JP3401566B2 - Right turn driving support device - Google Patents

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a right-turn driving support device for preventing a right-turn collision accident that occurs at an intersection in a driving device that supports safe driving of an automobile.

[0002]

2. Description of the Related Art Normally, a driver who drives a right-turning vehicle confirms the presence of an oncoming vehicle, recognizes the oncoming vehicle, and then determines whether or not the vehicle can make a right turn across the front of the oncoming vehicle to make a right turn safely. If it is possible, make a right turn. If it is judged that the vehicle cannot make a right turn safely, it will stop at the intersection without turning right and wait until the oncoming vehicle passes the intersection.
However, in actual road traffic, in situations where a right-turn vehicle would normally have to be stopped, a dangerous situation such as a driver making a right-turn vehicle's recognition error or a wrong decision may cause the driver to make a right turn across an oncoming vehicle or a right-turn collision accident. Is occurring.

Therefore, as a conventional technique for supporting a right-turning operation for the purpose of preventing the occurrence of such a dangerous scene or a right-turning collision accident, for example, Japanese Patent Laid-Open No. 9-270097 discloses a method of stopping at an intersection. For right-turning vehicles waiting, by comparing the time required for the right-turning vehicle to complete the right turn with a certain allowance with the time required for the oncoming vehicle to reach the intersection, you can safely A device for determining whether or not a right turn is possible is described.

[0004]

However, in the case of the above-mentioned prior art, a right-turn vehicle that makes a right turn without stopping at an intersection is not applicable and cannot be applied, so that important driving support information cannot be provided to the right-turn vehicle. There's a problem. In addition, the margin set as a criterion for making a right turn is an important factor that determines the feasibility of the device, and is a value that should be determined in consideration of the safety at the time of right turn and the acceptability of the driver. How to decide has not been solved. in this way,
Conventionally, there is no means to quantitatively evaluate the safety at the time of a right turn, and it is unclear in what situation the driver assistance information is provided to the driver of the right turn vehicle. Realization of means to guide is required.

Therefore, an object of the present invention is to solve the above-mentioned problems of the conventional right-turning driving support device, and to improve the safety of a right-turning by using the deceleration generated for avoiding a collision of an oncoming vehicle as an evaluation criterion. The present invention provides a right-turn driving support device for preventing a right-turn accident by transmitting important driving support information to a right-turn vehicle when it is evaluated and judged to be low in safety.

[0006]

In order to achieve the above-mentioned object, the invention according to claim 1 is a traveling system for detecting traveling states of a right-turn vehicle and an oncoming vehicle existing near an intersection. A state detection means, a traveling state history storage device that stores a history of traveling states until the vehicle passes through the intersection by the traveling state detection means, a vehicle that makes a right turn at the intersection and a right turn vehicle from the traveling state history storage device. From the traveling state history extracting means for extracting the traveling state history of the oncoming vehicle across the road, and the traveling state history of the right turn vehicle and the oncoming vehicle extracted by the traveling state history extracting means, the oncoming vehicle of the oncoming vehicle at the time when the right turning vehicle starts turning right. Search for the maximum value of the deceleration generated by the oncoming vehicle between the speed and the right-turn vehicle starting to turn right and ending, and in accordance with this, the value of the oncoming vehicle at the time when the right-turn vehicle starts turning right Based on the data stored in the right turn scene storage device that stores the three values of the gap, which is the time required to reach the oncoming intersection, which is obtained from the vehicle position and speed, and the right turn scene storage device each time the vehicle makes a right turn at the intersection, The relationship between the gap and the deceleration of the oncoming vehicle is regression-analyzed for each speed of the oncoming vehicle, and a deceleration map creating means for creating a gap-speed-deceleration map and the created gap-speed-deceleration map are stored. The deceleration map storage device, the time required for the right-turn vehicle to start a right turn from the current traveling states of the right-turn vehicle and the oncoming vehicle detected by the traveling state detection means, and the time required for the oncoming vehicle to reach the intersection. And a current speed of the oncoming vehicle detected by the gap predicting means and the running state detecting means. Based on gap - and based on the deceleration of the oncoming vehicle which is obtained from the deceleration map, right turn collision determining means for determining the possibility of right turn collisions, - Speed
Information providing means for notifying the driver of the right-turn vehicle of the presence of an oncoming vehicle that may collide on the basis of the determination result of the right-turn collision determination means.

The invention described in claim 2 is the same as claim 1
In the invention described in (1), when it is determined by the right-turn collision determination means that the right-turn vehicle and the oncoming vehicle are likely to collide,
The vehicle further includes right-turn vehicle stop behavior determination means for determining whether or not the right-turn vehicle is about to stop based on the current traveling state of the right-turn vehicle detected by the traveling state detection means, and the information providing means determines the right-turn vehicle stop behavior determination. Based on the judgment result of the means, despite the possibility of colliding with an oncoming vehicle,
The feature of the present invention is to inform the driver of a right-turn vehicle of the presence of an oncoming vehicle that may collide when trying to make a right turn.

The invention described in claim 3 is the same as that of claim 2.
In the invention described in (1), the information providing means notifies the driver of the right-turn vehicle of the existence of an oncoming vehicle that may collide, based on the judgment results of the right-turn collision judgment means and the right-turn vehicle stop behavior judgment means. When the driver of the right-turn vehicle is about to make a right turn, the driver of the right-turn vehicle is provided with an alarm for urging the driver to stop and information necessary for braking the right-turn vehicle.

[0009]

BEST MODE FOR CARRYING OUT THE INVENTION Embodiments of the present invention will be described below with reference to the drawings. Here, FIG. 1 is a block diagram showing a configuration of the present invention, and FIG. 2 is a block diagram showing a configuration of an embodiment of the present invention. That is, 21 is a right-turn vehicle traveling near the intersection, and 22 is an oncoming vehicle. Camera 23 and camera 24
Respectively images the right-turn vehicle 21 and the oncoming vehicle 22, and inputs respective video signals to the image processing device 25 and the image processing device 26. Then, the image processing devices 25 and 26 input the position and speed of the vehicle calculated based on the video signal to the arithmetic processing device 27. The arithmetic processing unit 27 stores the history of the position and speed of each vehicle passing through the intersection, the memory of the right turn scene condition when the right turn vehicle 21 makes a right turn, and the oncoming vehicle 22 based on the stored right turn scene condition. And perform statistical processing to create a deceleration map. In parallel with these processes, the arithmetic processing unit 27
While the right-turn vehicle 21 is approaching the intersection, predict the gap, determine the right-turn collision based on the running conditions of the right-turn vehicle 21 and the oncoming vehicle 22, the predicted gap, and the deceleration map of the oncoming vehicle 22, and determine the right-turn vehicle.
The right turn stop behavior determination based on the running state of 21 is executed.
Therefore, in the embodiment shown here, the cameras 23 and 24 and the image processing devices 25 and 26 constitute the traveling state detecting means 1, and the arithmetic processing device 27 includes the traveling state history storage device 2 and the traveling state history extracting means 3. Right turn scene storage device 4, deceleration map creation means 5, deceleration map storage device 6, gap prediction means 7,
A right-turn collision determination means 8 and a right-turn stop behavior determination means 9 are configured. The variable display plate 29 is based on the result of the right turn collision determination and the right turn stop behavior determination executed by the arithmetic processing unit 27,
Display information to assist the driver of the right-turn car 21.
In addition, the judgment result of the arithmetic processing unit 27 is calculated from the transmitter 28 to the receiver.
The information is transmitted to 30, and the information processing device 31 displays information for assisting the right turn operation on the information display device 32, sounds an alarm with the alarm device 33, and outputs a braking command to the brake control device 34.

In the embodiment shown here, the devices from the camera 23 to the variable display board 29 are installed on the roadside, and
The devices from 30 to the brake control device 34 are mounted on the right turn vehicle 21. The gap predicting means 7, the right-turn collision determining means 8, and the right-turn stopping behavior determining means 9 transmit the running state of the vehicle and the reference value of the determination, which are necessary for the prediction and the determination, to the right-turn vehicle 21, thereby the arithmetic processing unit. You can run at 31. here,
The operation of the arithmetic processing unit 27 will be described with reference to the flowcharts of FIGS. 3 and 4 by dividing it into an operation for creating a deceleration map and an operation for making a right-turn collision determination and a right-turn stop behavior determination.

The operation of creating the deceleration map repeats the processing from steps S101 to S109 at regular intervals while the apparatus is operating. First, in step S101, it is determined whether or not the traveling state detection means 1 detects the right turn vehicle 21. If the right turn vehicle 21 is detected, the running state of the right turn vehicle 21 is stored in the running state history storage device 2 in step S102. Succeedingly, in a step S103, it is determined whether or not the traveling state detecting means 1 detects the oncoming vehicle 22, and if the oncoming vehicle 22 is detected, in a step S104, the oncoming vehicle 22 is detected.
The running states of 22 are stored in the running state history storage device 2. Succeedingly, in a step S105, it is determined whether or not the right turn vehicle 21 has passed a position where it can be considered that the right turn ends. If it can be considered that the right turn has ended, in step S106, the running state history of the corresponding right turning vehicle 21 and the oncoming vehicle that the right turning vehicle 21 has crossed in front is extracted from the running state history storage device 2. In step S107, it is determined whether or not the traveling state history of the oncoming vehicle is extracted in step S106. Oncoming vehicle 22 when right-turning vehicle 21 turns right
Is not present, the traveling state history of the oncoming vehicle 22 is not extracted in step S106, and the process ends in step S107. When the traveling state history of the oncoming vehicle 22 is extracted, the speed of the oncoming vehicle 22 at the time when the right turning vehicle 21 starts turning right and the right turning state from the traveling state history of the right turning vehicle 21 and the oncoming vehicle 22 in step S108. Search for the maximum value of the deceleration generated by the oncoming vehicle 22 between the time the vehicle 21 starts turning right and the time it ends, and the position and speed of the oncoming vehicle 22 at the time when the right turning vehicle 21 starts turning right. The gap, which is the time required to reach the intersection of the oncoming vehicle 22 obtained from the above, is calculated, and these three values are stored in the right turn scene storage device 4. Subsequently, in step S109, all the right turn scenes stored in the right turn scene storage device 4 are statistically processed to create the deceleration map shown in FIG.

Next, as shown in FIG. 4, the operations for determining the right-turn collision and the right-turn stopping behavior are the steps from step S201 to step S209 from the time the right-turn vehicle 21 approaches the intersection until the right-turn is started. The process is repeated at regular intervals. First, in step S201, it is determined whether the traveling state detection means 1 detects the right turn vehicle 21. When the right turn vehicle 21 is detected, subsequently, in step S202, it is determined whether or not the traveling state detection means detects an oncoming vehicle. oncoming car
If 22 is not detected, there is no possibility of a right-turn collision, so the process ends. When the oncoming vehicle 22 is detected, in step S203, based on the positions and speeds of the right turning vehicle 21 and the oncoming vehicle 22, the time t _R required for the right turning vehicle 21 to reach the point where the right turning vehicle 21 starts turning right, The time t _C required for the oncoming vehicle to enter the intersection is calculated, and the difference between t _C and t _R is determined as the gap G. When the right-turn vehicle 21 or the oncoming vehicle 22 is stopped, accelerate with an average acceleration generated when the vehicle starts from a stopped state so that t _R or t _C does not become infinite. assuming that computes the t _R and t _C, obtaining the gap G. Step S204
Then, the gap G obtained in step S203 and the speed V _C of the oncoming vehicle 22 detected by the traveling state detecting means 1 are collated with the deceleration map, and when the right turning vehicle 21 starts turning right, the oncoming vehicle 22 avoids a collision. The deceleration α _A that must be generated in order to obtain In step S205, α _A and α _AT are compared, and when α _A is larger than α _AT, it is determined that a right turn collision is likely to occur. However, α _AT is the deceleration height generated when the driver of the oncoming vehicle has a sufficient margin to avoid the collision. Then, by appropriately setting α _AT , in step S205, a right-turn collision may occur before the driver of the oncoming vehicle 22 feels that there is no room to avoid the collision or that it is dangerous. It will be judged that the property is high. On the other hand, when α _A is smaller than α _AT, it is determined that the possibility of a right-turn collision is low, and the process ends.

In step S206, when it is determined that a right-turn collision is likely to occur, the driver of the right-turn vehicle 21 is notified to the driver of the right-turn vehicle 21 as the first-level right-turn driving support information.
Output information that conveys the existence of 22. In step S207, the lowest deceleration rate α _S that must be generated in order to stop the right-turn vehicle 21 at the position where the right-turn vehicle 21 starts turning right is calculated based on the position and speed of the right-turn vehicle 21. Subsequently, in step S208, α _S and α _ST are compared, and when α _S is higher than α _ST , the driver of the right-turn vehicle 21 does not have the intention to stop at the position to start the right turn, and turns right without stopping. to decide. However,
α _ST is the height of deceleration generated when a driver of an oncoming vehicle avoids a collision. Here, the intention to stop can be determined by setting α _ST to a value slightly higher than the average deceleration generated when the vehicle stops. α
_{When S} is lower than α _ST, the driver of the right turn vehicle 21 determines that he / she intends to stop, and ends the process. Step S20
In 9, when it is determined that the right-turn vehicle 21 has no intention of stopping although the right-turn collision is likely to occur, the driver of the right-turn vehicle 21 is provided with the second-level right-turn driving support information as the second-level right-turn driving support information. To output a warning that prompts the driver to stop and information necessary to apply braking to the right-turn vehicle 21.

In the above-described embodiment, the right-turn vehicle stop behavior determination in step S208 is performed based on the deceleration that must be generated to stop the right-turn vehicle at the position where the right-turn vehicle starts turning right. However, by implementing the right-turn vehicle stop behavior determination in the on-vehicle arithmetic processing unit 31 (Fig. 2), the neural network determines the driver's intention based on the running state of the right-turn vehicle and the operation amount of the accelerator and brake. You may infer.

Normally, it is difficult for a right-turn vehicle to return to the vehicle once it has started turning right, so the oncoming vehicle must avoid a collision. From this, it is clear that when turning right, it is safe if the oncoming vehicle can avoid the collision with a low deceleration with a margin, or if it is not necessary to decelerate to avoid the collision.

In the device of the present invention, each time the vehicle makes a right turn at the intersection, the gap defining the scene at the time of a right turn, the speed of the oncoming vehicle, and the deceleration of the oncoming vehicle showing the safety at the right turning are recorded. By accumulating and processing this statistically, a map showing the relationship between the scene at the time of a right turn and safety is created. Then, assuming that the right-turn vehicle will make a right turn without stopping before the right-turn vehicle approaching the intersection makes a right turn, the future right turn scene is predicted from the relative relationship between the right turn vehicle and the oncoming vehicle, and the right turn collision decision is made. By means of reading the safety of the predicted scene from the map,
The size of the vehicle determines the possibility of a right-turn vehicle and an oncoming vehicle colliding in the future. When the right-turn collision determination means determines that a right-turn collision will occur in the future, the driver of the right-turn vehicle is provided with information that informs the driver of the presence of an oncoming vehicle, thereby calling the driver's attention. Further, when it is determined that a right-turn collision will occur, the right-turn vehicle stop behavior determination means determines whether or not the right-turn vehicle is about to stop. If the vehicle is not trying to stop despite the high possibility of a collision, information is provided to notify the presence of an oncoming vehicle, an alarm is issued to prompt the vehicle to stop, and braking is performed.

[0017]

As described above, according to the present invention, the right turn driving support device of the present invention avoids a right turn collision by an oncoming vehicle, and it is important for safety that the oncoming vehicle can avoid the collision with a sufficient margin. Based on the idea that there is a right turn, the possibility of a right-turn collision is determined and the driving assistance information is provided to the right-turn vehicle.Therefore, if the right-turn vehicle travels according to the driving assistance information, the oncoming vehicle will be affected by the right-turn vehicle turning right. There is an effect that it can be made smaller and the safety at the time of turning right can be improved. Further, the right-turn driving support device of the present invention determines whether or not the driver of the right-turn vehicle is about to stop, and provides the driving support information to the right-turn vehicle. Therefore, the driver of the right-turn vehicle is about to stop. In this case, there is an effect that the troublesomeness such as receiving an alarm is eliminated and the acceptability of the driver can be improved.

[Brief description of drawings]

FIG. 1 is a diagram showing an overall configuration of the present invention.

FIG. 2 is a block diagram showing an embodiment of the present invention.

FIG. 3 is a flowchart showing a calculation procedure of the same embodiment (No. 1).

FIG. 4 is a flowchart showing a calculation processing procedure of the same embodiment (No. 2).

FIG. 5 is a diagram showing a deceleration map used for right-turn collision determination.

[Explanation of symbols]

1 Running state detection means 2 Running state history storage device 3 Running state history extraction means 4 Right turn scene storage device 5 Deceleration map creation means 6 Deceleration map storage device 7 Gap forecasting means 8 Right-turn collision judgment means 9 Right turn stop behavior judgment means 10 Information provision means 21 right turn car 22 Oncoming vehicle 23, 24 cameras 25,26 Image processing device 27 Processor 28 transmitter 29 Variable display board 30 receiver 31 Processor 32 Information display device 33 alarm 34 Brake control device

─────────────────────────────────────────────────── ─── Continuation of front page (51) Int.Cl. ⁷ Identification code FI G08G 1/056 G08G 1/056 (58) Fields investigated (Int.Cl. ⁷ , DB name) G08G 1/16 B60R 21/00 624 B60R 21/00 626 B60R 21/00 627 G08G 1/056

Claims (3)

(57) [Claims] 1. A traveling state detecting means for detecting traveling states of a right-turn vehicle and an oncoming vehicle existing in the vicinity of an intersection, and a traveling state for storing a history of traveling states until the vehicle passes the intersection by the traveling state detecting means. A history storage device, a traveling state history extraction unit that extracts a traveling state history of a vehicle that has made a right turn at an intersection and an oncoming vehicle that the right turn vehicle has crossed forward from the traveling state history storage unit, and a right turn that is extracted by the traveling state history extraction unit. From the running state history of the oncoming vehicle and the oncoming vehicle, the maximum value of the speed of the oncoming vehicle at the time the right-turning vehicle starts turning right and the deceleration generated by the oncoming vehicle between the start of the right-turning vehicle and the end of the right-turning vehicle. The right turn that memorizes three values of the gap, which is the time required to reach the intersection of the oncoming vehicle, which is obtained from the position and speed of the oncoming vehicle when the right turning vehicle starts turning right accordingly Based on the data stored in the scene storage device and the right turn scene storage device each time the vehicle makes a right turn at the intersection, a regression analysis is performed on the relationship between the gap and the deceleration of the oncoming vehicle for each oncoming vehicle speed, and the gap-speed- A deceleration map creating means for creating a deceleration map, a deceleration map storage device for storing the created gap-speed-deceleration map,
Calculate the time required for the right-turn vehicle to start turning right and the time required for the oncoming vehicle to reach the intersection from the current running states of the right-turn vehicle and the oncoming vehicle detected by the running state detection means, and calculate the future gap. Based on the gap predicting means for predicting the gap, the current speed of the oncoming vehicle detected by the gap predicted by the gap predicting means, and the running state detecting means, the deceleration of the oncoming vehicle obtained from the gap-speed-deceleration map. Based on the right turn collision determination means based on the determination result of the right turn collision determination means, and information providing means for notifying the driver of the right turn vehicle of the presence of an oncoming vehicle that may collide based on the determination result of the right turn collision determination means. Right turn driving support device. 2. The right-turn vehicle will stop from the current running state of the right-turn vehicle detected by the running state detection means when the right-turn collision determination means determines that the right-turn vehicle and the oncoming vehicle are likely to collide. The vehicle further includes a right-turn vehicle stop behavior determination means for determining whether or not the right-turn vehicle has a right turn despite the possibility of collision with an oncoming vehicle based on the determination result of the right-turn vehicle stop behavior determination means. The driver of a right-turn vehicle is informed of the presence of an oncoming vehicle that may collide with the driver of the right-turn vehicle when the vehicle is about to execute.
The right-turn driving support device described in. 3. The information providing means notifies the driver of the right-turn vehicle of the existence of an oncoming vehicle that may collide, based on the judgment results of the right-turn collision judgment means and the right-turn vehicle stop behavior judgment means. If the driver of a right-turn car is about to make a right turn, a warning to the driver of the right-turn car to stop,
The right-turn driving support device according to claim 2, which provides information necessary for braking the right-turn vehicle.