JP2021015319A - Attention attracting device, attention attracting method, and attention attracting program - Google Patents

Abstract

To make it possible to effectively attract attention to prevent a rear-end collision accident in which a vehicle runs into a preceding vehicle which travels while complying with the speed limit.SOLUTION: A detection data input unit receives input of first vehicle detection data including the speed of a vehicle traveling in a first target area that is set to a track. A calculation unit calculates a determination value indicating variations in the speed of the vehicle in the first target area by using the first vehicle detection data. A determination unit determines the necessity of attracting attention on the upstream side of the first target area based on the calculated determination value. An output unit outputs a result of determination made by the determination unit.SELECTED DRAWING: Figure 3

Description

The present invention relates to a technique for alerting a driver of a vehicle traveling on a traveling road so as not to cause a traffic accident.

Conventionally, there has been one that detects traffic events (traffic jams, stopped vehicles, low-speed vehicles, obstacles, accidents, etc.) that occur on the road (vehicle's running path) and alerts the driver of the following vehicle ( See Patent Documents 1 and 2). The devices described in Patent Documents 1 and 2 use the detection result of the vehicle by the radio wave radar and the detection result of the vehicle by the image captured by the camera, so that the detection omission of the traffic event that occurred and the actual occurrence occur. The accuracy of detecting traffic events is improved by suppressing false detection of traffic events that have not occurred.

Japanese Unexamined Patent Publication No. 2001-84485 JP-A-2002-222487

However, when the above traffic event does not occur, a rear-end collision occurs in which a following vehicle traveling at a speed exceeding this maximum speed collides with a preceding vehicle traveling in compliance with the maximum speed. The number of cases is not small. The devices described in Patent Documents 1 and 2 do not call attention to the following vehicle in order to prevent such a rear-end collision (Patent Documents 1 and 2 describe the traffic event that has occurred. It is configured to alert the following vehicle by using the detection as a trigger.)

Recently, the development of a level 3 or higher autonomous driving vehicle (hereinafter, simply referred to as an autonomous driving vehicle) that automatically performs speed control and steering operation has been promoted. Self-driving vehicles are programmed to perform speed control in compliance with the maximum speed. Therefore, when autonomous vehicles are put into practical use and become widespread, the frequency of rear-end collisions (rear-end collisions in which a non-autonomous driving vehicle, which is a following vehicle, collides with an autonomous driving vehicle, which is a preceding vehicle), may increase. I am concerned.

An object of the present invention is to provide a technique for effectively calling attention so as not to cause a rear-end collision with a preceding vehicle traveling in compliance with the maximum speed.

The alert device of the present invention is configured as shown below in order to achieve the above object.

The first vehicle detection data including the speed of the vehicle traveling in the first target area set for the travel path is input to the detection data input unit. The calculation unit uses the first vehicle detection data input to the detection data input unit to calculate a determination value indicating a variation in vehicle speed within the first target area. For example, the calculation unit may calculate the variance of the vehicle speed in the first target area, the standard deviation, or the like as a determination value.

The determination unit determines the necessity of calling attention on the upstream side of the first target area based on the determination value calculated by the calculation unit. For example, if the determination value is larger than a predetermined threshold value, the determination unit determines that it is necessary to call attention on the upstream side of the first target area. The output unit outputs the judgment result (necessity of calling attention) of the judgment unit.

According to this configuration, when the variation (determination value) of the vehicle speed in the first target area is large, it can be determined that caution is required on the upstream side of the first target area. This determination value is, for example, when there is a vehicle having a relatively large speed difference (absolute value) (for example, 30 km / h or more) with respect to the average speed of the vehicle group traveling in the first target area. growing. In other words, the determination value becomes smaller as the speed of each vehicle of the vehicle group traveling in the first target area is substantially the same speed (the difference between the maximum speed and the minimum speed is less than several km / h). That is, the determination value becomes smaller as the speed of each vehicle in the vehicle group traveling in the first target area is biased toward the average speed of the vehicle group traveling in the first target area. As is clear from these facts, the vehicle group traveling in the first target area is divided into a vehicle group traveling at a speed exceeding the maximum speed and a vehicle group traveling in compliance with the maximum speed. In that case, the judgment value becomes large. In addition, the vehicle group traveling in the first target area may be divided into a vehicle group traveling in compliance with the maximum speed and a vehicle group traveling at a relatively low speed with respect to the maximum speed. The judgment value becomes large.

In addition, it can be estimated that the speed of the traveling vehicle varies to the same extent as that of the first target area on the upstream side of the first target area (the variation in the speed of the vehicle must cause a special traffic event). For example, it continues to the same extent over a relatively wide range without sudden changes.)

Therefore, when the traffic condition is such that vehicles having a relatively large speed difference (absolute value) (for example, 30 km / h or more) are mixed in the vehicle group traveling in the first target area, the determination unit is subjected to the second. 1 It can be determined that it is necessary to call attention on the upstream side of the target area. This prevents the driver of a vehicle entering the first target area from the upstream side (particularly a vehicle traveling at a speed exceeding the maximum speed) from causing a rear-end collision with a preceding vehicle. You can effectively call attention.

Further, the second vehicle detection data including the speed of the vehicle traveling in the second target area set on the upstream side of the first target area is also input to the detection data input unit, and the determination unit is within the first target area. The comparison result of comparing the speed of the vehicle in the second target area with the speed of the vehicle in the second target area may also be used to determine the necessity of calling attention on the upstream side of the first target area.

With this configuration, even if most of the vehicles traveling in the first target area are traveling in compliance with the maximum speed (even if the judgment value is small). , When most of the vehicles traveling in the second target area set on the upstream side of the first target area are traveling at a speed faster than the speed of the vehicle traveling in the first target area, etc. In addition, it can be determined that attention is required.

Further, a notification receiving unit for notifying the maximum speed specified for the first target area is provided, and the determination unit further provides that the maximum speed specified for the first target area is equal to or lower than the set speed. If this is the case, it may be configured to determine that it is necessary to call attention on the upstream side of the first target area.

With this configuration, it can be determined that caution is required when the speed regulation is enforced for the first target area and the maximum speed is lowered to some extent from the normal time.

According to the present invention, it is possible to effectively call attention to prevent a rear-end collision with a preceding vehicle traveling while observing the maximum speed.

FIG. 1A is a plan view of the vehicle traveling on the traveling road in the width direction, and FIG. 1B is a plan view of the traveling road on which the vehicle is traveling in a direction perpendicular to the road surface. Is. It is a figure which shows the connection of the attention alerting device, the radio wave radar device, and the guidance display board which concerns on this example. It is a figure which shows the structure of the main part of the attention alerting apparatus which concerns on this example. It is a flowchart which shows the operation of a radio wave radar apparatus. 5 (A) and 5 (B) are diagrams for explaining the tracking data. It is a flowchart which shows the operation of the attention alerting device. It is a figure which shows the structure of the main part of the attention alerting apparatus which concerns on a modification. It is a flowchart which shows the operation of the attention alerting device which concerns on a modification. It is a figure which shows the traveling path to which the attention alerting device of another modification is applied. It is a figure which shows the connection of the attention alerting device, the radio wave radar device, and the guidance display board which concerns on another modification. It is a figure which shows the structure of the main part of the attention alerting device which concerns on another modification. It is a flowchart which shows the operation of the attention alerting device which concerns on another modification.

Hereinafter, the alert device according to the embodiment of the present invention will be described.

<1. Application example>
FIG. 1 is a schematic view showing a traveling path to which the caution device according to this example is applied. FIG. 1A is a plan view of the vehicle traveling on the traveling road in the width direction, and FIG. 1B is a plan view of the traveling road on which the vehicle is traveling in a direction perpendicular to the road surface. Is. FIG. 2 is a diagram showing the connection of the alert device, the radio wave radar device, and the guidance display board according to this example.

As shown in FIG. 2, a radio wave radar device 5 and a guidance display board 8 are connected to the alert device 1 according to this example. The alert device 1 may be connected to the radio wave radar device 5 and the guidance display board 8 by wire or wirelessly. Further, as will be described later, the radio wave radar device 5 is installed at a position where the target area 100 (corresponding to the first target area referred to in the present invention) set for the traveling path can be scanned by radio waves as exploration waves. ing. That is, the radio wave radar device 5 is installed in the vicinity of the target area 100.

Further, the guidance display board 8 is installed on the upstream side of the target area 100, and displays a guidance message or the like to the driver of the vehicle 111 traveling toward the target area 100. This guidance message includes a warning to prevent a rear-end collision with the preceding vehicle.

The alert device 1 may be installed near the installation position of the radio wave radar device 5, may be installed near the installation position of the guidance display board 8, and may be installed at a control center, a data collection center, or the like. May be done.

FIG. 1 shows a three-lane driving path. Further, in FIG. 1, the vehicle 110 traveling in the target area 100 and the vehicle 111 traveling on the upstream side of the target area 100 are shown separately.

The radio wave radar device 5 and the guidance display board 8 are, for example, a pole installed on the road side of a traveling path, or an arm extending in the width direction (vehicle width direction) of vehicles 110 and 111 traveling on the traveling path attached to the pole. It is attached to. Further, the radio wave radar device 5 and the guidance display board 8 may be attached to a gantry installed so as to straddle the traveling path, or may be attached to another structure.

The radio wave radar device 5 scans the target area 100 shown in FIG. 1 with radio waves to detect the position, speed, and size of the traveling vehicle 110. The radio wave radar device 5 repeats scanning in the target area 100 by radio waves at set time intervals (for example, 100 msec intervals).

Further, the radio wave radar device 5 may have a configuration for generating tracking data indicating a traveling locus of the vehicle 110 in the target area 100. In this example, the radio wave radar device 5 will be described as having a configuration for generating the tracking data, but the configuration for generating the tracking data may be provided in the alert device 1 or the radio wave radar. The device 5 and the alert device 1 may not have this configuration.

The configuration for generating the tracking data is a configuration in which the vehicle 110 detected in the previous scan of the target area 100 by the radio wave radar device 5 and the vehicle 110 detected in the current scan of the target area 100 by the radio wave are associated with each other. .. Each time the target area 100 is scanned, the radio wave radar device 5 outputs vehicle detection data associated with the ID, position, speed, and size of the vehicle 110 detected in this scan.

The vehicle detection data described above is input from the radio wave radar device 5 to the alert device 1. In addition, the attention alerting device 1 calculates a determination value indicating the degree of variation in the speed of the vehicle 110 traveling in the target area 100 by using the input vehicle detection data. If the calculated determination value is larger than the set determination threshold value (corresponding to the threshold value referred to in the present invention), the attention alerting device 1 determines that it is necessary to alert the user so as not to cause a rear-end collision. .. In other words, the attention alerting device 1 determines that this alerting is not necessary (not necessary) if the calculated determination value is equal to or less than the set determination threshold value. The attention alerting device 1 outputs to the guidance display board 8 whether or not it is necessary to alert the guide display board 8 so as not to cause a rear-end collision.

When the guidance display board 8 receives an input from the warning device 1 that it is necessary to call attention to prevent a rear-end collision, the driver of the vehicle 111 traveling upstream of the target area 100 is notified. Display a guidance message that makes you aware of a rear-end collision.

The judgment value indicating the variation in the speed of the vehicle 110 in the target area 100 has a relatively large speed difference (absolute value) with respect to the average speed of the vehicle group traveling in the target area 100 (for example, 30 km / h or more). ) It becomes larger when the vehicle 110 is present. In other words, the determination value becomes smaller as the speed of each vehicle 110 of the vehicle group traveling in the target area 100 is substantially the same speed (the difference between the maximum speed and the minimum speed is less than several km / h). That is, the determination value becomes smaller as the speed of each vehicle 110 of the vehicle group traveling in the target area 100 is biased toward the average speed of the vehicle group traveling in the target area 100. As is clear from these facts, when the vehicle group traveling in the target area 100 is divided into a vehicle group traveling at a speed exceeding the maximum speed and a vehicle group traveling in compliance with the maximum speed. , The judgment value becomes large. Further, it is also determined when the vehicle group traveling in the target area 100 is divided into a vehicle group traveling in compliance with the maximum speed and a vehicle group traveling at a relatively low speed with respect to the maximum speed. The value increases.

Further, it can be estimated that the speed of the traveling vehicle 111 also varies to the same degree as that of the target area 100 on the upstream side of the target area 100 (variations in the speeds of the vehicles 110 and 111 cause a special traffic event). If not, it will continue to the same extent over a relatively wide range without sudden changes.)

That is, in the alert device 1, there is a vehicle 110 traveling in compliance with the maximum speed in the target area 100, and a vehicle 111 traveling at a speed exceeding the maximum speed on the upstream side of the target area 100. There is a vehicle 110 that is traveling at a relatively low speed relative to the maximum speed in the target area 100, or when there is a traffic condition, and the maximum speed is observed on the upstream side of the target area 100. It is determined that it is necessary to call attention to a collision accident when the traveling vehicle 111 is present in a traffic condition or the like. Therefore, the alert device 1 uses the guidance display board 8 for the driver of the vehicle 111 (particularly, the vehicle 111 traveling at a speed exceeding the maximum speed) entering the target area 100 from the upstream side. Therefore, it is possible to effectively call attention to prevent a rear-end collision with the preceding vehicle 110.

<2. Configuration example>
FIG. 3 is a diagram showing a configuration of a main part of the alert device according to this example. The attention alerting device 1 according to this example includes a control unit 11, a detection data input unit 12, and an output unit 13.

The control unit 11 controls the operation of each part of the alert device 1 main body. Further, the control unit 11 has a calculation unit 21 and a determination unit 22. The calculation unit 21 and the determination unit 22 included in the control unit 11 will be described later.

A radio wave radar device 5 is connected to the detection data input unit 12. Vehicle detection data is input from the radio wave radar device 5 to the detection data input unit 12. The vehicle detection data is data in which the position, speed, and size of the detected vehicle 110 are associated with each other. Each time the radio wave radar device 5 scans the target area 100 with radio waves, the radio wave radar device 5 outputs the vehicle detection data of each vehicle 110 detected in the scanning to the alert device 1.

A guide display board 8 is connected to the output unit 13. The output unit 13 outputs to the guidance display board 8 whether or not it is necessary to call attention to a rear-end collision.

Next, the calculation unit 21 and the determination unit 22 included in the control unit 11 will be described.

The calculation unit 21 detects the vehicle input from the radio wave radar device 5 during the latest set time (for example, 1 minute, 3 minutes, 5 minutes) based on the vehicle detection data input to the detection data input unit 12. The variation in the speed of the vehicle 110 indicated by the data is calculated as a determination value. This determination value may be the variance of the speed of the vehicle 110 during the latest set time, or may be the standard deviation. When the variance of the speed of the vehicle 110 or the standard deviation is used as the determination value, the same vehicle 110 may be calculated using the average speed of the vehicle 110, or the same vehicle 110 may be detected. You may calculate using the speeds one by one.

If the determination value calculated by the calculation unit 21 is larger than the set determination threshold value, the determination unit 22 determines that it is necessary to call attention to a rear-end collision. In other words, if the determination value calculated by the calculation unit 21 is equal to or less than the determination threshold value, the determination unit 22 determines that the warning for a rear-end collision is not necessary (not necessary). This determination threshold value is stored in a memory (not shown) included in the control unit 11. The attention alerting device 1 outputs the determination result of the determination unit 22, that is, the necessity of alerting for a rear-end collision, to the guidance display board 8.

The control unit 11 of the alert device 1 is composed of a hardware CPU, a memory, and other electronic circuits. When the hardware CPU executes the alert program according to the present invention, it operates as the calculation unit 21 and the determination unit 22. In addition, the memory has an area for deploying the alert program according to the present invention and an area for temporarily storing data and the like generated when the alert program is executed. Further, the determination threshold value is stored in this memory. The control unit 11 may be an LSI in which a hardware CPU, a memory, and the like are integrated. Further, the hardware CPU is a computer that executes the attention-calling method according to the present invention.

Since the radio wave radar device 5 and the guidance display board 8 are known, detailed description thereof will be omitted here.

<3. Operation example>
FIG. 4 is a flowchart showing the operation of the radio wave radar device. When the scanning timing of the target area 100 comes (s1), the radio wave radar device 5 scans the target area 100 with radio waves that are exploration waves, and detects the reflected wave to detect a vehicle located in the target area 100. A detection process for detecting 110 is performed (s2). In s2, the radio wave radar device 5 detects the time until the reflected wave is detected (the flight time of the radio wave) and the frequency of the reflected wave for each radio wave irradiation direction, and the object (vehicle 110, road surface) that reflects the radio wave. Etc.), the size of this object, and the velocity of this object.

When the detection process for s2 is completed, the radio wave radar device 5 performs a matching process for associating the vehicle 110 detected by the previous scan of the target area 100 with the vehicle 110 detected by the scan of the target area 100 this time. Do (s3). The associative process for s3 is performed using the size, position, and speed of the vehicle 110. The radio wave radar device 5 assigns an ID assigned to the associated vehicle 110 to the vehicle 110 (vehicle 110 detected in this scan) that could be associated with the vehicle 110 detected in the previous scan. On the other hand, the radio wave radar device 5 generates a new ID and assigns it to the vehicle 110 (vehicle 110 detected in this scan) that could not be associated with the vehicle 110 detected in the previous scan.

The radio wave radar device 5 generates vehicle detection data in which the ID, position, speed, and size are associated with each vehicle 110 detected in this scanning, and the vehicle detection data generated here is used as the alert device 1. Output (s4) and return to s1. In s4, the detection time is associated with the vehicle detection data of each vehicle 110 involved in the scanning of the target area 100 this time. The detection time may be the time when the radio wave radar device 5 starts scanning the target area 100 by the exploration wave, the time when the radio wave radar device 5 finishes scanning the target area 100 by the exploration wave, and the like.

In this example, the radio wave radar device 5 scans the target area 100 with radio waves at intervals of 100 msec, and outputs the vehicle detection data related to the detected vehicle 110 to the alert device 1. That is, vehicle detection data is input to the alert device 1 at intervals of 100 msec.

Further, the radio wave radar device 5 can obtain the tracking data shown in FIG. 5 for each vehicle 110 traveling in the target area 100 by performing the above processing. FIG. 5A shows tracking data of the vehicle 110 having the ID "123456789". Further, FIG. 5B shows tracking data of the vehicle 110 having an ID of “245267851”. This tracking data is data in which the ID for identifying the vehicle 110, the size of the vehicle 110, and the speed and position of the vehicle 110 are associated with each detection time. In this example, the position of the vehicle 110 is the distance from the first reference position in the traveling direction of the vehicle 110 (for example, the distance from the installation position of the radio wave radar device 5 in the traveling direction) and the second position in the width direction of the traveling path. The distance from the reference position (for example, the distance from the center position in the width direction of the traveling path, the right side is a positive value, and the left side is a negative value). Further, as described above, the detection time is close to the time when the radio wave radar device 5 starts scanning the target area 100 by the exploration wave, the time when the radio wave radar device 5 finishes scanning the target area 100 by the exploration wave, and the like. Just do it.

Further, the attention alerting device 1 can also obtain the tracking data shown in FIGS. 5A and 5B by classifying the vehicle detection data input from the radio wave radar device 5 by ID and totaling the data.

Further, the radio wave radar device 5 may be configured not to generate tracking data. In this case, the radio wave radar device 5 does not perform the above-mentioned processing related to s3, and generates vehicle detection data (vehicle detection data not associated with ID) in which the position, speed, and size are associated with s4. , Output to the alert device 1. The attention alerting device 1 performs the same processing as s3 described above to generate the tracking data shown in FIGS. 5A and 5B. The attention alert device 1 stores the tracking data of each vehicle 110 in a tracking data storage database (tracking data storage DB) (not shown). This tracking data storage DB is composed of a storage medium such as a hard disk and an SSD (Solid State Drive).

The alert device 1 may also be configured not to generate tracking data. In this case, the alert device 1 may accumulate and store the vehicle detection data input from the radio wave radar device 5. The detection time is associated with this vehicle detection data.

FIG. 6 is a flowchart showing the operation of the alert device according to this example. The attention alerting device 1 waits for a determination timing for determining whether or not the attention alerting is necessary for the vehicle 111 traveling on the upstream side of the target area 100 (s11). This determination timing may be set at regular time intervals such as, for example, 3-minute intervals and 5-minute intervals. Further, a time interval may be set for each time zone in which the day is divided into a plurality of time zones. Further, in s11, it may be determined that the determination timing is always present (the determination timing may not be determined). That is, the process related to s11 may be eliminated.

When the alert device 1 determines that the determination timing is in s11, it extracts vehicle detection data used for calculating the determination value indicating the variation in the speed of the vehicle 110 in the target area 100 (s12). In s12, the vehicle detection data whose detection time is within the latest set time (for example, 1 minute, 3 minutes, 5 minutes) is extracted as the vehicle detection data used for calculating the determination value. The attention alerting device 1 calculates the determination value in this period using the vehicle detection data extracted in s12 (s13). The calculation unit 21 performs the processing related to s12 and s13.

As described above, the attention alerting device 1 stores the tracking data of the vehicle 110 in the target area 100 or the vehicle detection data in the tracking data storage DB (not shown). In s12, the vehicle detection data used for calculating the determination value is extracted from the tracking data storage DB.

The attention alerting device 1 determines whether or not the determination value calculated in s13 exceeds the set determination threshold value (s14). If the determination value calculated in s13 exceeds the determination threshold value, the attention alerting device 1 determines that it is necessary to alert (s15). On the contrary, if the determination value calculated in s13 is equal to or less than the determination threshold value, the attention alerting device 1 determines that the alerting is unnecessary (s16). The determination unit 22 performs the processing related to s14 and s15.

As described above, as for the determination value, there is a vehicle 110 having a relatively large speed difference (absolute value) (for example, 30 km / h or more) with respect to the average speed of the vehicle group traveling in the target area 100. Sometimes it gets bigger. That is, when the vehicle group traveling in the target area 100 is divided into a vehicle group traveling at a speed exceeding the maximum speed and a vehicle group traveling in compliance with the maximum speed, the determination value becomes large. .. Further, it is also determined when the vehicle group traveling in the target area 100 is divided into a vehicle group traveling in compliance with the maximum speed and a vehicle group traveling at a relatively low speed with respect to the maximum speed. The value increases. That is, in the alert device 1, there is a vehicle 110 traveling in compliance with the maximum speed in the target area 100, and a vehicle 111 traveling at a speed exceeding the maximum speed on the upstream side of the target area 100. Is presumed to be a traffic condition in which, or there is a vehicle 110 traveling at a relatively low speed relative to the maximum speed in the target area 100, and the maximum speed is upstream of the target area 100. When it is estimated that there is a vehicle 111 traveling in compliance with the above, it is necessary to alert the driver of the vehicle 111 on the upstream side to prevent a collision accident. Is determined to be.

The attention alerting device 1 outputs the determination result of determining the necessity of alerting to the guidance display board 8 at the output unit 13 (s17), and returns to s11.

When the warning device 1 inputs the determination result of the need for warning, the guidance display board 8 displays a guidance message on the screen of the display to prevent the driver of the vehicle 111 from causing a rear-end collision. The guidance display board 8 has, for example, the words shown in (1) to (3).
(1) "The maximum speed is 〇〇km / h in the future. Please drive carefully so as not to collide with the preceding vehicle."
(2) "Be careful of speed, rear-end collision, and be careful not to collide with the preceding vehicle."
(3) "Caution for speed, caution for rear-end collision"
Display as a guidance message.

Therefore, the warning device 1 according to this example uses the guidance display board 8 to call attention so that the preceding vehicle 110 traveling in compliance with the maximum speed does not cause a rear-end collision accident in which the following vehicle 111 collides. Can be done effectively.

<4. Modification example>
Next, a modification of the present invention will be described. FIG. 7 is a diagram showing a configuration of a main part of the alert device according to this modified example. In FIG. 7, the same reference numerals are given to the configurations similar to those shown in FIG. The alert device 1A according to this modified example is used in the traveling path shown in FIG. 1 as in the above example, and as shown in FIG. 2, the radio wave radar device 5 and the guidance display board 8 are connected to each other. There is.

The attention alerting device 1A of this modified example is additionally provided with a communication unit 14 in addition to the control unit 11, the detection data input unit 12, and the output unit 13, which have the same configuration as the above example. The communication unit 14 is a receiving unit that receives VICS (Vehicle Information and Communication System) information (VICS is a registered trademark). As is known, VICS information (VICS is a registered trademark) includes speed regulation information on a traveling road.

That is, the alert device 1A of this modification is different from the above example in that it can receive VICS information (VICS is a registered trademark).

FIG. 8 is a flowchart showing the operation of the alert device 1A according to this modified example. In FIG. 8, the same step numbers are assigned to the same processes as those shown in FIG. The attention alerting device 1A according to this modified example executes the processes related to s11 to s14 in the same manner as in the above example. If the determination value calculated this time exceeds the determination threshold value in s14, the attention alerting device 1A determines in s15 that the alerting device needs attention, as in the above example.

On the other hand, if the alert device 1A determines in s14 that the determination value calculated this time does not exceed the determination threshold value, it determines whether the maximum speed of the target area 100 at that time is equal to or less than the set speed (s21). ). The attention alerting device 1A acquires the maximum speed of the target area 100 at that time by the VICS information (VICS is a registered trademark) received by the communication unit 14. Further, the set speed is stored in the memory of the control unit 11 in advance.

When the alert device 1A determines that the maximum speed of the target area 100 at that time is equal to or less than the set speed, it determines that the alert is required in s15. On the contrary, when the alert device 1A determines that the maximum speed of the target area 100 at that time is not equal to or less than the set speed, it determines in s16 that the alert is unnecessary. The attention alerting device 1A outputs the determination result of determining the necessity of alerting in s17 to the guidance display board 8 and returns to s11.

The determination unit 22 executes the determination related to s21.

The alert device 1A according to this modified example can be used by the driver of the vehicle 111 on the upstream side even when the maximum speed of the target area 100 is restricted to a relatively low speed due to rain, heavy fog, freezing of the road surface, or the like. On the other hand, it is possible to call attention to prevent a rear-end collision.

Further, another modification of the present invention will be described. FIG. 9 is a schematic view showing a traveling path to which the warning device of this other modification is applied. In this other modification, as shown in FIG. 9, another target area 101 (upstream side target area 101) is set on the upstream side of the target area 100 (downstream side target area 100). The guidance display board 8 is installed at a point between the downstream target area 100 and the upstream target area 101. The upstream target area 101 corresponds to the second target area referred to in the present invention. The radio wave radar device 6 scans the upstream side target area 101 with radio waves that are exploration waves, and detects a vehicle 111 located in the upstream side target area 101. The radio wave radar device 6 is the same as the radio wave radar device 5 except that the target area for detecting the vehicle 111 is different.

As shown in FIGS. 10 and 11, the radio wave radar devices 5 and 6 and the guidance display board 8 are connected to the alert device 1B according to this other modification. That is, the alert device 1B is different from the above example in that vehicle detection data is also input to the vehicle 111 located in the upstream target area 101 detected by the radio wave radar device 6.

The alert device 1B stores the tracking data based on the vehicle detection data input from the radio wave radar device 5 and the tracking data based on the vehicle detection data input from the radio wave radar device 6 in the above-mentioned tracking data storage DB. To do.

FIG. 12 is a flowchart showing the operation of the alert device according to this other modification. In FIG. 12, the same step numbers are assigned to the same processes as those shown in FIG. When the alert device 1B determines in s11 that the determination timing is reached, the vehicle detection data used in this process is extracted (s31). In s31, the vehicle detection data whose detection time is within the latest set time (for example, 1 minute, 3 minutes, 5 minutes) is extracted as the vehicle detection data used in this processing. In s31, not only the vehicle detection data input from the radio wave radar device 5 is extracted, but also the vehicle detection data input from the radio wave radar device 6 is extracted.

The alert device 1B uses the vehicle detection data input from the radio wave radar device 5 extracted in s31 to calculate a determination value indicating the variation in the speed of the vehicle 110 in the downstream target area 100 (s13), and this time the calculation It is determined whether or not the determined determination value exceeds the determination threshold value (s14). If the determination value calculated this time exceeds the determination threshold value, the attention alerting device 1B determines in s15 that the alerting device needs attention, as in the above example.

On the other hand, when the alert device 1B determines in s14 that the determination value calculated this time does not exceed the determination threshold value, the average speed of the vehicle 111 in the upstream target area 101 and the average speed of the vehicle 110 in the downstream target area 100. Calculate the speed (s32). In s32, the average speed of the vehicle 111 in the upstream target area 101 was calculated using the vehicle detection data input from the radio wave radar device 6 extracted in s31, and was input from the radio wave radar device 5 extracted in s31. The vehicle detection data is used to calculate the average speed of the vehicle 110 in the downstream target area 100.

Speed difference obtained by subtracting the average speed of the vehicle 110 in the downstream target area 100 from the average speed of the vehicle 111 in the upstream target area 101 (speed difference = (average speed of the vehicle 111 in the upstream target area 101)-(downstream side) It is determined whether or not the average speed of the vehicle 110 in the target area 100)) is less than the set speed difference (s32). The alert device 1B stores the set speed difference in the memory of the control unit 11.

If the speed difference is less than the set speed difference, the alert device 1B determines in s16 that the alert is not necessary. On the contrary, if the speed difference is not less than the set speed difference, the warning device 1B determines in s15 that the warning is required. The attention alerting device 1B outputs the determination result of determining the necessity of alerting in s17 to the guidance display board 8 and returns to s11.

The calculation unit 21 executes the calculation of the average speed applied to the s32, and the determination unit 22 executes the determination related to the s33.

If the speed of the vehicle 111 (following vehicle) traveling in the upstream target area 101 is faster than the speed of the vehicle 110 (preceding vehicle) traveling in the downstream target area 100, there is a possibility of a rear-end collision. high. Therefore, the alert device 1B can efficiently alert the driver of the vehicle 111 on the upstream side so as not to cause a rear-end collision.

Further, in the above example, a three-lane driving path is taken as an example, and a determination value indicating a variation in the speed of the vehicle 110 traveling in the target area 100 is calculated without distinguishing the lanes, and this calculated value is used. Although it was decided that the necessity of alerting on the upstream side of the target area 100 was determined, the necessity of alerting may be determined for each lane.

In this case, the above-mentioned determination value may be calculated for each lane of the target area 100, and the necessity of calling attention on the upstream side of the target area 100 may be determined. Which lane the vehicle 110 traveling in the target area 100 was traveling in can be obtained from the position in the width direction of the vehicle 110 included in the tracking data shown in FIGS. 5A and 5B.

In addition, when determining the necessity of alerting for each lane in this way,
(1) "The maximum speed is 〇〇km / h from now on. Drivers driving in the right lane should be careful not to collide with the preceding vehicle."
(2) "There is a vehicle 110 traveling at a relatively low speed in the left lane. The driver traveling in the left lane should be careful not to collide with the preceding vehicle."
Etc. may be displayed on the guidance display board 8.

Further, the radio wave radar devices 5 and 6 described in the above example may be replaced with a laser radar device that uses the laser light as a search wave, or the frame images of the target areas 100 and 101 captured by the camera may be processed. , Vehicles 110, 111 may be replaced with an image processing device that detects them.

Further, the order of each processing step shown in the flowcharts shown in FIGS. 6, 8 and 12 is an example, and the order can be changed.

The present invention is not limited to the above-described embodiment as it is, and at the implementation stage, the components can be modified and embodied within a range that does not deviate from the gist thereof. In addition, various inventions can be formed by an appropriate combination of a plurality of components disclosed in the above-described embodiment. For example, some components may be removed from all the components shown in the embodiments. In addition, components from different embodiments may be combined as appropriate.

Further, the correspondence between the configuration according to the present invention and the configuration according to the above-described embodiment can be described as described in the following appendix.
<Additional notes>
A detection data input unit (12) into which the first vehicle detection data including the speed of the vehicle (110) traveling in the first target area (100) set for the travel path is input, and
A calculation unit (21) that uses the first vehicle detection data input to the detection data input unit (12) to calculate as a variation determination value of the speed of the vehicle (110) in the first target area (100). When,
Based on the determination value calculated by the calculation unit (21), the determination unit (22) that determines the necessity of calling attention on the upstream side of the first target area (100),
An attention alerting device (1) including an output unit (13) that outputs a determination result of the determination unit (22).

1, 1A, 1B ... Warning devices 5, 6 ... Radio radar device 8 ... Guidance display board 11 ... Control unit 12 ... Detection data input unit 13 ... Output unit 14 ... Communication unit 21 ... Calculation unit 22 ... Judgment unit 100, 101 … Target areas 110, 111… Vehicles

Claims (7)

A detection data input unit for inputting first vehicle detection data including the speed of a vehicle traveling in the first target area set for the travel path, and a detection data input unit.
Using the first vehicle detection data input to the detection data input unit, a calculation unit that calculates a determination value indicating a variation in vehicle speed within the first target area, and a calculation unit.
Based on the determination value calculated by the calculation unit, a determination unit that determines the necessity of calling attention on the upstream side of the first target area, and a determination unit.
An alert device including an output unit that outputs a determination result of the determination unit. The caution device according to claim 1, wherein the calculation unit calculates the variance of the vehicle speed or the standard deviation in the first target area as the determination value. The alerting device according to claim 1 or 2, wherein the determination unit determines that if the determination value is larger than the threshold value, it is necessary to alert the upstream side of the first target area. The second vehicle detection data including the speed of the vehicle traveling in the second target area set on the upstream side of the first target area is also input to the detection data input unit.
The determination unit also uses a comparison result of comparing the speed of the vehicle in the first target area with the speed of the vehicle in the second target area to call attention on the upstream side of the first target area. The alerting device according to any one of claims 1 to 3, which determines the necessity. A notification receiving unit for notifying the maximum speed specified for the first target area is provided.
The determination unit further determines that when the maximum speed designated for the first target area is equal to or less than the set speed, it is necessary to call attention on the upstream side of the first target area. The alert device according to any one of claims 1 to 4. The speed of the vehicle in the first target area is used by using the first vehicle detection data including the speed of the vehicle traveling in the first target area set for the traveling path, which is input to the detection data input unit. And the calculation step to calculate the judgment value indicating the variation of
A caution method including a determination step of outputting a determination result for determining the necessity of alerting on the upstream side of the first target area from the output unit based on the determination value calculated by the calculation unit. .. The speed of the vehicle in the first target area is used by using the first vehicle detection data including the speed of the vehicle traveling in the first target area set for the traveling path, which is input to the detection data input unit. And the calculation step to calculate the judgment value indicating the variation of
Note that the computer is made to execute a determination step of outputting the determination result of determining the necessity of calling attention on the upstream side of the first target area from the output unit based on the determination value calculated by the calculation unit. Awakening program.

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