JP3584810B2 - Intersection collision danger warning method, system thereof, vehicle-mounted device, traffic control device, and recording medium - Google Patents

Intersection collision danger warning method, system thereof, vehicle-mounted device, traffic control device, and recording medium Download PDF

Info

Publication number
JP3584810B2
JP3584810B2 JP29562999A JP29562999A JP3584810B2 JP 3584810 B2 JP3584810 B2 JP 3584810B2 JP 29562999 A JP29562999 A JP 29562999A JP 29562999 A JP29562999 A JP 29562999A JP 3584810 B2 JP3584810 B2 JP 3584810B2
Authority
JP
Japan
Prior art keywords
vehicle
information
intersection
lane
packet
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Fee Related
Application number
JP29562999A
Other languages
Japanese (ja)
Other versions
JP2001118199A (en
Inventor
重博 市村
Original Assignee
日本電気株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 日本電気株式会社 filed Critical 日本電気株式会社
Priority to JP29562999A priority Critical patent/JP3584810B2/en
Publication of JP2001118199A publication Critical patent/JP2001118199A/en
Application granted granted Critical
Publication of JP3584810B2 publication Critical patent/JP3584810B2/en
Anticipated expiration legal-status Critical
Application status is Expired - Fee Related legal-status Critical

Links

Images

Description

[0001]
TECHNICAL FIELD OF THE INVENTION
The present invention relates to an intersection collision danger warning method and an intersection collision danger warning system for judging and warning a collision danger between vehicles at an intersection in road traffic, an on-board device constituting the system, and a traffic control device constituting the system About.
[0002]
[Prior art]
BACKGROUND ART Various technologies have been conventionally developed in order to prevent collision accidents at intersections and to realize safe traffic of vehicles. An example of such a conventional technique is disclosed in Document 1: "Japanese Patent Application Laid-Open No. 9-282592". According to the technique disclosed in the document 1, the presence or absence of an oncoming vehicle is detected for a right-turning vehicle at an intersection. Subsequently, when the traffic light at the intersection on the side of the oncoming lane on which the oncoming vehicle is traveling is in a blue or yellow lighting state, a warning signal is transmitted to the right-turning vehicle. Then, the right-turning vehicle receiving the warning prevents the collision accident by warning the driver.
[0003]
Another example of the related art is disclosed in Document 2: “10-188199”. According to the technique disclosed in Document 2, a proximity radar, a transceiver, and a computer are provided near an intersection, and the computer is connected to the proximity radar and the transceiver and obtains positional information of a vehicle detected by the proximity radar. In this case, a collision accident is prevented by notifying the transceiver for receiving by another vehicle.
[0004]
Further, such a conventional technique is also disclosed in Reference 3: “11-175896”. According to the technology disclosed in Document 3, the vehicle-mounted device and the road device are provided, and the packet with the identification code of the vehicle is transmitted from the vehicle-mounted device to the road device. If the returned packet is the same packet with the same identification code, the on-road device permits the vehicle to enter the intersection, and disallows entry if the packet is different, thereby preventing a collision accident. I have.
[0005]
[Problems to be solved by the invention]
However, the technique disclosed in the above-mentioned Document 1 merely considers only the presence or absence of an oncoming vehicle, and does not consider how the oncoming vehicle is going to cross an intersection. As a result, for example, when the oncoming vehicle is not going straight ahead at the intersection, an alarm is issued even though the own vehicle does not have a danger even when turning right. For this reason, there has been a problem that a warning about various dangers of collision at an intersection is not properly given.
[0006]
Further, in the technique disclosed in the above-mentioned Document 2, each vehicle receives the position information of each other vehicle and calculates the risk of collision. For this reason, when determining the danger of the occurrence of a collision accident, each vehicle considers all the positional relationships of the other vehicles. For this reason, there has been a problem that it takes too much time to determine the risk of collision.
[0007]
Further, in the technology disclosed in the above-mentioned Document 3, the on-road device judges the risk of a collision accident for each vehicle, and restricts each vehicle from entering an intersection. For this reason, the technique of Document 3 also has a problem that it takes too much time to determine the risk of collision, particularly when many vehicles pass through an intersection.
In addition, in Reference 3, since entry and exit are simply permitted to allow vehicles to enter the intersection one by one, there is a danger of collision, for example, when oncoming vehicles turn left or pass each other. However, there is a problem in that entry is not permitted even if there is no such property.
[0008]
The present invention has been made in order to solve the above-mentioned problem, and in order to prevent occurrence of a collision accident between vehicles at an intersection, a technology capable of quickly and accurately determining the danger of a collision and issuing an alarm. The purpose is to provide.
[0009]
[Means for Solving the Problems]
In order to achieve this object, according to the intersection collision danger warning method according to claim 1 of the present invention, each vehicle entering the intersection generates a vehicle information packet, and places each vehicle information packet near the intersection. Transmit to the installed traffic control device, the traffic control device collects the vehicle information packets received from each vehicle, generates an intersection traffic information packet, transmits the intersection traffic information packet to each vehicle, and receives at each vehicle Based on the vehicle information packet of the own vehicle, information of vehicles on the lane that may collide with the own vehicle is selected from the intersection traffic information packets, and a collision risk is determined based on the selected information. , When it is determined that there is a danger of collision, a method of issuing a warning to the driver,
The vehicle information packet includes an identifier of the own vehicle, lane information indicating a traveling lane of the own vehicle, position information indicating a position of the own vehicle, and traveling direction information indicating a passing pattern of an intersection of the own vehicle,
The intersection traffic information packet includes, for each lane, vehicle position information, and traveling direction information,
When determining the risk of collision when your vehicle goes straight at an intersection or turns left,
From the intersection traffic information packet, as the lane that may collide with the own vehicle, extract the information of the lane in which the own vehicle runs,
According to the extracted information, when a right-turning vehicle or a left-turning vehicle is running on the lane in which the own vehicle runs, and the vehicle is running ahead of the own vehicle, it is a method of determining that there is danger.
[0010]
As described above, according to the present invention, the collision risk is determined for each vehicle based on the intersection traffic information packet in which the vehicle information packets of each vehicle are put together. In addition, the information of the vehicle on the lane which may collide with the own vehicle in the intersection traffic information packet is selected, and the collision risk of the own vehicle is determined based on the selected information.
[0011]
For this reason, according to the present invention, it is not necessary to consider the positional relationship of all other vehicles in each vehicle, and it is not necessary to determine the collision risk of each vehicle in the traffic control device, so that, in particular, Even when many vehicles pass through an intersection, quick and accurate determination can be made. As a result, it is possible to prevent the occurrence of a collision accident between vehicles at an intersection.
[0012]
Furthermore, the intersection traffic information packet is common to each vehicle, and the traffic control device does not need to generate individual information for each vehicle. Therefore, the traffic control device can quickly generate intersection traffic information. As a result, it is possible to reduce the time required to determine the danger.
[0013]
In the present invention, the traveling lanes on which the straight-ahead vehicles that pass through the intersection travel are treated as separate lanes with the intersection interposed therebetween. When the road has one lane on each side, the lane information is equivalent to the road information.
In addition, the traveling vehicle includes a vehicle that is temporarily stopped before or within the intersection for safety confirmation or the like.
[0014]
In addition, when the vehicle travels straight at the intersection or turns left, when judging the risk of collision, the intersection traffic information packet determines the lane in which the vehicle travels as the lane that may collide with the vehicle. Information is extracted, and in the extracted information, when a right-turning vehicle or a left-turning vehicle is traveling in the lane in which the own vehicle travels, and the vehicle is traveling in front of the own vehicle, it is a method for determining that there is a danger. Therefore, when the own vehicle goes straight or turns left, it is possible to accurately determine the risk of a collision with the preceding right-turning vehicle or left-turning vehicle.
[0015]
As described above, when the vehicle information packet includes the lane information, the position information, and the traveling direction information, the traveling state of the vehicle entering or entering the intersection can be more accurately grasped. For this reason, the collision risk can be determined more accurately.
Note that the passing pattern refers to, for example, going straight, turning left or turning right at an intersection.
[0016]
As described above, if the information is collected for each lane, it is possible to easily select information on vehicles on the lane that may collide with the host vehicle, and to more quickly and accurately determine the risk of collision.
[0017]
Claims2According to the described invention, when the own vehicle makes a right turn at the intersection, in determining the risk of collision, information of the oncoming lane of the own vehicle is determined from the intersection traffic information as a lane that may collide with the own vehicle. According to the extracted information, when another vehicle is traveling on the oncoming lane and the other vehicle goes straight ahead at the intersection, it is a method of determining that it is dangerous.
In this way, when the vehicle turns right, the risk of collision with the oncoming vehicle can be accurately determined.
[0018]
Claims3According to the described invention, in each vehicle entering the intersection, each generates a vehicle information packet, transmits each vehicle information packet to a traffic control device installed near the intersection, in the traffic control device, A vehicle information packet received from each vehicle is collected, an intersection traffic information packet is generated, the intersection traffic information packet is transmitted to each vehicle, and each vehicle collides with its own vehicle from among the received intersection traffic information packets. An intersection collision danger warning method that selects information on vehicles on the lane where there is a possibility of collision, determines a collision danger based on the selected information, and issues a warning to the driver when it is determined that there is a danger of collision When the intersection traffic information packet includes a plurality of vehicles traveling on the same lane, the position of the vehicle located immediately near the center of the intersection is There as a way of information.
[0019]
As described above, if the position information of a plurality of vehicles on the same lane is represented by the position information of the vehicle closest to the center point of the intersection, that is, the position information of the leading vehicle entering the intersection, it is possible to reduce the traffic information amount at the intersection. it can. In addition, when determining the risk of collision, a vehicle that should be actually considered is a vehicle that is located in front of the host vehicle or in the immediate vicinity of the center of the intersection. That is, the presence or absence of the leading vehicle is important. Therefore, by representing the position information with the leading vehicle, the determination can be speeded up without impairing the accuracy of the determination.
[0020]
Claims4According to the described invention, in selecting the information of the vehicle on the lane that may collide with the own vehicle from the received intersection traffic information packet, the position of the own vehicle, the traveling lane, and the passage of the intersection This is a method of selecting information based on a pattern.
As described above, if the information is selected based on the position of the own vehicle, the traveling lane, and the passing pattern of the intersection of the own vehicle, the information of the vehicle on the lane that may collide with the own vehicle is accurately selected. be able to.
[0021]
Claims5According to the described intersection collision danger warning system of the present invention, an on-vehicle device and a traffic control device are provided, wherein the on-vehicle device detects a position of the own vehicle and generates position information, and a shape of a road. And a vehicle position determination unit that determines a traveling lane of the vehicle at an intersection where the vehicle enters based on the position information and the road shape information and generates lane information. Unit, a traveling direction detecting unit that detects a passing pattern of an intersection of the own vehicle and generates traveling direction information, and generates a vehicle information packet including an identifier of the own vehicle, the position information, the lane information, and the traveling direction information. The vehicle information packet generating unit and the own vehicle travels straight at the intersection or turns left when judging the danger of collision. As a certain lane, information on the lane in which the vehicle travels is extracted. Based on the extracted information, a right-turn vehicle or a left-turn vehicle travels on the lane in which the vehicle travels, and the vehicle travels ahead of the vehicle. The traffic control device includes a danger determining unit that determines that there is a danger when the vehicle is in danger, and a danger warning unit that issues a warning to a driver when the danger determination unit determines that there is a danger of collision. For each vehicle entering the intersection, an information request packet transmission unit that generates an information request packet requesting transmission of the vehicle information packet, and summarizes the vehicle information packets received from each vehicle, and converts the intersection traffic information packet And an intersection traffic information generation unit.
[0022]
Claims6According to the described intersection collision danger warning system of the present invention, an on-vehicle device and a traffic control device are provided, wherein the on-vehicle device detects a position of the own vehicle and generates position information, and a shape of a road. And a vehicle position determination unit that determines a traveling lane of the vehicle at an intersection where the vehicle enters based on the position information and the road shape information and generates lane information. Unit, a traveling direction detecting unit that detects a passing pattern of an intersection of the own vehicle and generates traveling direction information, and generates a vehicle information packet including an identifier of the own vehicle, the position information, the lane information, and the traveling direction information. A vehicle information packet generating unit that selects, from the received intersection traffic information packets, information on vehicles on a lane that may collide with the own vehicle based on the vehicle information packet of the own vehicle. A danger determining unit that determines a collision danger based on the selected information; and a danger warning unit that issues a warning to a driver when the danger determination unit determines that there is a danger of collision. The traffic control device includes an information request packet transmitting unit that generates an information request packet for requesting transmission of the vehicle information packet for each vehicle entering the intersection, and a vehicle information packet received from each vehicle, and collects the information packets on the same lane. When a plurality of vehicles are traveling, an intersection traffic information generation unit that generates an intersection traffic information packet that uses the position of the vehicle located immediately near the center point of the intersection as position information is provided.
[0023]
For this reason, according to the present invention, it is not necessary to consider the positional relationship of all other vehicles in each vehicle, and it is not necessary to determine the collision risk of each vehicle in the traffic control device, so that it is quick and An accurate judgment can be made and an alarm can be issued. As a result, even when a large number of vehicles pass through the intersection, it is possible to prevent a collision accident between vehicles at the intersection and to realize safe and smooth traffic.
[0024]
Furthermore, the intersection traffic information packet is common to each vehicle, and the traffic control device does not need to generate individual information for each vehicle. Therefore, the traffic control device can quickly generate intersection traffic information. As a result, it is possible to reduce the time required to determine the danger.
[0025]
In addition, since the vehicle information packet generated by the on-vehicle device includes lane information, position information, and traveling direction information, the vehicle has entered or entered an intersection based on the intersection traffic information in which these in-vehicle information packets are combined. The traveling state of the coming vehicle can be accurately grasped. For this reason, the collision risk can be determined more accurately.
[0026]
Claims7According to the described in-vehicle device of the present invention, a position detection unit that detects a position of the own vehicle and generates position information, a road shape detection unit that detects a shape of a road and generates road shape information, Based on the road shape information, the traveling lane of the own vehicle at an intersection where the own vehicle enters is determined, a vehicle position determining unit that generates lane information, and a passing pattern at the intersection of the own vehicle is detected, and traveling direction information is generated. A traveling direction detecting unit, a vehicle information packet generating unit that generates a vehicle information packet including an identifier of the own vehicle, position information, lane information and traveling direction information, and a case where the own vehicle goes straight on an intersection or turns left. In determining the danger of a collision,Intersection traffic information packetFrom, as a lane that may collide with the own vehicle, information of the lane in which the own vehicle travels is extracted, and in the extracted information, a right-turn vehicle or a left-turn vehicle runs on the lane in which the own vehicle runs, and A danger determining unit that determines that there is a danger when the vehicle is traveling in front of the vehicle, and a danger warning unit that issues a warning to the driver when the danger determination unit determines that there is a danger of collision. This is a configuration including:
[0027]
Thus, according to the vehicle-mounted device of the present invention, the vehicle information packet of each vehicle is transmitted to the traffic control device, and the collision risk of each vehicle is determined based on the intersection traffic information packet received from the traffic control device. . In addition, the information of the vehicle on the lane which may collide with the own vehicle in the intersection traffic information packet is selected, and the collision risk of the own vehicle is determined based on the selected information. For this reason, according to the present invention, it is not necessary to consider the positional relationship of all other vehicles in each vehicle, so that it is possible to quickly and accurately determine a collision risk. As a result, it is possible to prevent the occurrence of a collision accident between vehicles at an intersection.
[0028]
Claims8According to the described traffic control device of the present invention, an information request packet transmitting unit that generates an information request packet for requesting transmission of a vehicle information packet for each vehicle entering an intersection, and vehicle information received from each vehicle When a plurality of vehicles are traveling on the same lane, packets are collected and an intersection traffic information generation unit that generates an intersection traffic information packet with the position of the vehicle located immediately adjacent to the center of the intersection as position information is provided. There is a configuration to provide.
[0029]
As described above, according to the traffic control device of the present invention, an intersection traffic information packet is generated by combining the vehicle information packets of each vehicle and transmitted to each vehicle. This intersection traffic information packet is common to each vehicle, and the traffic control device does not need to generate individual information for each vehicle. Therefore, the traffic control device can quickly generate intersection traffic information.
Further, the traffic control device does not judge the collision risk of each vehicle one by one, but determines the collision risk of each vehicle based on the common intersection traffic information packet, so that quick and accurate determination can be made.
[0030]
Claims of the present invention9According to the recording medium described, in each vehicle entering the intersection,It includes an identifier of the own vehicle, lane information indicating a traveling lane of the own vehicle, position information indicating a position of the own vehicle, and traveling direction information indicating a passing pattern of an intersection of the own vehicle.A process of generating a vehicle information packet, a process of transmitting each of the vehicle information packets to a traffic control device installed near the intersection, and a case where the own vehicle goes straight at the intersection or turns left. In determining, received from the traffic control device,Includes vehicle position information and traveling direction information for each laneFrom the intersection traffic information packet, information on the lane in which the host vehicle travels is extracted as a lane with a possibility of collision with the host vehicle. The computer causes the computer to execute a process of determining that there is a danger when the vehicle is traveling and the vehicle is traveling ahead of the host vehicle, and a process of issuing a warning to the driver when determining that there is a risk of collision. The program has been recorded.
[0031]
By causing a computer to read and execute the program recorded on the recording medium of the present invention, it is possible to quickly and accurately determine a collision risk. As a result, it is possible to prevent a collision accident between vehicles at an intersection.
[0032]
BEST MODE FOR CARRYING OUT THE INVENTION
Hereinafter, embodiments of the present invention will be described with reference to the drawings.
The processing in the in-vehicle device and the traffic control device in each of the following embodiments is executed by a computer controlled by a program. This program is provided, for example, by a recording medium. As the recording medium, for example, a magnetic disk, a semiconductor memory, or any other computer-readable medium can be used. Further, the program recorded on the recording medium can be read by a computer via a communication line.
[0033]
1. Constitution
First, a configuration of an intersection collision danger warning system of the present embodiment will be described with reference to FIG.
[0034]
FIG. 1 is a block diagram for explaining the configuration of the intersection collision warning system according to the present embodiment. As shown in FIG. 1, the intersection collision warning system includes an in-vehicle device 1 and a traffic control device 2.
(1) In-vehicle device
First, the configuration of the vehicle-mounted device 1 will be described.
The in-vehicle device 1 includes a position detection unit 10, a road shape detection unit 11, a vehicle position determination unit 12, a traveling direction detection unit 13, a vehicle information packet generation unit 14, a communication unit 15, a danger determination unit 16, and a danger warning unit 17. Have been.
[0035]
The position detector 10 detects the position of the vehicle and generates position information. As the position detecting unit 10, for example, a globally known positioning system (Global Positioning System; GPS) receiver, a Differential GPS (Differential GPS) receiver, or a conventionally known arbitrary suitable suitable such as an autonomous navigation device using a gyro Equipment can be used.
[0036]
Then, the position detection unit 10 generates position information indicating the position by, for example, latitude and longitude. Specifically, position information that specifies the position of the vehicle is generated, for example, 135 degrees 15 minutes XX seconds east longitude, 34 degrees 10 minutes XX seconds north latitude (where OO represents an arbitrary numerical value). You. The generated position information is sent to the vehicle position determination unit 12, the vehicle information packet generation unit 14, and the danger determination unit 16, respectively.
[0037]
The road shape detection unit 11 detects a road shape and generates road shape information. The road shape information includes, for example, information such as the position and width of a road, the number of lanes, the connection between roads, and the shape of an intersection. That is, the road shape information includes, for example, information included in an electronic map installed in the car navigation system. Therefore, as the road shape detection unit 11, a car navigation system that reads information from such an electronic map can be used.
Then, the road shape information is sent to the vehicle position determination unit 12.
[0038]
The vehicle position determining unit 12 determines a traveling lane of the vehicle at an intersection where the vehicle enters based on the position information and the road shape information, and generates lane information.
The lane information includes, in addition to the information for identifying the lane on the road on which the vehicle is traveling, the right-turn lane and the left-turn lane of the intersection, etc., the information for identifying the road and the intersection.
The lane information is sent to the vehicle information packet generator 14.
[0039]
The traveling direction detection unit 13 detects a passing pattern at the intersection of the own vehicle and generates traveling direction information. The passing pattern indicates, for example, straight ahead, left turn or right turn. In other words, the traveling direction detection unit 13 detects how the driver is driving his own vehicle and trying to pass through the intersection.
[0040]
As a method of detecting a passing pattern, for example, a right / left turn can be detected by the operation of a turn signal (turn signal), and it can be detected that the vehicle is going straight when there is no operation of the turn signal. In a car navigation system, when a traveling route of a vehicle is set, a passing pattern can be detected based on guidance provided to a driver by the car navigation system.
Then, the traveling direction information indicating the detected passing pattern is sent to the vehicle information packet generator 14 and the danger determiner 16.
[0041]
The vehicle information packet generator 14 includes the position information transmitted from the position detector 10, the lane information transmitted from the vehicle position determiner 12, and the traveling direction information 13 transmitted from the traveling direction detector 13. Generates a lane information packet.
[0042]
Here, FIG. 2B shows a configuration example of the vehicle information packet.
The lane information packet 200 shown in FIG. 2B includes, from the head side, an identifier of the own vehicle, position information, a road identifier, an intersection identifier, a lane identifier as lane information, and a traveling direction identifier as traveling direction information. It has a configuration in which it is arranged sequentially.
In the vehicle information packet, the position information is represented by being converted from longitude and latitude to x, y coordinate display with an arbitrary point near the intersection as the origin.
Then, the generated vehicle information packet is sent to the communication unit 15.
[0043]
When receiving the information request packet from the traffic control device 2, the communication unit 15 transmits the vehicle information packet 200 to the traffic control device 2.
Here, FIG. 2A shows a configuration example of the information request packet.
The information request packet 300 shown in FIG. 2A includes an intersection identifier. Therefore, the communication unit 15 may transmit the vehicle information packet only when the intersection identifier of the information request packet 300 and the intersection identifier of the vehicle information packet match.
[0044]
Further, when receiving the intersection traffic information packet from the traffic control device 2, the communication unit 15 notifies the danger determination unit 16 of the reception.
In addition, as a communication medium, a conventionally known arbitrary suitable medium such as a wireless LAN, a mobile phone, and infrared communication can be used.
[0045]
In addition, the danger determination unit 16 selects information of a vehicle on a lane that may collide with the own vehicle based on the information of the own vehicle from the received intersection traffic information packet. Here, the selection is made based on the position of the own vehicle, the traveling lane, and the passing pattern at the intersection of the own vehicle. Subsequently, the danger determining unit 16 determines a collision danger based on the selected information.
[0046]
Specifically, for example, when the own vehicle goes straight at the intersection or turns left, when judging the danger of collision, the traffic information packet from the intersection traffic information packet is used as the lane that may collide with the own vehicle. The information of the lane in which the vehicle travels is extracted. Subsequently, when the extracted information indicates that another vehicle is traveling on the lane in which the own vehicle travels, and the other vehicle is traveling ahead of the own vehicle, it is determined to be dangerous.
[0047]
In addition, for example, when the own vehicle turns right at the intersection, in determining the risk of collision, information on the oncoming lane of the own vehicle is extracted from the intersection traffic information as a lane that may collide with the own vehicle. . Subsequently, when the extracted information indicates that another vehicle is traveling on the oncoming lane and that the other vehicle is going straight ahead at the intersection, it is determined to be dangerous.
When the danger determining unit 16 determines that the danger is dangerous, the danger determining unit 16 notifies the danger warning unit 17 of a danger warning request signal.
[0048]
When the danger determination unit 16 determines that there is a danger of collision and receives a danger warning request signal, the danger warning unit 17 issues a warning to the driver. Specifically, a warning is displayed or a warning sound is generated from a display or a warning means such as a siren, a buzzer, or a rotating light.
[0049]
(2) Traffic control device
Next, the configuration of the traffic control device 2 will be described.
As shown in FIG. 1, the traffic control device 2 includes a communication unit 20, an information request packet transmission unit 21, and an intersection traffic information generation unit 22.
The information request packet transmitting unit 21 generates an information request packet for requesting each vehicle entering the intersection to transmit a vehicle information packet. The configuration of the information request packet 300 is as shown in FIG.
Note that the information request packet transmitting unit 21 periodically notifies the communication unit 20 of the information request packet.
[0050]
The communication unit 20 transmits the information request packet notified from the information request packet transmission unit 21 to each vehicle, and receives a vehicle information packet from each vehicle. Then, the communication unit notifies the intersection traffic information generation unit 22 of each received vehicle information packet.
The communication unit 20 transmits the intersection traffic information packet generated by the intersection traffic information generation unit 22 to each vehicle.
[0051]
The intersection traffic information generation unit 23 collects the vehicle information packets received from each vehicle and generates an intersection traffic information packet.
Here, FIG. 2C shows a configuration example of a part of the intersection traffic information packet. The intersection traffic information packet 400 shown in FIG. 2C has, at the beginning, an identifier of the intersection where the traffic control device is installed, and for each lane, the position information of the vehicle traveling on the lane, and It has a configuration in which traveling direction information is arranged. In other words, a configuration in which the lane identifier, the position information, and the traveling direction identifier are sequentially arranged is repeated at least by the number of lanes in which the vehicle has entered or has entered the intersection.
[0052]
In the column of position information of each lane, when a plurality of vehicles are traveling on the same lane, the position information of the vehicle traveling on the lane is determined by the position of the vehicle located immediately near the center point of the intersection. It is representative. As a result, the amount of information is reduced. The traveling direction identifier of each lane also describes the traffic pattern of each vehicle on that lane. That is, in the column of each traveling direction identifier, a traveling direction identifier indicating one or more traffic patterns of straight ahead, left turn, and right turn is described.
Then, the generated intersection traffic information packet is sent to the communication unit 20.
[0053]
2. motion
Next, the operation of the intersection collision danger warning system in the case of the traffic condition of the intersection 1000 shown in FIG. 3, that is, an example of the intersection collision danger warning method of the present invention will be described with reference to FIG.
In the traffic state shown in FIG. 3, the intersection 1000 is formed by merging roads 2000, 3000, 4000, and 5000 from all sides. Each road is constituted by an approach lane and a departure lane each having two lanes on each side. FIG. 3 shows only the vehicles on the approach lane.
[0054]
On the approach lane 10001 of the road 2000, a straight-ahead vehicle a and a right-turning vehicle b ahead of it are running. On the approach lane 10002 of the road 4000 opposite the road 2000, the right-turning vehicle c is traveling. Further, on the approach lane 10003 of the road 4000, a left-turn vehicle d and a straight-ahead vehicle e behind it are running. In the example shown in FIG. 3, the traffic control device 2 is installed beside the intersection 1000.
In addition, the installation location of the traffic control device 2 is not particularly limited as long as it can receive a vehicle information packet from each vehicle entering the intersection.
[0055]
FIG. 4 is a flowchart showing the operation of the intersection collision danger warning system as the operation of each of the vehicle-mounted device 1 and the traffic control device 2.
First, the information request packet transmitting unit 21 of the traffic control device 2 shown in FIG. 1 generates the information request packet 300 shown in FIG. 2A (step B1 in FIG. 4).
The generated information request packet 300 is transmitted to each vehicle via the communication unit 20 (Step B2 in FIG. 4).
[0056]
Next, in each vehicle entering the intersection, the communication unit 15 of the vehicle-mounted device 1 receives the information request packet 300 (Step A1 in FIG. 4).
The communication unit 15 transfers the information request packet 300 to the vehicle information packet generation unit 14. Further, the vehicle information packet generator 14 transfers the information request packet 300 to the position information detector 10, the road shape detector 11, the vehicle position determiner 12, and the traveling direction detector 13.
[0057]
When the information request packet 300 is transferred, the position information detecting unit 10 detects the vehicle position and generates position information as described above. Subsequently, the position information detection unit 10 notifies the position information to the vehicle position determination unit 12, the vehicle information packet generation unit 14, and the danger determination unit 16.
[0058]
When the information request packet 300 is transferred, the road shape detection unit 11 detects the road shape and generates the road shape information as described above. Subsequently, the road shape detecting unit 11 notifies the vehicle position determining unit 12 of the road shape information.
[0059]
When the information request packet 300 is transferred, the vehicle position determination unit 12 determines whether the vehicle travels based on the position information received from the position detection unit 10 and the road shape information received from the road shape detection unit 11. A road identifier, a lane identifier, and an intersection identifier of the road that is running are determined, and lane information (also referred to as on-road vehicle position information) is generated. Then, the on-road vehicle position information is notified to the vehicle packet generation unit 14 and the danger determination unit 16.
[0060]
Then, in the vehicle information packet generation unit 14 of each vehicle, the position information received from the position detection unit 10, the on-road vehicle position information received from the vehicle position determination unit 12, and the traveling direction information received from the traveling direction detection unit 13 Then, a vehicle information packet 200 shown in FIG. 2B is generated by adding a vehicle identifier for identifying the own vehicle (step A2 in FIG. 4).
[0061]
Here, FIGS. 5A to 5E show vehicle information packets 500a to 500e of the vehicles a to e, respectively.
The vehicle information packet 500a of the vehicle a shown in FIG. 5A has a value "a" as the vehicle identifier and values based on the x, y coordinate display based on the origin at the lower left of the intersection 1000 in FIG. (150, 200). Further, it has "2000" as a road identifier, "10001" as a lane identifier, "1000" as an intersection identifier, and "straight ahead" as a traveling direction identifier.
[0062]
The vehicle information packet 500b of the vehicle b shown in FIG. 5B has “b” as a vehicle identifier and (170, 200) as position information. Further, it has "2000" as a road identifier, "10001" as a lane identifier, "1000" as an intersection identifier, and "right turn" as a traveling direction identifier.
[0063]
The vehicle information packet 500c of the vehicle c shown in FIG. 5C has “c” as a vehicle identifier and (200, 150) as position information. Further, it has "4000" as a road identifier, "10002" as a lane identifier, "1000" as an intersection identifier, and "right turn" as a traveling direction identifier.
[0064]
The vehicle information packet 500d of the vehicle d shown in (D) of FIG. 5 has “d” as a vehicle identifier and (210, 140) as position information. Further, it has "4000" as a road identifier, "10003" as a lane identifier, "1000" as an intersection identifier, and "left turn" as a traveling direction identifier.
[0065]
The vehicle information packet 500e of the vehicle e shown in FIG. 5E has “e” as a vehicle identifier and (250, 140) as position information. Further, it has “4000” as a road identifier, “10003” as a lane identifier, “1000” as an intersection identifier, and “straight ahead” as a traveling direction identifier.
[0066]
Then, the vehicle information packet generator 14 of each of the vehicles a to e transmits the generated vehicle information packets 500a to 500e to the traffic control device 2 via the communication unit 15 (step A3).
[0067]
The vehicle information packets 500a to 500e from each of the vehicles a to e are received by the communication unit 15 of the traffic control device 2 (Step B3 in FIG. 4).
Upon receiving the vehicle information packet, the communication unit transfers the packet to the intersection traffic information generation unit 22.
[0068]
The intersection traffic information generation unit 22 combines the vehicle information packets received from each vehicle and generates an intersection traffic information packet (Step B4 in FIG. 4).
Here, FIG. 6 shows an example of the intersection traffic information packet.
The intersection traffic information packet 600 shown in FIG. 6 has “1000” as an intersection identifier at the beginning, and thereafter, for lanes 10001, 10002 and 10003, has position information and traveling direction identifier for each lane.
[0069]
For lane "10001", the positions of vehicles a and b on lane 10001 are represented by coordinates (170, 200) of vehicle b closer to the center point of the intersection. In addition, “straight ahead” and “left turn” of the passing patterns of the vehicle a and the vehicle b are also described as the traveling direction identifiers.
The lane “10002” has the position coordinates (200, 150) of the vehicle c on the lane 10002 and the “right turn” of the passing pattern of the vehicle c.
[0070]
For lane "10003", the positions of vehicles d and e on lane 10003 are represented by coordinates (210, 140) of vehicle d closer to the center of the intersection. In addition, “straight ahead” and “left turn” of the passing patterns of the vehicle d and the vehicle e are also described as the traveling direction identifiers.
Then, the intersection traffic information generation unit 22 notifies the generated intersection traffic information packet 600 to the communication unit 20.
Then, the communication unit 20 transmits the intersection traffic information packet 600 to each vehicle (Step B5 in FIG. 4).
[0071]
The transmitted intersection traffic information packet 600 is received by the communication unit 15 of the vehicle-mounted device 1 of each vehicle (Step A4 in FIG. 4).
Subsequently, the communication unit 15 transfers the received intersection traffic information packet 600 to the danger determination unit 17.
[0072]
The danger determining unit 17 of each vehicle selects information on vehicles on the lane that may collide with the own vehicle from the received intersection traffic information packet, and determines a collision risk based on the selected information. (Step A5 in FIG. 4).
[0073]
Here, the operation of the danger determining unit 17 will be sequentially described for the case where the host vehicle goes straight or turns left and the case where the host vehicle turns right.
As described above, the traveling direction of the host vehicle is notified from the traveling direction detection 13 to the danger determining unit 17 as traveling direction information.
[0074]
(1) In the case of a car turning right or left
First, the operation of the danger determining unit 17 when the host vehicle goes straight or turns left will be described with reference to the flowchart in FIG. Thus, the vehicle a, the vehicle d, and the vehicle e shown in FIG. 3 correspond to the own vehicle that goes straight or turns left.
[0075]
When the own vehicle goes straight or turns left, first, information on the lane in which the own vehicle travels is extracted from the intersection traffic information packet as a lane that may collide with the own vehicle (step L1 in FIG. 7).
That is, vehicle a extracts information of lane "10001", and vehicles d and e extract information of lane "10003".
The travel lane of the host vehicle is notified from the vehicle position determination unit 12 to the danger determination unit 17 as described above.
[0076]
Subsequently, it is determined whether or not information on the traveling lane of the own vehicle is included (step L2 in FIG. 7).
That is, it is determined whether or not another vehicle is traveling on lane "10001" in vehicle a, and whether or not other vehicles are traveling on lane "10003" in vehicles d and e. .
[0077]
As a result of the determination, when the information about the vehicle on the traveling lane of the own vehicle is not included (No in Step L2), it is determined that there is no danger (Step L3 in FIG. 7).
[0078]
On the other hand, when the information about the vehicle on the traveling lane of the own vehicle is included (in the case of Yes in step L2), it is determined whether the vehicle is a right-turn vehicle or a left-turn vehicle (step L4 in FIG. 7). ).
That is, in the vehicle a, since the vehicle b is on the lane "10001", it is determined whether or not the vehicle b is a right / left turn vehicle. In addition, since the vehicles d and e have their vehicles on the lane "10003", it is determined whether each of the vehicles is a right or left turn vehicle.
[0079]
As a result of the determination, if there is no left / right turning vehicle (No in step L4), it is determined that there is no danger (step L3 in FIG. 7).
That is, in the vehicle d, since the vehicle e of the other vehicle is a straight-ahead vehicle, it is determined that there is no danger.
[0080]
On the other hand, as a result of the determination, if there is a right-turning vehicle or a left-turning vehicle (Yes in step L4), it is determined whether the vehicle is running ahead of the host vehicle (step L5 in FIG. 7).
That is, in the vehicle a, since the other vehicle b is a right-turn vehicle, the traveling position of the vehicle b is confirmed. In the vehicle e, since the vehicle d of the other vehicle is a left-turn vehicle, the traveling position of the vehicle d is confirmed.
[0081]
If the result of the determination is that the vehicle is not the vehicle in front of the own vehicle (No in step L5), it is determined that there is no danger (step L3).
The position of the host vehicle is notified from the position detection unit 10 to the danger determination unit 17 as described above.
[0082]
On the other hand, if the result of the determination is that the vehicle is a vehicle ahead of the own vehicle (Yes in step L5), it is determined to be dangerous (step L6 in FIG. 7).
That is, in the vehicle a, since the right-turning vehicle b is traveling ahead, it is determined to be dangerous. Also, the vehicle e is determined to be dangerous because the left-turn vehicle d is traveling ahead.
In this way, it is possible to accurately determine the risk of a rear-end collision with the vehicle turning right or left when the host vehicle goes straight or turns left.
[0083]
When it is determined that there is a danger of collision, the danger warning unit 17 issues a warning to the driver (step A6 in FIG. 4).
Therefore, in the example illustrated in FIG. 3, the warning is issued for the vehicle a and the vehicle e among the vehicle a, the vehicle d, and the vehicle e that turn straight or turn left, whereas the warning is not issued for the vehicle d.
[0084]
(2) When turning right
Next, the operation of the danger determining unit 17 when the vehicle turns right will be described with reference to the flowchart of FIG. Thus, the vehicle b and the vehicle c shown in FIG. 3 correspond to the own vehicle that goes straight or turns left.
[0085]
When the own vehicle turns right at the intersection, first, information on the oncoming lane of the own vehicle is extracted from the intersection traffic information as a lane that may collide with the own vehicle (step R1 in FIG. 8).
That is, the vehicle b extracts information on the oncoming lanes “10002” and “10003”, and the vehicle c extracts information on the oncoming lanes “10000” and “10001”.
[0086]
Subsequently, it is determined whether or not information on the oncoming lane is included (step R2 in FIG. 8).
That is, in the vehicle b, it is determined whether or not another vehicle is traveling on the oncoming lanes “10002” and “10003”. In the vehicle c, the other vehicle is traveling on the lanes “10000” and “10001”. It is determined whether it is possible or not.
If the result of the determination is that information on vehicles on the oncoming lane is not included (No in step R2), it is determined that there is no danger (step R3 in FIG. 8).
[0087]
On the other hand, when the information about the vehicle on the oncoming lane is included (in the case of Yes in step R2), it is determined whether or not the vehicle is a straight-ahead vehicle (step R4 in FIG. 8).
That is, in the vehicle b, since the vehicle c is on the oncoming lane "10002" and the vehicles d and e are on the oncoming lane "10003", whether these vehicles c, d and e are going straight ahead Determine whether or not. In the vehicle c, since the vehicle a and the vehicle b are on the opposite lane "10001", it is determined whether or not these vehicles a and b are going straight.
[0088]
If the result of the determination is that there is no straight vehicle (No in step R4), it is determined that there is no danger (step R3).
On the other hand, if the result of the determination is that there is a straight-ahead vehicle (Yes in step R4), it is determined to be dangerous (step R5 in FIG. 8).
That is, in the case of the vehicle b, the vehicle e on the opposite lane is a straight-ahead vehicle, so that it is determined to be dangerous. Also, the vehicle c is determined to be dangerous because the vehicle a on the opposite lane is a straight-ahead vehicle.
In this way, when the host vehicle turns right, it is possible to accurately determine the risk of collision with a straight-ahead vehicle on the oncoming lane.
[0089]
When it is determined that there is a danger of collision, the danger warning unit 17 issues a warning to the driver (step A6 in FIG. 4).
Therefore, in the example shown in FIG. 3, an alarm is issued for both the vehicle b and the vehicle c that make a right turn.
[0090]
In the embodiment described above, an example in which the present invention is configured under specific conditions has been described. However, the present invention can be variously modified. For example, in the above-described embodiment, examples of the vehicle information packet and the intersection traffic information packet in which specific items are arranged in a specific order have been described. And the order of configuration is not limited to this.
[0091]
【The invention's effect】
As described above in detail, according to the present invention, the collision risk is determined for each vehicle based on the intersection traffic information packet in which the vehicle information packets of each vehicle are put together. In addition, information on vehicles on the lane that may collide with the host vehicle in the intersection traffic information packet is selected, and the risk of collision of the host vehicle is determined based on the selected information. It is not necessary to consider all the positional relationships of the vehicles, and it is not necessary to determine the collision risk of each vehicle by the traffic control device.
For this reason, in particular, even when a large number of vehicles pass through the intersection, it is possible to quickly and accurately determine the danger of each vehicle and issue an alarm. As a result, even when a large number of vehicles pass through the intersection, it is possible to prevent a collision accident between vehicles at the intersection and to realize safe and smooth traffic.
[0092]
Furthermore, the intersection traffic information packet is common to each vehicle, and the traffic control device does not need to generate individual information for each vehicle. For this reason, even when many vehicles pass through the intersection, the traffic control device can quickly generate the intersection traffic information. As a result, it is possible to reduce the time required to determine the danger.
[Brief description of the drawings]
FIG. 1 is a functional block diagram for explaining a configuration of an intersection collision danger warning system.
2A shows a configuration of an information request packet, FIG. 2B shows a configuration of a vehicle information packet, and FIG. 2C shows a configuration of intersection traffic information.
FIG. 3 is a schematic diagram illustrating a vehicle traffic situation at an intersection according to the embodiment.
FIG. 4 is a flowchart illustrating an intersection collision danger warning method.
FIG. 5 is an example of a vehicle information packet according to the embodiment;
FIG. 6 is an example of intersection traffic information according to the embodiment;
FIG. 7 is a flowchart for explaining a danger determination method when going straight or turning left.
FIG. 8 is a flowchart for explaining a danger determination method when turning right.
[Explanation of symbols]
1 In-vehicle device
2 Traffic control equipment
10 Position detector
11 Road shape detector
12 Vehicle position determination unit
13 Travel direction detector
14 Vehicle information packet generator
15 Communication unit
16 Danger judgment part
17 Danger warning section
20 Communication unit
21 Information request packet transmission unit
22 Intersection traffic information generator
200 Vehicle information packet
300 Information request packet
400 intersection traffic information packet
500a-500e Vehicle information packet
600 intersection traffic information packet
1000 intersection
2000, 3000, 4000, 5000 Road
10000-10007 Approach lane
10010-10017 leaving lane

Claims (9)

  1. Each vehicle entering the intersection generates a vehicle information packet, transmits each vehicle information packet to a traffic control device installed near the intersection, and collects the vehicle information packets received from each vehicle at the traffic control device. , Generates an intersection traffic information packet, transmits the intersection traffic information packet to each vehicle, and allows each vehicle to collide with the own vehicle based on the vehicle information packet of the own vehicle from among the received intersection traffic information packets. A method of selecting a vehicle information on a lane with a possibility, determining a collision risk based on the selected information, and issuing a warning to a driver when it is determined that there is a collision risk,
    The vehicle information packet includes an identifier of the own vehicle, lane information indicating a traveling lane of the own vehicle, position information indicating a position of the own vehicle, and traveling direction information indicating a passing pattern of an intersection of the own vehicle,
    The intersection traffic information packet includes, for each lane, vehicle position information, and traveling direction information,
    When determining the risk of collision when your vehicle goes straight at an intersection or turns left,
    From the intersection traffic information packet, as the lane that may collide with the own vehicle, extract the information of the lane in which the own vehicle runs,
    In the extracted information, an intersection collision characterized by determining that there is a danger when a right-turning vehicle or a left-turning vehicle is traveling on the lane in which the own vehicle travels and the vehicle is traveling ahead of the own vehicle. Danger warning method.
  2. When judging the danger of collision when the vehicle turns right at the intersection,
    From the intersection traffic information, as the lane that may collide with the own vehicle, extract information of the oncoming lane of the own vehicle,
    In the extracted information, the opposite lane above and other vehicles traveling, and when the other vehicle is straight intersection, the intersection collision hazard alarm method according to claim 1, characterized in that it is determined that the risk.
  3. For each vehicle entering the intersection, a vehicle information packet is generated,
    Transmitting each of the vehicle information packets to a traffic control device installed near the intersection;
    In the traffic control device, collects vehicle information packets received from each vehicle, generates an intersection traffic information packet,
    Transmitting the intersection traffic information packet to each vehicle,
    In each vehicle, from the received intersection traffic information packet, select the information of the vehicle on the lane that may collide with the own vehicle, determine the collision risk based on the selected information,
    An intersection collision danger warning method that issues a warning to a driver when it is determined that there is a danger of collision,
    The intersection traffic information packet is:
    An intersection collision danger warning method, wherein when a plurality of vehicles are traveling on the same lane, a position of a vehicle located immediately near a center point of the intersection is used as position information.
  4. In selecting the information of the vehicle on the lane that may collide with the own vehicle from the received intersection traffic information packet,
    The intersection collision danger warning method according to claim 3 , wherein the information is selected based on a position of the own vehicle, a traveling lane, and a passing pattern of the intersection.
  5. The in-vehicle device comprising an in-vehicle device and a traffic control device,
    A position detection unit that detects the position of the vehicle and generates position information;
    A road shape detection unit that detects the shape of the road and generates road shape information;
    Based on the position information and the road shape information, a vehicle position determination unit that determines a traveling lane of the vehicle at an intersection where the vehicle enters, and generates lane information.
    A traveling direction detecting unit that detects a passing pattern at an intersection of the own vehicle and generates traveling direction information;
    A vehicle information packet generation unit that generates a vehicle information packet including an identifier of the own vehicle, the position information, the lane information, and the traveling direction information;
    When the vehicle travels straight at the intersection or turns left, to determine the danger of collision, from the intersection traffic information packet, information on the lane in which the vehicle travels as a lane that may collide with the vehicle. Is extracted from the extracted information, and when a right-turning vehicle or a left-turning vehicle is traveling on the lane in which the own vehicle travels, and the vehicle is traveling ahead of the own vehicle, a danger determination to determine that there is a danger Department and
    And a danger warning unit that issues a warning to the driver when the danger determination unit determines that there is a danger of collision.
    The traffic control device,
    For each vehicle approaching the intersection, an information request packet transmission unit that generates an information request packet requesting transmission of the vehicle information packet,
    An intersection traffic information generation unit that collects vehicle information packets received from each vehicle and generates an intersection traffic information packet;
    An intersection collision danger warning system comprising:
  6. The in-vehicle device comprising an in-vehicle device and a traffic control device,
    A position detection unit that detects the position of the vehicle and generates position information;
    A road shape detection unit that detects the shape of the road and generates road shape information;
    Based on the position information and the road shape information, a vehicle position determination unit that determines a traveling lane of the vehicle at an intersection where the vehicle enters, and generates lane information.
    A traveling direction detecting unit that detects a passing pattern at an intersection of the own vehicle and generates traveling direction information;
    A vehicle information packet generation unit that generates a vehicle information packet including an identifier of the own vehicle, the position information, the lane information, and the traveling direction information;
    From the received intersection traffic information packets, select information on vehicles on the lane that may collide with the own vehicle based on the vehicle information packet of the own vehicle, and determine the collision risk based on the selected information A risk determination unit to
    And a danger warning unit that issues a warning to the driver when the danger determination unit determines that there is a danger of collision.
    The traffic control device,
    For each vehicle approaching the intersection, an information request packet transmission unit that generates an information request packet requesting transmission of the vehicle information packet,
    A vehicle information packet received from each vehicle is collected, and when a plurality of vehicles are traveling on the same lane, an intersection traffic information packet is generated in which the position of the vehicle located closest to the center point of the intersection is used as position information. Intersection traffic information generator,
    An intersection collision danger warning system comprising:
  7. A position detection unit that detects the position of the vehicle and generates position information;
    A road shape detection unit that detects the shape of the road and generates road shape information;
    Based on the position information and the road shape information, a vehicle position determination unit that determines a traveling lane of the vehicle at an intersection where the vehicle enters, and generates lane information.
    A traveling direction detecting unit that detects a passing pattern at an intersection of the own vehicle and generates traveling direction information;
    A vehicle information packet generation unit that generates a vehicle information packet including an identifier of the own vehicle, the position information, the lane information, and the traveling direction information;
    When the vehicle travels straight at the intersection or turns left, to determine the danger of collision, information on the lane in which the vehicle travels is used as the lane that may collide with the vehicle from the intersection traffic information packet. In the extracted and extracted information, when a right-turning vehicle or a left-turning vehicle is traveling on the lane in which the own vehicle is traveling, and the vehicle is traveling in front of the own vehicle, a danger determination unit that determines that there is a danger. ,
    An in-vehicle device comprising: a danger warning unit that issues a warning to a driver when the danger determination unit determines that there is a danger of collision.
  8. An information request packet transmitting unit that generates an information request packet for requesting transmission of a vehicle information packet for each vehicle entering the intersection,
    A vehicle information packet received from each vehicle is collected, and when a plurality of vehicles are traveling on the same lane, an intersection traffic information packet is generated in which the position of the vehicle located closest to the center point of the intersection is used as position information. A traffic control device comprising an intersection traffic information generation unit.
  9. For each vehicle entering the intersection, vehicle information including an identifier of the own vehicle, lane information indicating a traveling lane of the own vehicle, position information indicating a position of the own vehicle, and traveling direction information indicating a passing pattern of the intersection of the own vehicle. Processing to generate a packet;
    A process of transmitting each of the vehicle information packets to a traffic control device installed near the intersection;
    An intersection traffic information packet containing vehicle position information and traveling direction information for each lane received from the traffic control device when judging the danger of collision when the vehicle goes straight at the intersection or turns left. As a lane that is likely to collide with the host vehicle, information on the lane in which the host vehicle travels is extracted.In the extracted information, a right-turn vehicle or a left-turn vehicle runs on the lane in which the host vehicle runs, and A process of determining that the vehicle is dangerous when the vehicle is traveling ahead of the vehicle,
    A recording medium storing a program for causing a computer to execute a process of issuing a warning to a driver when it is determined that there is a risk of collision.
JP29562999A 1999-10-18 1999-10-18 Intersection collision danger warning method, system thereof, vehicle-mounted device, traffic control device, and recording medium Expired - Fee Related JP3584810B2 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP29562999A JP3584810B2 (en) 1999-10-18 1999-10-18 Intersection collision danger warning method, system thereof, vehicle-mounted device, traffic control device, and recording medium

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP29562999A JP3584810B2 (en) 1999-10-18 1999-10-18 Intersection collision danger warning method, system thereof, vehicle-mounted device, traffic control device, and recording medium

Publications (2)

Publication Number Publication Date
JP2001118199A JP2001118199A (en) 2001-04-27
JP3584810B2 true JP3584810B2 (en) 2004-11-04

Family

ID=17823126

Family Applications (1)

Application Number Title Priority Date Filing Date
JP29562999A Expired - Fee Related JP3584810B2 (en) 1999-10-18 1999-10-18 Intersection collision danger warning method, system thereof, vehicle-mounted device, traffic control device, and recording medium

Country Status (1)

Country Link
JP (1) JP3584810B2 (en)

Families Citing this family (34)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP4725036B2 (en) * 2003-12-16 2011-07-13 株式会社デンソー Communication device, mobile communication system, and program
US7772996B2 (en) * 2007-05-25 2010-08-10 Spot Devices, Inc. Alert and warning system and method
JP5741363B2 (en) * 2011-10-14 2015-07-01 株式会社デンソー Driving support device
US9031776B2 (en) * 2012-11-29 2015-05-12 Nissan North America, Inc. Vehicle intersection monitoring system and method
US9349291B2 (en) 2012-11-29 2016-05-24 Nissan North America, Inc. Vehicle intersection monitoring system and method
US9620014B2 (en) 2012-11-29 2017-04-11 Nissan North America, Inc. Vehicle intersection monitoring system and method
US9020728B2 (en) 2013-01-17 2015-04-28 Nissan North America, Inc. Vehicle turn monitoring system and method
US8990001B2 (en) 2013-07-26 2015-03-24 Nissan North America, Inc. Vehicle collision monitoring method
US9177478B2 (en) 2013-11-01 2015-11-03 Nissan North America, Inc. Vehicle contact avoidance system
US9485247B2 (en) 2014-03-04 2016-11-01 Nissan North America, Inc. On-board vehicle communication system and method
US9324233B2 (en) 2014-03-04 2016-04-26 Nissan North America, Inc. Vehicle contact warning method and system
US9153132B2 (en) 2014-03-04 2015-10-06 Nissan North America, Inc. On-board vehicle control system and method for determining whether a value is within an area of interest for extraneous warning suppression
US9031758B1 (en) 2014-03-04 2015-05-12 Nissan North America, Inc. On-board vehicle control system and method for determining whether a vehicle is within a geographical area of interest
US9694737B2 (en) 2014-06-16 2017-07-04 Nissan North America, Inc. Vehicle headlight control system and method
US9778349B2 (en) 2014-10-03 2017-10-03 Nissan North America, Inc. Method and system of monitoring emergency vehicles
US9776614B2 (en) 2014-10-03 2017-10-03 Nissan North America, Inc. Method and system of monitoring passenger buses
US9776528B2 (en) 2015-06-17 2017-10-03 Nissan North America, Inc. Electric vehicle range prediction
US9725037B2 (en) 2015-07-09 2017-08-08 Nissan North America, Inc. Message occlusion detection system and method in a vehicle-to-vehicle communication network
US9598009B2 (en) 2015-07-09 2017-03-21 Nissan North America, Inc. Vehicle intersection warning system and method with false alarm suppression
US9620015B2 (en) 2015-07-13 2017-04-11 Nissan North America, Inc. Kinematic path prediction of vehicles on curved paths
JP5987200B2 (en) * 2015-07-17 2016-09-07 三菱電機株式会社 In-vehicle device, pedestrian positioning terminal
US9618347B2 (en) 2015-08-03 2017-04-11 Nissan North America, Inc. Projecting vehicle transportation network information representing an intersection
US10088325B2 (en) 2015-08-03 2018-10-02 Nissan North America, Inc. Projected vehicle transportation network information notification
US9633559B2 (en) 2015-08-03 2017-04-25 Nissan North America, Inc. Projecting vehicle transportation network information
US9990852B2 (en) 2016-01-29 2018-06-05 Nissan North America, Inc. Converging path detection
US10089874B2 (en) 2016-01-29 2018-10-02 Nissan North America, Inc. Converging path detection stabilized codeword generation
US10062286B2 (en) 2016-01-29 2018-08-28 Nissan North America, Inc. Converging path detection codeword generation
US9776630B2 (en) 2016-02-29 2017-10-03 Nissan North America, Inc. Vehicle operation based on converging time
US9836976B2 (en) 2016-03-23 2017-12-05 Nissan North America, Inc. Passing lane collision avoidance
US9796327B2 (en) 2016-03-23 2017-10-24 Nissan North America, Inc. Forward collision avoidance
US9987984B2 (en) 2016-03-23 2018-06-05 Nissan North America, Inc. Blind spot collision avoidance
US9783145B1 (en) 2016-03-23 2017-10-10 Nissan North America, Inc. Rear-end collision avoidance
US10037698B2 (en) 2016-07-28 2018-07-31 Nissan North America, Inc. Operation of a vehicle while suppressing fluctuating warnings
US9981660B2 (en) 2016-08-30 2018-05-29 Nissan North America, Inc. Operation of a vehicle by classifying a preceding vehicle lane

Also Published As

Publication number Publication date
JP2001118199A (en) 2001-04-27

Similar Documents

Publication Publication Date Title
Piao et al. Advanced driver assistance systems from autonomous to cooperative approach
US8477023B2 (en) Information presentation apparatus
JP4055656B2 (en) Collision prediction device
DE10249638B4 (en) Vehicle recognition support system
JP3565413B2 (en) Mobile communication device
EP1862988A1 (en) A driving assist for a vehicle
US8294594B2 (en) On-board vehicle warning system and vehicle driver warning method
CN104471624B (en) The method and system for making trace of the following vehicle based on leading vehicle independently follow the trail of
EP1862989B1 (en) Image forming system
CN104417561B (en) Context aware threat-response judges
JP4483589B2 (en) Vehicle information providing device
CN102442248B (en) For warning the system and method for frontal collisions danger and using its vehicle
JP3772838B2 (en) Vehicle drive support device and vehicle control device
US20100315217A1 (en) Driving support device and program
JP2008037218A (en) Vehicle control device
US5270708A (en) Accident information providing system for automotive vehicle
JP3214122B2 (en) Dangerous situation warning device
JP2005202913A (en) Communication equipment, vehicle communication system, and program
US20070035416A1 (en) Vehicle control device
JP4941274B2 (en) Road-to-vehicle communication system
CN103065500A (en) Highway merge assistant and control
JP4230341B2 (en) Driving assistance device
CN102063798A (en) Travel lane advisor
US20100332127A1 (en) Lane Judgement Equipment and Navigation System
WO2012100035A1 (en) Method of intersection identification for collision warning system

Legal Events

Date Code Title Description
TRDD Decision of grant or rejection written
A01 Written decision to grant a patent or to grant a registration (utility model)

Free format text: JAPANESE INTERMEDIATE CODE: A01

Effective date: 20040713

A61 First payment of annual fees (during grant procedure)

Free format text: JAPANESE INTERMEDIATE CODE: A61

Effective date: 20040726

R150 Certificate of patent (=grant) or registration of utility model

Free format text: JAPANESE INTERMEDIATE CODE: R150

FPAY Renewal fee payment (prs date is renewal date of database)

Free format text: PAYMENT UNTIL: 20070813

Year of fee payment: 3

FPAY Renewal fee payment (prs date is renewal date of database)

Free format text: PAYMENT UNTIL: 20080813

Year of fee payment: 4

FPAY Renewal fee payment (prs date is renewal date of database)

Year of fee payment: 4

Free format text: PAYMENT UNTIL: 20080813

FPAY Renewal fee payment (prs date is renewal date of database)

Free format text: PAYMENT UNTIL: 20090813

Year of fee payment: 5

FPAY Renewal fee payment (prs date is renewal date of database)

Free format text: PAYMENT UNTIL: 20090813

Year of fee payment: 5

FPAY Renewal fee payment (prs date is renewal date of database)

Free format text: PAYMENT UNTIL: 20100813

Year of fee payment: 6

LAPS Cancellation because of no payment of annual fees