JP2019036100A - Driving support device - Google Patents

Abstract

To provide a driving support device capable of determining a state of a traffic signal without necessarily acquiring information from an infrastructure.SOLUTION: A driving support device 11 is mounted on an own vehicle 3. The driving support device includes an information acquisition unit and a state determination unit. The information acquisition unit acquires traffic signal information from an external device 9. The traffic signal information includes (a) information reflecting a state of a traffic signal and (b) information representing a position of the traffic signal. The traffic signal information is created by the external device on the basis of a detection result of a sensor 51 provided in preceding traffic signal information observation vehicles 7A, 7B and 7C capable of observing a traffic signal ahead in a traveling route of the own vehicle. The state determination unit determines a state of the traffic signal on the basis of the traffic signal information acquired by the information acquisition unit.SELECTED DRAWING: Figure 1

Description

  The present disclosure relates to a driving assistance device.

  The following safe driving support system is disclosed in Patent Document 1. Signal information including the light color and duration of the traffic light provided at the intersection is provided from the infrastructure to the in-vehicle device. The in-vehicle device determines whether or not the vehicle can pass the intersection based on the provided signal information, and performs vehicle speed control and the like.

JP-A-8-2285

  It takes time and cost to develop infrastructure at all intersections. The present disclosure provides a driving support device that can determine the state of a traffic light without necessarily acquiring information from the infrastructure.

  One aspect of the present disclosure is a driving support device (11) mounted on the host vehicle (3), based on the detection result of the sensor (51) included in the preceding traffic light information observation vehicle (7A, 7B, 7C). An information acquisition unit (9) for acquiring the traffic signal information from an external device (9, 65) having a function of generating traffic signal information including (a) information reflecting the status of the traffic signal and (b) information indicating the position of the traffic signal 35) and a state determination unit (37) for determining the state of the traffic signal based on the traffic signal information acquired by the information acquisition unit.

According to the driving support device which is one aspect of the present disclosure, the state of the traffic light can be determined without necessarily acquiring information from the infrastructure.
Note that the reference numerals in parentheses described in this column and in the claims indicate the correspondence with the specific means described in the embodiment described later as one aspect, and the technical scope of the present disclosure It is not limited.

1 is a block diagram illustrating a configuration of a driving support system 1. FIG. 2 is a block diagram illustrating a functional configuration of a driving support device 11. FIG. It is explanatory drawing showing the positional relationship of the own vehicle 3, other vehicle 7A, the intersection 55, the signal 57 for motor vehicles, the signal 59 for pedestrians, etc. FIG. 3 is a flowchart illustrating the entire processing executed by the driving support device 1; It is a flowchart showing the traffic signal state setting process based on external information which the driving assistance apparatus 1 performs. 4 is a flowchart illustrating a current signal state setting process executed by the driving support device 1; It is a flowchart showing the route plan production | generation process which the driving assistance device 1 performs. 4 is a flowchart illustrating a display process executed by the driving support device 1. It is explanatory drawing showing the example of the combination of the light color of the traffic light recognized by the autonomous sensor 17, the traffic light state set based on the external information, this time signal state, and a control command. 2 is a block diagram illustrating a configuration of a driving support system 101. FIG. It is explanatory drawing showing the positional relationship of the own vehicle 3, other vehicles 7A, 7B, and 7C, intersections 55 and 77, automobile signals 57 and 79, and pedestrian signals 59 and 81. It is explanatory drawing showing the method to produce | generate the switching timing information from red to blue.

An embodiment of the present disclosure will be described with reference to the drawings.
<First Embodiment>
1. Configuration of Driving Support System 1 The configuration of the driving support system 1 will be described with reference to FIGS. As shown in FIG. 1, the driving support system 1 includes an in-vehicle system 5 mounted on the host vehicle 3 and an in-vehicle system 9 mounted on each of the other vehicles 7A, 7B, 7C. The in-vehicle system 9 corresponds to an external device.

  The in-vehicle system 5 includes a driving support device 11, a wireless communication device 13, a GNSS 15, an autonomous sensor 17, a map information storage unit 19, a traffic signal profile storage unit 21, a notification device 23, a powertrain system 25, A brake system 27 and a steering system 29 are provided.

  The driving support apparatus 11 is configured around a known microcomputer having a CPU 31 and a semiconductor memory (hereinafter referred to as a memory 33) such as a RAM, a ROM, and a flash memory. Various functions of the driving support device 11 are realized by the CPU 31 executing a program stored in a non-transitional physical recording medium. In this example, the memory 33 corresponds to a non-transitional tangible recording medium that stores a program. Also, by executing this program, a method corresponding to the program is executed. Note that the number of microcomputers constituting the driving support device 11 may be one or plural.

  As shown in FIG. 2, the driving support device 11 has a function configuration realized by the CPU 31 executing a program, as shown in FIG. 2, an information acquisition unit 35, a state determination unit 37, a route plan generation unit 39, and a display unit. 41 and a vehicle control unit 42. The route plan generation unit 39 corresponds to a stop determination unit. The display unit 41 corresponds to a stop display unit and a status display unit.

  The method for realizing these elements constituting the driving support apparatus 11 is not limited to software, and some or all of the elements may be realized using one or a plurality of hardware. For example, when the above function is realized by an electronic circuit that is hardware, the electronic circuit may be realized by a digital circuit including a large number of logic circuits, an analog circuit, or a combination thereof.

  The wireless communication device 13 can perform wireless communication with the in-vehicle system 9 via the mobile phone network 43. The GNSS 15 can acquire the position information of the host vehicle 3. The autonomous sensor 17 is an in-vehicle camera. The autonomous sensor 17 can capture a traffic light or the like located in front of the host vehicle 3 and generate an image. The image generated by the autonomous sensor 17 is a color image. The color of the traffic light can be identified in the color image. The map information storage unit 19 stores map information. The map information includes traffic signal position information and a traffic signal identification number.

  The traffic signal profile storage unit 21 stores traffic signal profile information. The traffic light profile information is information representing a pattern of change in lamp color in a specific traffic light. For example, when the light color in a specific traffic light periodically changes as blue → yellow → red → blue → yellow..., The traffic light profile information records the duration of each light color. Further, the traffic signal profile information records at least a part of the time at which the lamp color is switched. Therefore, if the current time is collated with the traffic light profile information, the current light color of the traffic light can be estimated. Also, it can be estimated how many seconds after the current time the lamp color changes. The traffic signal profile information associates the identification number of each traffic signal with the pattern of change in lamp color.

  The notification device 23 is installed in the passenger compartment of the host vehicle 3. The notification device 23 includes a display and a speaker. The notification device 23 can display an image on the display. Moreover, the alarm device 23 can output sound through a speaker.

The powertrain system 25 drives the host vehicle 3. The brake system 27 decelerates or stops the host vehicle 3. The steering system 29 steers the host vehicle 3.
The in-vehicle system 9 has the same configuration in any of the other vehicles 7A, 7B, 7C. Here, the in-vehicle system 9 mounted on the other vehicle 7A will be described. The in-vehicle system 9 includes an arithmetic device 45, a wireless communication device 47, a GNSS 49, a traffic light state recognition sensor 51, and a map information storage unit 53.

  The arithmetic unit 45 is configured around a known microcomputer. The GNSS 49 can acquire the position information of the other vehicle 7A. The traffic light state recognition sensor 51 is an in-vehicle camera. The traffic light state recognition sensor 51 can capture a traffic light or the like located in front of another vehicle 7A and generate an image. The image generated by the traffic light state recognition sensor 51 is a color image. The color of the traffic light can be identified in the color image. The map information storage unit 53 stores map information. The map information includes traffic signal position information and a traffic signal identification number.

2. Processing Executed by Driving Support Device 11 Processing that is repeatedly executed by the driving support device 11 every predetermined time will be described with reference to FIGS. This process can be performed, for example, in the case shown in FIG. In this case, another vehicle 7 </ b> A exists in front of the host vehicle 3. The other vehicle 7 </ b> A corresponds to a preceding traffic signal information observation vehicle capable of observing the previous traffic signal on the travel route of the host vehicle 3. The host vehicle 3 and the other vehicle 7A are traveling in the same direction X. The other vehicle 7A is located in front of the intersection 55. At the intersection 55, there are an automobile signal 57 for displaying in the direction X and a pedestrian signal 59. In addition, at the intersection 55, there are an automobile signal 61 and a pedestrian signal 63 that perform display related to the direction Y that intersects the direction X. The automobile signal 57 is a traffic signal (hereinafter referred to as the next traffic light) through which the host vehicle 3 passes next. The intersection 55 is an intersection through which the host vehicle 3 passes next.

  In step 1 of FIG. 4, the information acquisition unit 35 performs processing for acquiring external information. The external information includes the above-described signal profile information, infrastructure information, and signal information. Infrastructure information is information provided by the infrastructure. The infrastructure information includes the contents of the current signal color, the timing at which the current color is switched to the next color, and the like. The infrastructure information associates the identification number of each traffic signal with the above contents.

  The traffic signal information is information that is generated and transmitted by the in-vehicle system 9 included in the other vehicle 7A. The traffic signal information includes information indicating the light color of the traffic signal at the current time. In addition, the traffic signal information includes switching timing information depending on circumstances. The switching timing information is information indicating the timing at which the light color of the traffic light at the present time is switched to the next light color. Information indicating the color of the traffic light at the current time and switching timing information correspond to information reflecting the state of the traffic light.

  Further, the traffic signal information includes position information of the other vehicle 7A. The position information of the other vehicle 7A corresponds to information indicating the position of the traffic light. If the position information of the other vehicle 7A and the map information are collated, the traffic signal closest to the other vehicle 7A can be specified. Therefore, the position information of the other vehicle 7A is information indicating the position of the traffic signal. is there.

  The in-vehicle system 9 generates traffic signal information as follows. Using the traffic light state recognition sensor 51, an image including a traffic light located in front of the other vehicle 7A is repeatedly photographed to generate a plurality of images. In the example illustrated in FIG. 3, an image including the automobile signal 57 and the pedestrian signal 59 is repeatedly captured to generate a plurality of images. Based on the plurality of images, the current lamp color of the automobile signal 57 is determined. Further, based on the plurality of images, it is determined whether or not the pedestrian signal 59 is blinking. When the pedestrian signal 59 is blinking, it is determined that the timing at which the current light color blue of the car signal 57 switches to the next light color yellow or red is N seconds later. . Then, switching timing information is generated that indicates that the current lamp color blue of the automobile signal 57 is switched to the next lamp color yellow or red in N seconds. N is a positive value and is a known value. N is stored in advance in the arithmetic unit 45.

  When the pedestrian signal 59 is not blinking, switching timing information is not generated. Further, the position information of the other vehicle 7A is acquired using the GNSS 49. Finally, signal information is generated by combining information representing the light color of the automobile signal 57 at the present time, switching timing information, and position information of the other vehicle 7A. However, when the switching timing information is not generated, the traffic signal information does not include the switching timing information. The in-vehicle system 9 transmits the generated signal information using the wireless communication device 47 and the mobile phone network 43. The driving support device 11 can acquire traffic signal information using the wireless communication device 13.

  In step 2, the state determination unit 37 sets the state of the traffic light based on external information. This process will be described with reference to FIG. In step 11 of FIG. 5, it is determined in step 1 whether or not the traffic signal profile information corresponding to the next traffic signal has been acquired. If the traffic signal profile information corresponding to the next traffic signal can be acquired, the process proceeds to step 12; otherwise, the process proceeds to step 13.

  Whether or not the traffic signal profile information corresponds to the next traffic signal can be determined as follows. The map information and the current position of the host vehicle 3 are collated to identify the identification number of the next traffic light. Also, the traffic signal identification number included in the traffic signal profile information is read. If the identification number of the next traffic signal matches the traffic signal identification number read from the traffic signal profile information, it is determined that the traffic signal profile information corresponds to the next traffic signal.

  In step 12, the traffic signal state and switching timing are set for the next traffic light using the traffic signal profile information corresponding to the next traffic light. The traffic light state is the light color of the current traffic light. The switching timing is the timing at which the current lamp color is switched to the next lamp color. The current lamp color is, for example, blue, and the next lamp color is, for example, yellow or red.

  In step 13, it is determined in step 1 whether the infrastructure information corresponding to the next traffic light has been acquired. If the infrastructure information corresponding to the next traffic light can be acquired, the process proceeds to step 14; otherwise, the process proceeds to step 15.

  Note that whether or not the infrastructure information corresponds to the next traffic light can be determined as follows. The map information and the current position of the host vehicle 3 are collated to identify the identification number of the next traffic light. Further, the traffic signal identification number included in the infrastructure information is read out. If the identification number of the next traffic signal matches the traffic signal identification number read from the infrastructure information, it is determined that the infrastructure information corresponds to the next traffic signal.

In step 14, using the infrastructure information corresponding to the next traffic light, the traffic light state and switching timing are set for the next traffic light.
In step 15, it is determined in step 1 whether or not the traffic signal information corresponding to the next traffic signal has been acquired. If the traffic signal information corresponding to the next traffic signal can be acquired, the process proceeds to step 16; otherwise, the process ends.

  Whether or not the traffic signal information corresponds to the next traffic signal can be determined as follows. The position of the next traffic light is identified by comparing the map information with the current position of the host vehicle 3. In addition, information indicating the position of the traffic signal included in the traffic signal information is read. If the position of the next traffic signal matches the information indicating the traffic signal position read from the traffic signal information, it is determined that the traffic signal information corresponds to the next traffic signal.

  In step 16, it is determined whether or not the traffic signal information acquired in step 1 includes switching timing information. When the switching timing information is not included, the process proceeds to step 17, and when the switching timing information is included, the process proceeds to step 18.

In step 17, using the traffic signal information, a traffic signal state is set for the next traffic signal.
In step 18, the traffic signal state and the switching timing are set for the next traffic signal using the traffic signal information.

  Returning to FIG. 4, in step 3, the state determination unit 37 sets the current signal state and stores it in the memory 33. The memory 33 corresponds to a storage unit. This process will be described with reference to FIG. In step 21 of FIG. 6, the front of the host vehicle 3 is imaged using the autonomous sensor 17 to generate an image. The image includes the following traffic lights.

  In step 22, it is determined whether or not the next traffic light can be recognized in the image generated in step 21. If the light color of the next traffic light can be recognized, the process proceeds to step 23, and if it cannot be recognized, the process proceeds to step 37.

  In step 23, the autonomous recognition impossible counter is reset. The autonomous recognition impossibility counter is a counter that is incremented by 1 each time the process of step 37 is performed. The autonomous recognition impossibility counter increases as the state in which the autonomous sensor 17 cannot recognize the color of the next traffic light becomes longer.

In step 24, the lamp color of the next traffic light recognized by the autonomous sensor 17 is set to the current signal state.
In step 25, it is determined in step 2 whether or not the traffic light state has been set based on external information. If the traffic light state has been set from external information, the process proceeds to step 26, and if not set, the process proceeds to step 32.

In step 26, it is determined whether at least one of the following conditions J1 to J3 is satisfied. J1 to J3 correspond to conditions that prioritize external information over the recognition result of the autonomous sensor 17.
J1: The current signal state based on the autonomous sensor 17 set in step 24 is neither red, yellow nor unknown.

J2: In any of Steps 12, 14, 17, and 18, red is set as the traffic light state, or a switching timing is set.
J3: The autonomous recognition impossible counter is greater than or equal to a preset threshold value.

If any one of J1 to J3 is satisfied, the process proceeds to step 27. If none of J1 to J3 is satisfied, the process proceeds to step 32.
In step 27, it is determined whether or not the switching timing is set in any of steps 12, 14, 17, and 18. If the switching timing is set, the process proceeds to step 28. If the switching timing is not set, the process proceeds to step 30.

  In step 28, it is determined whether or not the host vehicle 3 can pass the next intersection before the next traffic light changes from blue to red. This determination can be made based on the distance from the current vehicle 3 to the next intersection at the current time, the vehicle speed of the current vehicle 3 at the current time, and the time until the light color of the next traffic light switches from blue to red. .

  The current distance from the host vehicle 3 to the next intersection can be calculated from the position of the host vehicle 3 acquired using the GNSS 15 and the position of the next intersection in the map information. The vehicle speed of the host vehicle 3 can be acquired by a vehicle speed sensor included in the host vehicle 3. The time until the lamp color of the next traffic light is switched from blue to red can be calculated from the switching timing set in steps 12, 14, and 18.

If the vehicle 3 cannot pass the next intersection before the next traffic light switches from blue to red, the process proceeds to step 29. If it can pass, the process proceeds to step 31.
In step 29, the current signal state is red.

  If a negative determination is made in step 27, the process proceeds to step 30, and it is determined whether or not the traffic light state set in step 17 is blue. If it is blue, the process proceeds to step 31; otherwise, the process proceeds to step 29.

In step 31, the current signal state is blue.
If a negative determination is made in step 25 or 26, the process proceeds to step 32, where it is determined whether or not the autonomous sensor 17 can recognize the color of the next traffic light. If the light color of the next traffic light can be recognized by the autonomous sensor 17, the process proceeds to step 33, and if it cannot be recognized, the process proceeds to step 34.

In step 33, the lamp color of the next traffic light recognized by the autonomous sensor 17 is set to the current signal state.
In step 34, when the processing of step 3 was executed last time, it is determined whether or not the light color of the next traffic light has been recognized by the autonomous sensor 17. When the autonomous sensor 17 can recognize the light color of the next traffic light last time, the process proceeds to step 35, and when the autonomous sensor 17 cannot recognize the light color of the next traffic light, the process proceeds to step 36.

In step 35, the previous signal state is set to the current signal state. The previous signal state is the current signal state when the process of step 3 was executed last time.
In step 36, the current signal state is red.

If a negative determination is made in step 22, the autonomous recognition impossibility counter is incremented by 1 in step 37, and the process proceeds to step 25.
Returning to FIG. 4, in step 4, the route plan generation unit 39 generates a route plan. The route plan is a plan that defines the vehicle speed of the host vehicle 3 for each point on the route. This process will be described with reference to FIG. In step 41, it is determined whether the current signal state set in step 3 is red or blue. If the current signal state is blue, the process proceeds to step 42, and if the current signal state is red, the process proceeds to step 43.

In step 42, “maintain or accelerate the current vehicle speed” is set as the control command.
In step 43, it is determined whether or not the current signal state has changed from blue to red immediately before the current time. If the color has changed from blue to red immediately before the current time, the process proceeds to step 44; otherwise, the process proceeds to step 45.

  In step 44, it is determined whether or not the own vehicle 3 can stop before the next intersection. This determination can be made based on the current distance from the host vehicle 3 to the next intersection and the current vehicle speed of the host vehicle 3. The current distance from the host vehicle 3 to the next intersection can be calculated from the position of the host vehicle 3 acquired using the GNSS 15 and the position of the next intersection in the map information. The vehicle speed of the host vehicle 3 can be acquired by a vehicle speed sensor included in the host vehicle 3. If the host vehicle 3 can stop before the next intersection, the process proceeds to step 45;

In step 45, “stop or decelerate” is set as the control command.
In step 46, the current signal state is set to the previous signal state.
Returning to FIG. 4, in step 5, the display unit 41 performs display processing. This process will be described with reference to FIG. In step 51, it is determined whether the current signal state set in step 3 is red or blue. If the current signal state is blue, the process proceeds to step 52, and if the current signal state is red, the process proceeds to step 56.

In step 52, the notification device 23 is used to display a green signal. The display may be characters or icons.
In step 53, it is determined whether or not the control command set in step 4 is “maintain or accelerate the current vehicle speed”. When the control command is “maintain or accelerate the current vehicle speed”, the process proceeds to step 54, and when the control command is “stop or decelerate”, the process proceeds to step 55.

In step 54, the notification device 23 is used to notify that the signal passes. The form of notification may be a display on a display or a sound from a speaker.
In step 55, the notification device 23 is used to notify that the vehicle is decelerated and stopped. The form of notification may be a display on a display or a sound from a speaker.

  In step 56, it is determined whether or not the current signal state is set to red as a result of the negative determination in step 28. In other words, at this time, the next traffic light is blue, the switching timing is set, and is the vehicle 3 incapable of passing the next intersection before the light changes to red? Judge whether or not. If it is in this state, the process proceeds to step 57, and if not, the process proceeds to step 58.

  In step 57, the notification device 23 is used to display that the current traffic light color is blue and the remaining time until the traffic light color of the next traffic light is switched from blue to yellow or red. . The display may be characters or icons.

In step 58, the notification device 23 is used to display that the current traffic light color is red. The display may be characters or icons.
Returning to FIG. 4, in step 6, the vehicle control unit 42 performs vehicle control. That is, the host vehicle 3 is caused to travel using the powertrain system 25, the brake system 27, and the steering system 29 according to the route plan generated in Step 4.

  9 shows the signal color of the traffic light recognized by the autonomous sensor 17, the traffic light state set based on external information in the step 2, the current signal state finally set in the step 3, and the step 4 An example of a combination with the control command set in is shown.

3. Effects produced by the driving support device 11 (1A) Even when the driving support device 11 cannot recognize the light color of the next traffic light by the autonomous sensor 17, it can recognize the light color of the next traffic light using external information. . In addition, even when the infrastructure information cannot be acquired, the driving support device 11 can recognize the light color of the next traffic signal using the traffic signal information.

(1B) The driving assistance apparatus 11 can generate a route plan for the host vehicle 3 based on the recognized light color of the traffic light.
(1C) The driving assistance apparatus 11 acquires traffic signal information. The traffic signal information includes the status of the traffic signal determined based on an image obtained by photographing the traffic signal. Therefore, the driving assistance device 11 does not need to determine the state of the traffic light based on the image obtained by photographing the traffic light, and thus can reduce the processing load.

  (1D) The driving assistance apparatus 11 can notify the driver of the host vehicle 3 using the notification device 23 whether or not to stop at the next traffic light. In addition, the driving support device 11 can display the state of the next traffic light at the current time and the switching timing to the driver using the notification device 23. Therefore, the driver can predict the future behavior of the host vehicle 3. Further, the driver can know the cause of the behavior of the host vehicle 3 at the current time. As a result, the driver is less likely to have anxiety about the behavior of the host vehicle 3.

  (1E) The traffic signal information is generated by the in-vehicle system 9 mounted on each of the other vehicles 7A, 7B, 7C,. Therefore, the processing burden on the driving support device 11 can be reduced. Further, the driving support system 1 may not include a server or the like for generating traffic signal information.

(1F) The traffic signal information can include switching timing information. When the traffic signal information includes switching timing information, the driving support device 11 recognizes that, for example, the time to switch to yellow or red is short even if the light color of the next traffic signal at present is blue, This time the signal state can be set to red. As a result, a route plan can be generated more appropriately.
Second Embodiment
1. Differences from the First Embodiment Since the basic configuration of the second embodiment is the same as that of the first embodiment, the differences will be described below. Note that the same reference numerals as those in the first embodiment indicate the same configuration, and the preceding description is referred to.

  As shown in FIG. 10, the driving support system 101 further includes a server 65. The server 65 is fixedly installed. The server 65 corresponds to an external device. The server 65 includes an arithmetic device 67, a communication device 69, a map information storage unit 71, and a traffic signal information storage unit 73.

  The arithmetic unit 67 is configured around a known microcomputer. The communication device 69 can communicate with the driving support device 11 and the in-vehicle system 9 using the dedicated network 75 and the mobile phone network 43. The map information storage unit 71 stores map information. The map information includes traffic signal position information and a traffic signal identification number. The traffic signal information storage unit 73 stores traffic signal information.

  In the second embodiment, the traffic signal information is created as follows. For example, in the example shown in FIG. 3, the in-vehicle system 9 mounted on the other vehicle 7 </ b> A uses the traffic light state recognition sensor 51 to repeatedly take images including the automobile signal 57 and the pedestrian signal 59, and Generate an image. Moreover, the vehicle-mounted system 9 acquires the positional information of the other vehicle 7A using GNSS49. The in-vehicle system 9 transmits a plurality of images and position information of the other vehicle 7A to the server 65.

  The server 65 determines the current lamp color of the automobile signal 57 based on the plurality of received images. Further, based on the plurality of images, it is determined whether or not the pedestrian signal 59 is blinking. When the pedestrian signal 59 is blinking, it is determined that the timing at which the current lamp color of the automobile signal 57 is switched to the next lamp color is N seconds later, and switching timing information is generated. N is a positive value and is a known value, and is stored in the arithmetic device 67 in advance. When the pedestrian signal 59 is not blinking, switching timing information is not generated. Finally, signal information is generated by combining information representing the light color of the automobile signal 57 at the present time, switching timing information, and position information of the other vehicle 7A. However, when the switching timing information is not generated, the traffic signal information does not include the switching timing information. The server 65 transmits the generated signal information to the driving support device 11 using the communication device 69, the dedicated network 75, and the mobile phone network 43. The server 65 stores the generated traffic signal information in the traffic signal information storage unit 73.

2. Effects exhibited by the driving support device 11 According to the second embodiment described in detail above, the effects (1A) to (1D) and (1F) of the first embodiment described above are exhibited, and further, the following effects are achieved.

(2A) The signal information is generated by the server 65. Therefore, the processing burden on the driving support device 11 and the arithmetic device 45 can be reduced.
<Other embodiments>
As mentioned above, although embodiment of this indication was described, this indication is not limited to the above-mentioned embodiment, and can carry out various modifications.

  (1) In the first embodiment, the traffic signal information may be information including an image obtained by capturing the traffic signal using the traffic signal state recognition sensor 51 and information indicating the position of the traffic signal. This traffic signal information can be generated, for example, as follows and transmitted to the driving support device 11.

  This will be described based on the example shown in FIG. The in-vehicle system 9 repeatedly captures an image including the automobile signal 57 and the pedestrian signal 59 using the traffic light state recognition sensor 51 to generate a plurality of images. Moreover, the vehicle-mounted system 9 acquires the positional information of the other vehicle 7A using GNSS49. The in-vehicle system 9 generates traffic signal information in combination with a plurality of images and position information of the other vehicle 7A. The in-vehicle system 9 transmits the traffic signal information to the driving support device 11. The plurality of images correspond to information reflecting the state of the traffic light.

  The driving assistance device 11 can determine the current lamp color of the automobile signal 57 based on a plurality of images included in the traffic signal information. Further, based on the plurality of images, it can be determined whether or not the pedestrian signal 59 is blinking. When the pedestrian signal 59 is blinking, it can be determined that the timing at which the current lamp color of the automobile signal 57 is switched to the next lamp color is N seconds later. N is a positive value and a known value, and is stored in the memory 33 in advance.

The driving support device 11 can perform the processing of steps 16 to 18 using the current lamp color of the automobile signal 57 and the timing at which the current lamp color is switched to the next lamp color.
(2) In the first embodiment, the driving assistance device 11 may acquire traffic signal information from a plurality of other vehicles 7A, 7B, 7C,. For example, as shown in FIG. 11, another vehicle 7A located before the intersection 55, another vehicle 7B located before the intersection 77, and another vehicle 7C located on the intersection 77, respectively. Information may be acquired.

In the example shown in FIG. 11, the intersection 55 is located forward and the intersection 77 is located further forward as viewed from the host vehicle 3 traveling in the X direction.
At the intersection 55, there are an automobile signal 57 for displaying in the direction X and a pedestrian signal 59. In addition, at the intersection 55, there are an automobile signal 61 and a pedestrian signal 63 that perform display related to the direction Y that intersects the direction X.

  At the intersection 77, there are an automobile signal 79 for displaying the direction X and a pedestrian signal 81. In addition, at the intersection 77, there are an automobile signal 83 and a pedestrian signal 85 for performing display related to the direction Y intersecting the direction X.

  The driving assistance device 11 may generate a route plan including a plurality of intersections 55 and 77 using traffic signal information acquired from a plurality of other vehicles 7A, 7B, 7C. For example, the current signal state of the automobile signal 57 is set to blue based on the traffic signal information acquired from the other vehicle 7A, and the current signal state of the automobile signal 79 is set based on the traffic signal information acquired from the other vehicles 7B and 7C. Is set to blue, the vehicle speed when passing through the intersection 55 can be made lower than the normal vehicle speed. By doing so, it is possible to suppress sudden deceleration before the intersection 77. The normal vehicle speed is, for example, the vehicle speed when the current signal states of the automobile signal 57 and the automobile signal 79 are both blue.

Also in the second embodiment, the same processing as above can be performed.
(3) In the first and second embodiments, the traffic signal information is switching timing information (hereinafter referred to as switching timing information from red to blue) indicating the timing at which the lamp color of the traffic signal switches from red to blue. May be included. The switching timing information from red to blue can be generated as follows, for example. As shown in FIG. 12, the host vehicle 3 is traveling in the direction X and is located in front of the intersection 55. The other vehicle 7A travels in the direction Y and is located in front of the intersection 55. At the intersection 55, there are an automobile signal 57 for displaying in the direction X and a pedestrian signal 59. In addition, at the intersection 55, there are an automobile signal 61 and a pedestrian signal 63 that perform display related to the direction Y that intersects the direction X.

  The in-vehicle system 9 of the other vehicle 7A repeatedly captures an image including the pedestrian signal 63 using the traffic light state recognition sensor 51, and generates a plurality of images. Based on the plurality of images, it is determined whether or not the pedestrian signal 63 is blinking. When the pedestrian signal 63 is blinking, it is determined that the timing at which red, which is the current lamp color of the automobile signal 57, switches to blue is N seconds later, and the switching timing from red to blue is determined. Generate information. N is a positive value and a known value. When the pedestrian signal 63 is not blinking, the switching timing information from red to blue is not generated.

When the traffic signal information includes switching timing information from red to blue, the driving support device 11 can generate a route plan reflecting the switching timing information from red to blue.
(4) The number of other vehicles equipped with the in-vehicle system 9 may be singular or plural.

  (5) The information indicating the position of the traffic signal included in the traffic signal information may be an identification number of the traffic signal. The driving support device 11 can identify the position of the traffic light by collating the traffic signal identification number with the map information. The information indicating the position of the traffic signal included in the traffic signal information may be the position information of the traffic signal itself.

(6) When the traffic light displays the time until switching from the current lamp color to the next lamp color, the in-vehicle system 9 or the server 65 can recognize the display and create switching timing information.
(7) The traffic signal information may include information on the time when it was generated. The driving support device 11 can increase the probability of the traffic signal information as the generated time is newer.

(8) The driving support apparatus 1 may further include the following configuration, for example.
A travel route acquisition unit that acquires the travel route of the host vehicle;
Vehicle detection for detecting the first vehicle that travels in the same direction as the host vehicle and travels in the same direction as the host vehicle, or the second vehicle that travels in the direction opposite to the host vehicle. Unit,
Among the first vehicle or the second vehicle detected by the vehicle detection unit, a vehicle capable of recognizing the state of the traffic signal using the sensor is specified as at least one preceding traffic signal information observation vehicle. Vehicle specific unit.
The detection of the first vehicle and the second vehicle may be performed via infrastructure or may be performed by inter-vehicle communication. The second vehicle corresponds to the oncoming vehicle as seen from the host vehicle.
(9) A plurality of functions of one constituent element in the above embodiment may be realized by a plurality of constituent elements, or a single function of one constituent element may be realized by a plurality of constituent elements. . Further, a plurality of functions possessed by a plurality of constituent elements may be realized by one constituent element, or one function realized by a plurality of constituent elements may be realized by one constituent element. Moreover, you may abbreviate | omit a part of structure of the said embodiment. 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 disclosure.

  (10) In addition to the above-described driving support device, a system including the driving support device as a constituent element, a program for causing a computer to function as the driving support device, and a non-transitional actual recording such as a semiconductor memory storing the program The present disclosure can also be realized in various forms such as a medium, a driving support method, a signal light color recognition method, and a route plan creation method.

3 ... Own vehicle, 5, 9 ... In-vehicle system, 7A, 7B, 7C ... Other vehicles, 11 ... Driving support device, 17 ... Autonomous sensor, 23 ... Alarm, 35 ... Information acquisition unit, 37 ... State determination unit, DESCRIPTION OF SYMBOLS 39 ... Route plan production | generation unit, 41 ... Display unit, 51 ... Traffic signal state recognition sensor, 57, 61, 79, 83 ... Car signal, 59, 63, 81, 85 ... Pedestrian signal, 65 ... Server, 67 ... Arithmetic unit

Claims (14)

A driving support device (11) mounted on the host vehicle (3),
Based on the detection result of the sensor (51) provided in the preceding traffic signal information observation vehicle (7A, 7B, 7C) capable of observing the previous traffic signal on the travel route of the host vehicle, (a) the traffic signal (57, 61, 79, 83) , 9, 63, 81, 85) and (b) obtaining the traffic signal information from an external device (9, 65) having a function of generating traffic signal information including information indicating the position of the traffic signal An information acquisition unit (35) to perform,
A state determination unit (37) for determining the state of the traffic signal based on the traffic signal information acquired by the information acquisition unit;
A driving support apparatus comprising: The driving support device according to claim 1,
A driving support apparatus further comprising a route plan generation unit (39) for generating a route plan of the host vehicle based on the state of the traffic light determined by the state determination unit. The driving support device according to claim 2,
The route plan generation unit is configured such that when the state of the traffic light determined by the state determination unit is a green light, or the state of the traffic light determined by the state determination unit changes from a green light to a red light, and the traffic light exists. A driving support device configured to generate the route plan passing through the intersection while maintaining or accelerating the vehicle speed of the host vehicle when it is determined that the host vehicle cannot be stopped at the intersection. The driving support device according to claim 2 or 3,
The route plan generation unit decelerates and stops when it is determined that the state of the traffic light determined by the state determination unit is a red signal and the host vehicle can be stopped at an intersection where the traffic light exists. A driving assistance device configured to generate a route plan. The driving support device according to any one of claims 1 to 4,
(A) The driving support device, wherein the information reflecting the state of the traffic signal is an image obtained by photographing the traffic signal with the sensor. The driving support device according to any one of claims 1 to 4,
(A) The driving support device in which the information reflecting the state of the traffic light is the state of the traffic light determined based on an image obtained by photographing the traffic light by the sensor. The driving support device according to any one of claims 1 to 6,
A stop determination unit (39) for determining whether or not to stop in the traffic light based on the state of the traffic light determined by the state determination unit;
A stop display unit (41) for displaying the determination result of the stop determination unit;
A driving support apparatus further comprising: The driving support device according to any one of claims 1 to 5,
The driving support device further comprising a state display unit (41) for displaying a determination result of the state determination unit. The driving support device according to any one of claims 1 to 8,
The external device (9) is a driving support device mounted on the preceding traffic signal information observation vehicle. The driving support device according to any one of claims 1 to 8,
The external device (65) is a driving support device fixedly installed. It is a driving assistance device given in any 1 paragraph of Claims 1-10,
The traffic signal information further includes switching timing information indicating a timing at which the lamp color of the traffic signal switches to the next lamp color,
The traffic signal information includes information that the status of the traffic signal is a green signal and the switching timing information indicating a timing at which the green signal is switched to a red signal, and the traffic signal is transmitted by the timing at which the green signal is switched to a red signal. When the host vehicle cannot pass through an existing intersection, the state determination unit is configured to determine the state of the traffic light as a red light. It is a driving assistance device given in any 1 paragraph of Claims 1-11,
The said state judgment unit is a driving assistance device comprised so that the state of the said traffic light might be judged further using the recognition result of the state of the said traffic light by the autonomous sensor mounted in the said own vehicle. The driving support device according to claim 12,
A storage unit for storing the determination result of the state determination unit;
When the state of the traffic signal cannot be determined based on the traffic signal information, the state of the traffic signal cannot be determined using the autonomous sensor, and the previous determination result of the state determination unit is stored in the storage unit, The state determination unit determines that the state of the traffic light is the previous determination result,
When it is not possible to determine the state of the traffic signal based on the traffic signal information, it is not possible to determine the state of the traffic signal using the autonomous sensor, and the previous determination result of the state determination unit is not stored in the storage unit, The state determination unit is a driving support device configured to determine that the state of the traffic light is a red light. It is a driving assistance device given in any 1 paragraph of Claims 1-13,
A travel route acquisition unit that acquires the travel route of the host vehicle;
Vehicle detection for detecting the first vehicle that travels in the same direction as the host vehicle and travels in the same direction as the host vehicle, or the second vehicle that travels in the direction opposite to the host vehicle. Unit,
Among the first vehicle or the second vehicle detected by the vehicle detection unit, a vehicle capable of recognizing the state of the traffic signal using the sensor is specified as at least one preceding traffic signal information observation vehicle. A vehicle specific unit,
A driving support apparatus further comprising:

Images