support section Dab. This travel distance and / or travel time corresponds to the interval of the support non-target section Dab, that is, the distance interval and / or the time interval. When the measured interval is less than the predetermined interval stored in the storage unit 40, that is, when the vehicle 14 is traveling in the support non-target section Dab (step S10: YES), the process proceeds to step S11. On the other hand, when the measured interval is equal to or greater than the predetermined interval, that is, when the vehicle 14 deviates from the support non-target section Dab and travels on another road (step S10: NO), the process proceeds to step S12.

  If it transfers to step S11 from step S10, the process part 38 will continue driving assistance similarly to step S7. When the process proceeds from step S10 to step S12, the processing unit 38 ends the driving support as in step S8. Here, the processing of one cycle is finished, and the processing shifts to the processing of the next cycle.

  When the vehicle 14 reaches the support target section B and the beacon receiver 30 receives the signal S transmitted from the beacon 18B of the support target section B, the process described in [4-1] (the process of steps S1 to S5). ) In the same order as in (), and the processes in steps S4 and S5 are repeated.

  Further, when the vehicle 14 leaves the support target section B and enters the support non-target section Dbc, the process proceeds to step S6. The vehicle 14 has already traveled in the support target section B and the support non-target section Dbc, but since the support non-target section Dbc is relatively long, the driver flickers even if the driving support information is displayed and hidden. I don't feel. For this reason, there is no association information in which the ID (YYY) of the beacon 18B in the support target section B is the base beacon in the database 42 (step S6: NO). At this time, the process proceeds to step S8.

  In step S8, the processing unit 38 ends the driving support. In the example of FIG. 7, when the vehicle 14 leaves the support target section B and enters the support non-target section Dbc, the processing unit 38 hides the recommended speed as the driving support information on the screen 44 a of the display device 44. Here, the processing of one cycle is finished, and the processing shifts to the processing of the next cycle.

  In addition, the driving assistance device according to the present invention is not limited to the above-described embodiment, and it is needless to say that various configurations can be adopted without departing from the gist of the present invention.

  In the said embodiment, the driving assistance apparatus 26 is used for what does not display driving assistance information when the assistance object area is complete | finished. However, the driving support device 26 can also be used for notifying that driving support information has ended when the support target section ends. In this case, when there is the association information, the notification that the driving support information is ended when the support target section is ended is prohibited, and the display of the driving support information is continued.

  In the above-described embodiment, the determination of whether the interval between two support target sections adjacent to each other is narrow or wide is made by comparing with a predetermined interval (predetermined distance interval, predetermined time interval). This predetermined interval may be changeable. For example, you may make it change according to the vehicle speed detected by the vehicle speed sensor 36. FIG.

  In the above embodiment, the ID of the beacon 18 is linked as the association of the beacon 18. Instead of this, as the association of the beacon 18, the installation position P0 of the beacon 18 may be associated. That is, “ID of beacon 18” in the above embodiment may be read as “installation position P0 of beacon 18”. In short, the unique information of the beacon 18 may be associated (linked).

  When a plurality of intersections are included in the support target section, etc., as the association information, the intersection number and the direction thereof are associated with each other so that it can be understood which intersection is associated with the beacon 18 along with the two beacon IDs. Also good. The intersection number may be a position coordinate. For example, when three intersections are included in the support target section, and there is a beacon 18 immediately after making a right turn at the second intersection, and another approach target section is entered, a second beacon ID is entered together with two beacon IDs. Link that there is a cooperative beacon in the right turn direction at the intersection. In such an embodiment, the processing unit 38 refers to the association information when the vehicle 14 makes a right turn at the second intersection. And when there exists tied information, the process part 38 continues driving assistance. On the other hand, when the second intersection is turned to the left or when another intersection is turned to the right or left, the processing unit 38 ends the driving support because there is no association information.

[5 Summary of this embodiment]
The driving support device 26 receives signal information 60 as information on the traffic light 16 installed at the intersection located in the traveling direction of the vehicle 14 from the outside of the vehicle, and displays driving support information for the driver based on the signal information 60. If the interval from passing through the support target sections A and B (first support target section) to entering the support target sections B and C (second support target section) is less than the predetermined interval, the support target section Associating beacons 18A and 18B (first roadside devices) that transmit signal information 60 of A and B with beacons 18B and 18C (second roadside devices) that transmit signal information 60 of support target sections B and C Do. For example, the IDs (first identification numbers) of the beacons 18A and 18B are associated with the IDs (second identification numbers) of the beacons 18B and 18C that transmit the signal information 60 of the support target sections B and C. When the vehicle 14 travels through the support target sections A and B, if the IDs of the beacons 18B and 18C are linked to the IDs of the beacons 18A and 18B, the vehicle 14 has passed through the support target sections A and B. The display of driving support information for the driver later, for example, the recommended speed is changed.

  According to the above configuration, when the vehicle 14 enters the support target sections B and C after passing through the support target sections A and B, when detecting that the interval between both sections is less than the predetermined interval, The ID of the beacon 18 in each section is linked and stored. Then, after the vehicle 14 passes through the support target sections A and B after the next time, the display method of the driving support information is changed as compared with before the association. For this reason, flickering of the display regarding the driving support information can be prevented.

  When the vehicle 14 travels in the support target sections A and B, when the IDs of the beacons 18B and 18C are linked to the IDs of the beacons 18A and 18B, the processing unit 38 is connected to the support target section A. After passing through B, the display of the driving support information is changed so as to prohibit the driver from being notified of the end of driving support.

  According to the above configuration, after the vehicle 14 passes the support target sections A and B after the association, the notification regarding the end of the driving support is prohibited. For this reason, in a short time, the display does not transit in the order of the driving support information of the support target sections A and B, the notification regarding the end of driving support, and the driving support information of the support target sections B and C. For this reason, flickering of the display regarding the driving support information can be prevented.

  When the vehicle 14 travels through the support target sections A and B, if the IDs of the beacons 18B and 18C are linked to the IDs of the beacons 18A and 18B, the vehicle 14 has passed through the support target sections A and B. Later, the display is changed so that the display of the driving support information for the driver is continued.

  According to the above configuration, after the vehicle 14 passes the support target sections A and B after the association, the display of the driving support information is continued. For this reason, in a short time, the display does not transit in the order of the driving support information of the support target sections A and B, the notification regarding the end of driving support, and the driving support information of the support target sections B and C. For this reason, flickering of the display regarding the driving support information can be prevented.

  The interval is a distance interval or a time interval, and the predetermined interval is a predetermined distance interval or a predetermined time interval. According to the above configuration, when the vehicle 14 travels between two support target sections A, B or B, C adjacent to each other, the two travel target sections A, B are measured by measuring the travel distance or the travel time. Alternatively, the interval between B and C can be grasped.

  The predetermined distance interval or the predetermined time interval is determined based on the vehicle speed. According to the above configuration, the predetermined interval can be appropriately changed according to the vehicle speed.

  In addition, the driving support device 26 includes signal information 60 (first signal information) and traffic lights 16B and 16C (first signal information) as information on the traffic lights 16A and 16B (first traffic lights) installed at intersections located in the straight traveling direction of the vehicle 14. Signal information 60 (second signal information) is received from outside the vehicle as information on the two traffic lights, and driving support information for the driver is displayed based on each signal information 60. When the interval between the reception of the signal information 60 of the traffic lights 16A and 16B and the reception of the signal information 60 of the traffic lights 16B and 16C is less than a predetermined interval, the beacons 18A and 18B (first roadside devices) 18B and 18C (second roadside machine) are associated with each other. When receiving the signal information 60 of the traffic lights 16A and 16B, when the IDs of the traffic lights 16B and 16C are associated with the IDs of the traffic lights 16A and 16B, Change the display of driving support information for the driver, for example, the recommended speed.

  According to the above configuration, when the vehicle 14 enters the support target sections B and C after passing through the support target sections A and B, when detecting that the interval between both sections is less than the predetermined interval, The beacons 18 of each section are associated and stored. Then, after the vehicle 14 passes through the support target sections A and B after the next time, the display method of the driving support information is changed as compared with before the association. For this reason, flickering of the display regarding the driving support information can be prevented.

  The driving support device 26 includes a processing unit 38 (control unit) that performs display control based on signal information 60 as information on the traffic signal 16 transmitted from the beacon 18 (roadside device), and a display that is determined by the processing unit 38. A display device 44 (display unit) that displays driving support information in the passenger compartment according to the content, and a storage unit 40 that stores the ID (identification number) of the beacon 18 added to the signal information 60 are provided. When the vehicle 14 travels through support target sections A and B (first support target sections) and support target sections B and C (second support target sections), which are target sections for driving support, beacons 18A and 18B (first The signal information 60 of the support target sections A and B is transmitted from the roadside machine), and the signal information 60 of the support target sections B and C is transmitted from the beacons 18B and 18C (second roadside machine). When the interval between the vehicle 14 passing through the support target sections A and B and entering the support target sections B and C is less than the predetermined interval, the processing unit 38 determines the ID (first) of the beacons 18A and 18B. The identification number) and the IDs (second identification numbers) of the beacons 18B and 18C are associated with each other and stored in the storage unit 40. Further, when the storage unit 40 stores the IDs of the beacons 18A and 18B and the IDs of the beacons 18B and 18C, the storage unit 40 stores the IDs of the beacons 18A and 18B and the IDs of the beacons 18B and 18C. The display content after the vehicle 14 passes through the support target sections A and B is changed in the case where the vehicle 14 is not associated and stored.

  According to the above configuration, when the vehicle 14 enters the support target sections B and C after passing through the support target sections A and B, when detecting that the interval between both sections is less than the predetermined interval, The ID of the beacon 18 in each section is linked and stored. Then, after the vehicle 14 passes through the support target sections A and B after the next time, the display method of the driving support information is changed as compared with before the association. For this reason, flickering of the display regarding the driving support information can be prevented.

14 ... Vehicle 16, 16A-16C, 16a-16d ... Traffic light 18, 18A-18C ... Beacon (roadside machine, first roadside machine, second roadside machine)
26 ... Driving support device 38 ... Processing unit (control unit)
40 ... Storage unit 44 ... Display device (display unit)
50 ... Running environment information 60 ... Signal information

Claims (8)

A driving support device that receives signal information as information on a traffic signal installed at an intersection located in a traveling direction of a vehicle from outside the vehicle, and displays driving support information for a driver based on the signal information,
A first roadside device that transmits the signal information of the first support target section when an interval from passing through the first support target section to entering the second support target section is less than a predetermined interval; Associating with the second roadside machine that transmits the signal information of the second support target section,
When the vehicle travels in the first support target section, if the second roadside machine is associated with the first roadside machine, the driver after the vehicle has passed through the first support target section The driving support device is characterized by changing the display of the driving support information for the vehicle. The driving support device according to claim 1,
If the interval from passing through the first support target section to entering the second support target section is less than a predetermined interval, the first roadside machine that transmits the signal information of the first support target section The first identification number is linked to the second identification number of the second roadside machine that transmits the signal information of the second support target section,
When the vehicle travels in the first support target section, and the second identification number is associated with the first identification number, the vehicle has passed through the first support target section. A driving support apparatus, wherein the display of the driving support information for a driver is changed. In the driving assistance device according to claim 2,
When the vehicle travels through the first support target section, if the second identification number is associated with the first identification number, after the vehicle passes through the first support target section, A driving support device, which is modified to prohibit the driver from being notified of the end of driving support. In the driving assistance device according to claim 2,
When the vehicle travels through the first support target section, if the second identification number is associated with the first identification number, after the vehicle passes through the first support target section, The driving support device is changed so as to continue displaying the driving support information to the driver. In the driving assistance device according to any one of claims 1 to 4,
The interval is a distance interval or a time interval;
The predetermined interval is a predetermined distance interval or a predetermined time interval. The driving support device according to claim 5,
The predetermined distance interval or the predetermined time interval is determined based on a vehicle speed. First signal information as information on a first traffic signal installed at an intersection located in a straight direction of the vehicle and second signal information as information on a second traffic signal are received from outside the vehicle, and the first signal information and the first signal information A driving support device that displays driving support information for a driver based on two-signal information,
A first roadside device that transmits the first signal information and the second signal information when an interval from the reception of the first signal information to the reception of the second signal information is less than a predetermined interval; Is associated with the second roadside machine that transmits
When receiving the first signal information, if the second roadside machine is associated with the first roadside machine, the driving support information is displayed to the driver after receiving the first signal information. A driving support device characterized by being changed. A control unit that performs display control based on signal information as signal information transmitted from a roadside device;
A display unit that displays driving support information in a passenger compartment according to display content determined by the control unit, and a driving support device comprising:
A storage unit for storing unique information of the roadside device added to the signal information;
When the vehicle travels through the first support target section and the second support target section, which are target sections for driving support, the signal information of the first support target section is transmitted from the first roadside machine, and the second roadside machine The signal information of the second support target section is transmitted,
The controller is
When the interval between the vehicle passing through the first support target section and entering the second support target section is less than a predetermined interval, the first unique information of the first roadside machine and the second The second specific information of the roadside machine is associated with and stored in the storage unit,
Further, the storage unit stores the first unique information and the second unique information in association with each other, and the storage unit stores the first unique information and the second unique information in association with each other. The driving support device, wherein the display content after the vehicle has passed through the first support target section is changed in the case where the vehicle does not exist.

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