JP3644450B1 - Information providing system and method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To be frustrated by a passenger of a passenger car who does not know why he can not go forward even though he should go forward.
When the host vehicle stops, it is determined whether or not the host vehicle is the leading vehicle 1-1. If the host vehicle is the leading vehicle 1-1, an image obtained by capturing the front of the host vehicle is forwarded. When it is transmitted as a captured image and the host vehicle is the succeeding vehicle 1-2, the forward captured image received from the leading vehicle 1-1 is output to the information output unit 5-2 (according to the stop of the host vehicle). When the passenger car 1 that he / she is driving stops behind another vehicle, he / she can indicate the reason to the driver 4 who wonders why he / she cannot move forward. I can do it. The driver 4 who was able to know the stopping factor from the front image received from the leading vehicle 1-1, because the stopping factor is clear, in light of the experience so far, give up half, You can wait until the stopping factor is cleared.
[Selection] Figure 1

Description

  The present invention relates to information provision, and more particularly to a system and method for providing information between vehicles that run in the same direction and form a queue when they stop.

  Japanese Patent Laid-Open No. 2001-344685 is cited as a prior patent document that provides information from the leading vehicle of the convoy to the rear vehicle of the convoy while performing convoy travel. In this prior patent document, there is provided imaging means for capturing the front of the host vehicle to obtain a front captured image, and when the host vehicle is positioned at the head of the platoon, the front captured image captured by the imaging unit is rear vehicle behind the host vehicle. A system is shown in which a rear vehicle that has transmitted a forward image and received a forward captured image displays the received forward captured image on a display device provided in the host vehicle. If this system is used, the traveling environment in front of the platoon can be recognized even when the inter-vehicle distance from the preceding vehicle is short and the forward visibility is limited.

  However, this is based on the premise that the front captured image captured by the traveling vehicle ahead is displayed to the driver of the traveling vehicle behind it, and only the navigation system showing the route guidance to the destination. However, if the driver stares at the display, there is a concern about the danger of an accident, and it will increase the display that the driver must see while driving, and always consider safety during driving I can't say that.

  As a prior patent document for recognizing a traveling lane in which the host vehicle is traveling, Japanese Patent No. 3326988 can be cited. In this prior patent document, a sign line (for example, a white line for distinguishing a traveling lane) provided on a road surface is taken from a vicinity region of the own vehicle from a captured image obtained from an imaging means capturing the front of the own vehicle. A technique for recognizing a far field is shown.

JP 2001-344585 A Japanese Patent No. 3326988

  When a vehicle traveling ahead due to a red light or the like stops, the vehicle (passenger car) that it is driving must also stop. If the cause of the stop is clear, you only have to wait for the stop factor to be cleared. If you explain the red light as an example, it will probably run again in a few minutes if you compare it with the past experience Because we know that we can start, we can wait halfway after giving up, “I ca n’t help it”.

  However, despite the change to a green light, the driver will gradually become frustrated because the driver will not know the cause of the stop if he does not have a sign of going forward. Psychologically, if you do not know the cause of the occurrence of the event that you face, you do not know how to compare your previous experience and knowledge, so you can convince yourself It is said that it is because it cannot be derived by itself.

  In other words, even if you know something is wrong (for example, even if it turns green, you can't move forward), but if you make the driver frustrated because you don't know the cause of it, you will drive your car wildly and drive Increasing the probability of an accident by making it violent was a problem. However, as shown in Japanese Patent Application Laid-Open No. 2001-344585, if the captured image is shown to the driver while driving, the driver's consciousness is attracted to the image, and a new collision accident is caused by carelessness in the front. If so, this is also a problem.

  The essence of the present invention is that the leading vehicle images the front of the host vehicle with respect to the following vehicle that follows the leading vehicle from the leading vehicle in the queue between a plurality of vehicles that run in the same direction and form a queue when stopped. For drivers who are wondering why they can't move forward when a passenger car (own vehicle) that they drive stops behind another vehicle by sending the image as a forward captured image Show the reason.

  The present invention relates to a plurality of vehicles that run in the same direction and form a matrix when stopped, in order to provide information from a leading vehicle in the queue to a following vehicle located behind the leading vehicle. / Stop determination means for determining the start of travel, and if the stop determination means determines that the host vehicle has stopped, a matrix head determination means for determining whether the host vehicle is at the head of the queue, and the matrix head determination means When it is determined that the host vehicle is the leading vehicle, the front transmission image obtained by capturing the front of the host vehicle is used as a stop factor to instruct the information transmission unit to start transmission to the rear of the host vehicle, and the stop determination unit further includes When it is determined that the host vehicle has started running, the information transmission instruction unit that instructs the information transmission unit that transmits the front captured image to the rear of the host vehicle to stop transmission, and the matrix head determination unit determines that the host vehicle When it is determined that the vehicle is a follower vehicle and the front captured image is received from the front of the host vehicle, the information output unit is instructed to start outputting the received front captured image, and the stop determination is further performed. When the means determines that the vehicle has started running, the information output means that instructs the information output means that outputs the front captured image to stop outputting is provided.

  The process of determining whether or not the host vehicle has stopped determines that the host vehicle has stopped when it is detected that the traveling speed of the host vehicle has become zero, or determines whether the host vehicle has driven wheels (specifically, tires or driving). It may be determined that the vehicle has stopped when the rotation of the shaft becomes zero. A case where the traveling speed of the host vehicle is lower than the slowing speed may be regarded as a stopped state. In this case, whether or not the traveling speed of the own vehicle is lower than the slowing speed is determined similarly. The determination may be made by rotation (specifically, speed calculation from the drive wheel radius and angular velocity). The slow speed is said to be a speed at which the vehicle can be stopped immediately, and is generally a speed of about 5 km / h or less.

  When the host vehicle is stopped, in the procession of the vehicle to which the host vehicle belongs, whether or not the host vehicle is the first vehicle in the queue is determined, for example, if there is no vehicle facing directly ahead of the host vehicle. It is good to judge, and the vehicle that is parked diagonally with respect to the travel lane or the vehicle line in order to turn right or left at an intersection or the like is not the leading vehicle, but the straight vehicle that stops behind the vehicle becomes the leading vehicle. In addition, when the vehicle following a vehicle parked on the shoulder of a road or a vehicle that has stopped on the road due to an accident or the like is followed by a vehicle or a driver whose power is stopped, the vehicle is not judged as a following vehicle. When such a vehicle is detected immediately in front of the subject vehicle by detecting a vehicle on which the passenger is not boarded or a vehicle with a hazard lamp lit (others between the detected vehicle and the subject vehicle). When the vehicle is not present), the host vehicle may be determined as the leading vehicle. Further, it may be determined whether or not the vehicle is the leading vehicle by a mechanism similar to that of the conventional system, and the means is not particularly limited as long as it can be determined whether or not the own vehicle is the leading vehicle in the queue in the queue of vehicles to which the own vehicle belongs. Absent.

  In addition, a notification signal is sent to the rear of the vehicle in response to a turn signal (direction indicator) that lights when the driver operates the driver's seat when making a right or left turn. If the vehicle is parked on the road or is parked in the event of an unexpected situation, it sends a notification signal to the surroundings to notify the presence of its own vehicle. It may be determined whether or not the host vehicle is the first vehicle in the queue. Note that this notification signal is sent to the surroundings so that other vehicles will not collide without noticing their presence so that they can know their existence. The vehicle that received the notification signal is the driver It is also effective in processing for outputting notification information for notifying the presence of the vehicle and for automatically operating the brake to reduce the traveling speed.

  The image pickup means for picking up the forward picked-up image may pick up the front in accordance with the stop of the host vehicle, may continue to pick up the front while driving, or picks up the driving lane while driving, etc. The imaging means that plays the role of may be used only while the host vehicle is stopped.

  Further, the information output instruction means, when the stop determination means determines that the host vehicle is stopped, but the reception of the front captured image is stopped from the front of the host vehicle, You may make it instruct | indicate the output of the notification information which notifies that the output stop of a front captured image and the said matrix to which the own vehicle started moving start.

  When the host vehicle starts traveling, the leading vehicle stops transmission of the front captured image. Then, in the succeeding vehicle that has received the front captured image, the received front captured image is interrupted, which means that the leading vehicle has started running, so the matrix to which the host vehicle belongs By outputting the notification information notifying that the vehicle has started to be output to the information output means, the driver can know that the vehicle queue to which the vehicle belongs will start to move.

  The vehicle further includes a travel lane discriminating unit that discriminates the travel lane defined on the road surface and outputs the discriminated travel lane as travel lane information, and the information transmission instruction unit outputs the travel lane output by the travel lane discrimination unit. Instructing the information transmission means to add information to the forward captured image information and transmitting the information, and when the information output instruction means receives the forward captured image together with the travel lane information, the received travel lane information is It may be determined whether the traveling lane information of the host vehicle matches, and when the traveling lane information matches, the information output unit may be instructed to output the received front captured image.

  When queuing while stopping, the driver cares about why the queue to which the passenger car that he / she is driving cannot move forward, and why not move forward for other driving lanes. It ’s just a good degree of importance. Therefore, when the road width is relatively wide and there are multiple traveling lanes heading in the same direction, information based on the determination result of the traveling lane and the function of determining the traveling lane is added to the front captured image. It is good to leave.

  According to the present invention described above, when a stop of the host vehicle is detected with respect to a succeeding vehicle following the leading vehicle from a leading vehicle in the queue between a plurality of vehicles that run in the same direction and stop when the vehicle stops. When it is determined whether or not the host vehicle is the leading vehicle, and the host vehicle is the leading vehicle, an image obtained by capturing the front of the host vehicle is transmitted as a front captured image, and the host vehicle is a subsequent vehicle Since the front captured image received from the leading vehicle is output to the information output unit (according to the stop of the own vehicle), when the passenger car that it drives stops behind another vehicle, The reason can be shown to the driver who wonders if he can't go forward. The driver who knows the stop factor from the front image received from the leading vehicle makes it clear that the stop factor is clear, so in light of the experience so far I gave up `` Well no help '' etc., and the stop factor was canceled I can wait until it is done. Then, there is no frustration compared to when you do not know the cause of the stop, and this frustration also prevents the driver from driving the passenger car violently, and as a result, it is expected to contribute to reducing the probability of accident occurrence it can.

  Hereinafter, specific embodiments of an information providing system according to the present invention will be described in detail with reference to the drawings.

  FIG. 1 is an explanatory diagram for explaining the concept of the information providing system in the embodiment of the present invention.

  In the figure, when a plurality of vehicles are traveling in the same direction, the vehicles following the vehicle stop one after another according to the stop of one vehicle. When detecting that the host vehicle has stopped, the information providing system determines whether the host vehicle 1-1 (the host vehicle) or the succeeding vehicle 1-2 following the head vehicle 1-1 in the queue of vehicles to which the host vehicle belongs. to decide. A specific example of this determination process will be described later (FIGS. 14 to 17). If it is determined that the host vehicle is the leading vehicle 1-1, a forward captured image obtained by capturing the front of the host vehicle is transmitted to the rear of the host vehicle as a stop factor. When the leading vehicle 1-1 stops, the stop factor is always in front of the leading vehicle 1-1. Therefore, the fact that the leading vehicle 1-1 transmits the forward captured image to the rear means that the stop factor of the matrix constituted by a plurality of vehicles is transmitted to the subsequent vehicle belonging to the matrix.

When it is determined that the host vehicle is the succeeding vehicle 1-2, if the front captured image is received from the leading vehicle 1-1, the received front captured image is output to the information output unit. Following vehicle 1-2
The forward picked-up image output to the information output means in response to the stop of the vehicle tells the driver the stop factor of the queue to which the succeeding vehicle 1-2 belongs. In addition, when the car navigation system which shows the route to the destination for the driver | operator 4 is equipped with the vehicle, you may display a front captured image on the display screen of a car navigation system.

  FIG. 2 is a hardware block diagram of the passenger car information processing system included in the information providing system according to the embodiment of the present invention.

  In the figure, the passenger car information processing system 2 is an information system control system that cooperates with a passenger car drive unit 3 that realizes basic performance as a vehicle (passenger car) such as running, stopping, and turning. It may be included in an electronic component that supervises an in-car electrical component called a body control module.

  The information input / output unit 5 is a part having an input / output function for the passenger car information processing system 2 to perform various exchanges with the driver 4. The information input unit 5-1 and the information output unit 5-2 are roughly provided. Consists of. As an input device in the information input unit 5-1, for example, a numeric keypad, voice input, and the like are applicable, and any type can be used as long as the input of the driver 4 transmits information to the system. Moreover, as an output device in the information output unit 5-2, for example, a display, an audio output device, and the like are applicable, and any type can be used as long as information can be transmitted from the system to the driver 4. The imaging unit 6 is a part that images the front of the host vehicle, and captures a front captured image when the host vehicle is the leading vehicle 1-1 when the vehicle is stopped. The imaging unit 6 that captures the travel lane when traveling may capture the forward captured image when the vehicle stops. The calculation unit 7 is a part having a calculation function for driving and processing each function by the passenger car information processing system 2 executing a program, and is generally configured by a CPU (Central Processing Unit). The storage unit 8 is a part of a storage area for storing a program and data necessary for achieving the purpose of the passenger car in-vehicle information processing system 2 and a program execution area executed by the calculation unit 7. The communication unit 9 is a part that controls communication with other passenger cars 1.

  FIG. 3 is a hardware block diagram of the passenger car drive unit in the embodiment of the present invention.

  In the figure, a control unit (controller) 10 is a part that controls each part of the passenger car drive unit 3 as a drive system control system, and is configured by a calculation function, a memory, and the like necessary for control. The necessary programs are also included here. The power unit controlled by the control unit outputs power corresponding to the operation of the acceleration unit (accelerator) and the deceleration unit (brake), and the output power is transmitted to the drive wheels (tires) via the transmission unit (transmission). The passenger car 1 is driven by driving from the driver 4 who is informed and holds the rudder part (steering). Information on the moved location is acquired by a location information acquisition unit (specifically, GPS or the like), and can also be used to determine the travel lane depending on the resolution. The passenger car 1 provides the driver 4 with comfort, safety, and convenience as a passenger car 1 as well as a sensor that acquires information for controlling the basic driving of “running, stopping, and turning”. Various sensors are provided to acquire information necessary to do this.

  FIG. 4 is a functional block diagram of the passenger car information processing system according to the embodiment of the present invention.

  In the figure, the passenger car information processing system 2 is based on the function of acquiring the traveling speed of the host vehicle from the control unit 10, the function of determining whether the host vehicle is stopped based on the acquired traveling speed, and the acquired traveling speed. The host vehicle belongs to the function of determining the start of traveling of the host vehicle, the function of acquiring a front captured image obtained by capturing the front of the host vehicle from the imaging unit 6, and the captured front image acquired when the host vehicle stops. A function for determining whether the vehicle is the leading vehicle 1-1 in the queue, and if it is determined that the host vehicle is the leading vehicle 1-1, a forward captured image is transmitted to the rear (following vehicle 1-2) (communication unit 9) A function of stopping transmission of the front captured image when the host vehicle starts to travel (instructing the communication unit 9 to stop transmission), a function of receiving front captured image information from the leading vehicle 1-1, Judgment of stopping reception of forward captured image When the vehicle is determined to be the following vehicle 1-2, the received front captured image is output to the information output unit 5-2, and when the host vehicle starts running, the output of the front captured image is stopped. The information output unit 5 provides a function for stopping the output of the front captured image when it is determined that reception of the front captured image is stopped, and notification information for notifying that the vehicle matrix to which the host vehicle belongs starts moving when reception stop of the front captured image is determined. -2 output function.

  When the host vehicle is stopped, in the procession of the vehicle to which the host vehicle belongs, whether or not the host vehicle is the first vehicle in the queue is determined, for example, if there is no vehicle facing directly ahead of the host vehicle. It is good to judge, and the vehicle that is parked diagonally with respect to the travel lane or the vehicle line in order to turn right or left at an intersection or the like is not the leading vehicle, but the straight vehicle that stops behind the vehicle becomes the leading vehicle. In the function of determining whether or not the host vehicle is the leading vehicle 1-1 in the queue, a reflected wave of a radio wave transmitted forward may be used as a determination material in addition to the forward captured image. In addition, a notification signal is sent to the rear of the vehicle in response to a turn signal (direction indicator) that lights when the driver operates the driver's seat when making a right or left turn. If the vehicle is parked on the road or is parked in the event of an unexpected situation, it sends a notification signal to the surroundings to notify the presence of its own vehicle. It may be determined whether or not the host vehicle is the first vehicle in the queue.

  FIG. 5 is a flowchart in the calculation unit of the passenger car information processing system corresponding to the functional block diagram shown in FIG.

  In the figure, when the in-car information processing system 2 detects the stop of the host vehicle (ST501), it determines whether the host vehicle is the first vehicle 1-1 of the queue to which the host vehicle belongs (ST502). When it is determined that the vehicle is the leading vehicle 1-1, a front captured image obtained by imaging the front of the host vehicle is acquired from the imaging unit 6, and the acquired front captured image is transmitted backward (ST503). When the start of travel is detected (ST504), the transmission of the forward captured image is stopped (ST505), and the process is terminated. If it is determined in ST502 that the host vehicle is not the leading vehicle 1-1, the process of the subsequent vehicle 1-2 is executed (ST506), and the process is terminated. When the host vehicle is the succeeding vehicle 1-2, if the front image information is received from the leading vehicle 1-1, the front captured image received according to the stop of the host vehicle is output to the information output unit.

  In the process of the succeeding vehicle 1-2, when the stop of the host vehicle is detected (ST501), it is determined whether the host vehicle is the first vehicle 1-1 of the queue to which the host vehicle belongs (ST502). If it is determined that it is not -1, if the forward image information is received from the leading vehicle 1-1, the forward captured image received according to the stop of the host vehicle is output to the information output unit 5-2 (ST507). ) When the start of traveling of the host vehicle is detected (ST508), the output of the front captured image output to the information output unit 5-2 is stopped (ST509), and the process is terminated. In ST508, when reception of the front captured image is interrupted even though the host vehicle has not started running, output of the front captured image output to information output section 5-2 is stopped (ST510). The notification information for notifying that the vehicle matrix to which the vehicle belongs starts to move to the information output unit 5-2 (ST511), and the process is terminated.

  FIG. 6 is a functional block diagram of the passenger car information processing system according to the embodiment of the present invention.

  In the figure, when the travel lane defined on the road surface is determined and the forward captured image is received together with the travel lane information, the received forward captured image is displayed when the received travel lane information matches the travel lane information of the own vehicle. The process output to an information output means is shown. In the figure, the passenger car information processing system 2 is based on the function of acquiring the traveling speed of the host vehicle from the control unit 10, the function of determining whether the host vehicle is stopped based on the acquired traveling speed, and the acquired traveling speed. The host vehicle belongs to the function of determining the start of traveling of the host vehicle, the function of acquiring a front captured image obtained by capturing the front of the host vehicle from the imaging unit 6, and the captured front image acquired when the host vehicle stops. A function for determining whether the vehicle is the leading vehicle 1-1 in the procession, a function for adding traveling lane information to the front captured image when it is determined that the host vehicle is the leading vehicle 1-1, and providing traveling lane information The forward captured image is transmitted to the rear (following vehicle 1-2) (transmission is instructed to the communication unit 9), and when the host vehicle starts to travel, the transmission of the forward captured image is stopped (the communication unit 9 is instructed to stop transmission). Function and leading vehicle 1-1 A function of receiving forward captured image information together with traveling lane information, a function of determining reception stop of the forward captured image, a function of determining whether traveling lane information received together with the forward captured image matches, Is output to the information output unit 5-2 when the vehicle starts to travel, the output of the front captured image is stopped, and the front vehicle is stopped. Information output unit 5 provides a function for stopping output of the forward captured image when it is determined that reception of the captured image is stopped, and notification information for notifying that the vehicle matrix to which the host vehicle belongs starts moving when reception stop of the forward captured image is determined. 2 is provided.

  FIG. 7 is a flowchart in the calculation unit of the passenger car information processing system corresponding to the functional block diagram shown in FIG.

  In the figure, when the in-car information processing system 2 detects the stop of the host vehicle (ST701), the host vehicle determines whether or not the host vehicle is the first vehicle 1-1 in the queue to which the host vehicle belongs (ST702). If it is determined that the vehicle is the first vehicle 1-1, a front captured image obtained by imaging the front of the host vehicle is acquired from the imaging unit 6, and the acquired front captured image indicates a travel lane in which the host vehicle has stopped. The information is transmitted backward together with the information (ST703), and when the start of traveling of the host vehicle is detected (ST704), the transmission of the front captured image is stopped (ST705), and the process is terminated. If it is determined in ST702 that the host vehicle is not the leading vehicle 1-1, the process of the subsequent vehicle 1-2 is executed (ST706), and the process is terminated. When the host vehicle is the succeeding vehicle 1-2, if the front image information is received from the leading vehicle 1-1, the front captured image received according to the stop of the host vehicle is output to the information output unit.

  In the process of the succeeding vehicle 1-2, when the stop of the own vehicle is detected (ST701), it is determined whether or not the own vehicle is the first vehicle 1-1 of the queue to which the own vehicle belongs (ST702). If it is determined that it is not -1, if the forward image information is received together with the traveling lane information from the leading vehicle 1-1, it is determined whether or not the traveling lane information received together with the forward captured image is identical (ST707). ), If not matched, the process is terminated as it is, and if matched, the forward captured image received according to the stop of the host vehicle is output to the information output unit 5-2 (ST708), and the host vehicle travels. When the start is detected (ST709), the output of the forward captured image output to the information output unit 5-2 is stopped (ST710), and the process is terminated. In ST709, if reception of the front captured image is interrupted even though the host vehicle has not started running, output of the front captured image output to the information output unit 5-2 is stopped (ST711). The notification information for notifying that the vehicle matrix to which the vehicle belongs starts to be output to the information output unit 5-2 (ST712), and the process ends.

  FIG. 8 is a flowchart in the computing unit of the passenger car information processing system corresponding to the functional block diagram shown in FIG. 4 or 6.

  The figure shows processing corresponding to the function of determining whether the host vehicle is stopped based on the acquired traveling speed. In the figure, when the traveling speed of the own vehicle is equal to or lower than the slow speed (ST801), the passenger car information processing system 2 determines whether or not the host vehicle is regarded as a stop (ST802), and regards the slow speed or less as a stop. In this case, it is determined that the host vehicle has stopped (ST803), and the process is terminated. In ST802, when the traveling speed of the own vehicle becomes 0 (ST804) when it is not regarded that the vehicle travels at the slow speed or less, it is determined that the own vehicle has stopped (ST803), and the process is terminated.

  FIG. 9 is a flowchart in the calculation unit of the passenger car information processing system corresponding to the functional block diagram shown in FIG. 4 or 6.

  This figure shows a process corresponding to the function of determining whether the host vehicle is stopped based on the acquired travel speed, and shows a case where the host vehicle is considered to have stopped when the travel speed of the host vehicle is equal to or lower than the slow speed. In the figure, the passenger car information processing system 2 determines that the host vehicle has stopped when the traveling speed of the host vehicle is equal to or lower than the slowing speed (ST801), and the traveling speed of the host vehicle is equal to or higher than the slowing speed. (ST803), it is determined that the vehicle has started running (ST804), and the process is terminated.

  FIG. 10 is a flowchart in the calculation unit of the passenger car information processing system corresponding to the functional block diagram shown in FIG. 4 or 6.

  This figure shows processing corresponding to the function of acquiring a front captured image obtained by imaging the front of the host vehicle from the imaging unit 6. In the figure, when the passenger car information processing system 2 detects the start of the power unit of the host vehicle (ST1001), it instructs the imaging unit 6 to start imaging the front captured image (ST1002), and instructs to stop the power unit. When the information is received (ST1003), the imaging unit 6 is instructed to stop imaging of the forward captured image information (ST1004), and the process is terminated. The instruction information for instructing the stop of the power unit in ST1003 may use, for example, detection information for detecting that the driver 4 has operated the key used to start the power unit of the passenger car 1 as it is. .

  FIG. 11 is an explanatory diagram illustrating a case where an imaging unit that captures a traveling lane is used as an imaging unit that captures a front captured image.

  In the figure, the imaging unit 6 images a traveling lane while the passenger car 1 is traveling, and the captured traveling lane is a traveling lane in which the vehicle is traveling together with sensing information of a radio wave sensor using millimeter waves or the like. It is used for the process of discriminating. When the host vehicle stops, the imaging unit 6 images the front of the host vehicle, and the imaging unit 6 changes the imaging target to the travel lane / front of the host vehicle as the host vehicle travels / stops. In addition, when the imaging target can be captured from the same angle, the processing for changing the imaging target is not necessary.

  FIG. 12 is a flowchart in the calculation unit of the passenger car information processing system corresponding to the functional block diagram shown in FIG. 4 or 6 and the explanatory diagram shown in FIG.

  In the figure, when the passenger car information processing system 2 detects the stop of the host vehicle (ST1201), it instructs the imaging unit 6 to start capturing a front captured image (ST1202), and detects the start of traveling of the host vehicle (ST1203). ) The imaging unit 6 is instructed to stop imaging the front captured image (ST1204), and the process ends. In ST1204, instead of instructing the imaging unit 6 to stop the imaging of the front captured image, the imaging of the traveling lane may be instructed.

  FIG. 13 is a flowchart in the calculation unit of the passenger car information processing system in a case different from the flowchart shown in FIG. 12.

  In the figure, when the in-car information processing system 2 detects the stop of the own vehicle (ST1301), it determines whether or not the own vehicle is the first vehicle 1-1 of the queue to which the own vehicle belongs (ST1302). If it is determined that the vehicle is not the leading vehicle 1-1, the processing is terminated as it is. If it is determined that the host vehicle is the leading vehicle 1-1, the imaging unit 6 is instructed to start capturing a front captured image (ST1303). ) When the start of traveling of the host vehicle is detected (ST1304), the imaging unit 6 is instructed to stop imaging the front captured image (ST1305), and the process is terminated.

  FIG. 14 is a block diagram of the function block diagram shown in FIG. 4 or FIG. 6, “the function of acquiring a front captured image obtained by capturing the front of the host vehicle from the imaging unit” and “the host vehicle from the acquired front captured image when the host vehicle stops. It is explanatory drawing explaining the specific example of "the function which judges whether it is the head vehicle of the matrix to which the own vehicle belongs."

  In the figure, the passenger car information processing system 2 obtains a front picked-up image obtained by picking up the front of the host vehicle from the image pickup unit 6 when the vehicle is stopped, and extracts only a high-luminance red light emitting area from the acquired front picked-up image. And a determination process for determining whether the host vehicle is the leading vehicle 1-1 or the following vehicle 1-2 based on the preprocessing for the red light emitting area extracted by the image processing and the preprocessing result for the red light emitting area. To do. Case 1 shows a case where a vehicle facing the own vehicle is present in front of the own vehicle, Case 2 shows a case where a vehicle not facing the own vehicle is present in front of the own vehicle, and Case 3 is a front of the own vehicle. Shows the case where there is no vehicle.

  In case 1, a front captured image obtained by capturing the front of the host vehicle when the vehicle is stopped is acquired from the imaging unit 6, and only the high-intensity red light-emitting region is extracted from the acquired front captured image, and the red extracted by the image processing When the light emitting areas are present on the left and right of the front captured image, and the areas and shapes of the red light emitting areas present on the left and right are compared, the shape of the red light emitting area is symmetric within a predetermined range, and the same area within the predetermined range Therefore, it is considered that there is a passenger car 1 that faces the host vehicle in front of the host vehicle, and the host vehicle is determined as the following vehicle 1-2. Similarly, in case 2, since the shape of the red light emitting region is asymmetric and the area is different, it is determined that there is no passenger car 1 facing the host vehicle ahead of the host vehicle, and the host vehicle is determined to be the leading vehicle 1-1. To do. In Case 3, since there is no vehicle in the front captured image and only background information is extracted, even if only the high-intensity red light-emitting region is extracted from the acquired front captured image, the red light-emitting region is extracted only with low regularity information. In addition, the pre-processing for the red light emitting region is not performed, and it is considered that the passenger car 1 does not exist in front of the host vehicle, and the host vehicle is determined to be the leading vehicle 1-1. The red light emitting area extracted by the image processing is specifically the tail lamp of the passenger car 1. If the light emitting area is substantially the same shape on the left and right, the rear surface of the passenger car 1 on which the tail lamp is installed is the own vehicle. It is judged that it is directly facing.

  FIG. 15 is a flowchart in the calculation unit of the passenger car information processing system corresponding to the explanatory diagram shown in FIG. 14.

  In the figure, when the passenger car information processing system 2 acquires a front captured image (ST1501), it extracts a high-luminance red light-emitting area from the acquired front captured image (ST1502), and a set of red light-emitting areas (pair) It is determined whether or not it has been extracted (ST1503), and if it is determined that a set of red light emitting areas has not been extracted, it is determined that the host vehicle is the leading vehicle 1-1 of the matrix to which the host vehicle belongs (ST1508). When it is determined that the group of red light emitting areas has been extracted, the shape and area comparison processing is executed for the extracted group of red light emitting areas (ST1504), and the left and right red light emitting areas are symmetrical. And if it is the same area or not (ST1505), if it is shape symmetrical and the same area, it is determined that the host vehicle is the following vehicle 1-2 of the matrix to which the host vehicle belongs (ST1506), Exit sense, if the shape control or the same area, the vehicle is determined that the leading vehicle 1-1 of the vehicle belongs matrix (ST1507), the process ends.

  FIG. 16 is an explanatory diagram illustrating a specific example in a case different from FIG.

  The figure shows that the own vehicle receives a reflected wave of a radio wave transmitted forward and compares the power intensity of the received reflected wave with a reference value (Pth2 in FIG. 18 described later) measured in advance. Indicates a process for determining whether or not the vehicle is the first vehicle in the queue to which the host vehicle belongs. In the figure, the passenger car information processing system 2 transmits a radio wave to the front of the host vehicle when the vehicle is stopped (or from running) and receives the reflected wave, and measures the received reflected wave in advance. Based on the pre-processing to be compared with the set reference value and the pre-processing result for the reflected wave, the determination processing for determining whether the host vehicle is the leading vehicle 1-1 or the following vehicle 1-2 is executed. Case 1 shows a case where a vehicle facing the own vehicle is present in front of the own vehicle, Case 2 shows a case where a vehicle not facing the own vehicle is present in front of the own vehicle, and Case 3 is a front of the own vehicle. Shows the case where there is no vehicle.

  In Case 1, when the vehicle is stopped (or while traveling), radio waves are transmitted to the front of the host vehicle, the reflected waves are received, and the received reflected waves are compared with a reference value (Pth2) measured in advance. Since it is equal to or greater than the reference value (Pth2), it is considered that there is a passenger car 1 that faces the host vehicle in front of the host vehicle, and the host vehicle is determined to be the following vehicle 1-2. In case 2, similarly, the received reflected wave is compared with the reference value (Pth2) measured in advance, and is equal to or less than the reference value (Pth2) measured in advance. Considering that the corresponding passenger car 1 does not exist, the host vehicle is determined to be the leading vehicle 1-1. In Case 3, there is no vehicle in the front captured image, only background information, and the reflected wave is irregular and weak. Therefore, it is considered that the passenger car 1 does not exist in front of the own vehicle, and the own vehicle is the leading vehicle 1-1. Judge. The reference value (Pth2) measured in advance is to measure the power intensity of the reflected wave when there is a vehicle that is not in front and the reflected wave when the vehicle that is in front is in front in each case. It is a threshold value based on the power intensity difference.

  FIG. 17 is a flowchart in the calculation unit of the passenger car information processing system corresponding to the explanatory diagram shown in FIG. 16.

  In this figure, when the passenger car information processing system 2 receives the reflected wave of the radio wave transmitted to the front of the host vehicle (ST1701), the power intensity is equal to or higher than a predetermined intensity (Pth1 in FIG. 18 described later). (ST1702), if it is not a reflected wave of a predetermined intensity or more (if it is a weak reflected wave of Pth1 or less), it is determined that the host vehicle is the leading vehicle 1-1 of the matrix to which the host vehicle belongs. (ST1707), the process ends, and if the reflected wave is equal to or higher than a predetermined intensity (Pth1), the received power intensity is compared with a reference value (Pth2 in FIG. 18 described later) that has been measured in advance. (ST1703) Based on the comparison determination result, it is determined whether or not there is an object (reflection target) directly facing the host vehicle in front of the host vehicle (ST1704), If it is determined that there is an object to be matched, it is determined that the host vehicle is a succeeding vehicle 1-2 of the queue to which the host vehicle belongs (ST1705), and the process is terminated. The vehicle is determined to be the first vehicle 1-1 in the queue to which the vehicle belongs (ST1706), and the process is terminated.

  FIG. 18 is an explanatory diagram illustrating a specific example of a method for setting the reference value (Pth2) shown in FIG.

  In the figure, the threshold value 1 (Pth1) determines whether or not there is a vehicle ahead (there is no object reflecting the radio wave in the front) when radio waves are transmitted to the front of the host vehicle. It is good for this to be determined from the measured values measured in advance without a vehicle ahead. In the example shown in the figure, measured values are shown when radio waves are transmitted forward and the reflected waves are measured while traveling. For example, an FM-CW (Frequency Modulated Continuous Wave) type radio wave may be used as the radio wave transmitted forward, and if this type of radio wave is used, the power intensity of the received reflected wave and the distance to the reflection target Can be measured relatively easily. Although the power intensity varies depending on the distance to the reflection target, a correction formula using the distance as a variable is known. When the power intensity is corrected using the distance measured by the FM-CW method, as shown in the example of FIG. It is possible to obtain a measurement value of the time variation of the received power intensity after correction.

  FIG. 19 is an explanatory diagram for explaining a specific example of determination processing using the measurement value of the reflected wave shown in FIG.

  In the figure, the measured reflected waves are averaged on the order of several seconds per unit time, and the vibration and noise components of the engine of the host vehicle are reduced so that stable judgment can be made. Since the received power intensity often fluctuates with a period of several seconds depending on the engine, when averaged over several seconds per unit time, a measured value of the time variation of the received power intensity can be obtained as shown in the figure. I can do it.

  In the illustrated example, the power intensity has exceeded Pth1 because the vehicle has caught up with the vehicle ahead during traveling immediately before stopping or because the vehicle has entered ahead. If the same level of power intensity is maintained when the vehicle stops, it is determined that the vehicle ahead is facing the vehicle (since the vehicle ahead is supposed to face the vehicle) . However, as shown in CASE 2 in FIG. 16, when the preceding vehicle does not face the host vehicle, the power intensity is stabilized at a level lower than the power intensity during traveling, and thus is set from the power intensity during traveling. If the threshold value 2 (Pth2) is the reference value or less, it may be determined that there is no passenger vehicle facing the host vehicle ahead of the host vehicle. This Pth2 may be obtained from, for example, an average value of power intensity exceeding Pth1 obtained during traveling. If the power intensity Pave obtained after the vehicle stops is Pave> Pth2, CASE1 shown in FIG. 16 is obtained. If Pth2> Pave> Pth1, CASE2 is similarly obtained. If Pth1> Pave, CASE3 is similarly obtained.

  FIG. 20 is an explanatory diagram illustrating a case where transmission of a front captured image is transmitted to the rear of the host vehicle using a highly directional radio wave.

  In FIG. 18A, FIG. 18A shows a case where the radio transmission means for transmitting the front captured image has weak radio wave directivity and high radio field intensity. The front captured image transmitted from the front vehicle 1-1 is the same. Since it is transmitted not only to vehicles in the travel lane but also to vehicles in other travel lanes, it is necessary to add the travel lane information (travel lane identification information) to the front captured image and transmit it. If the succeeding vehicle 1-2 that has received the forward captured image together with the traveling lane information outputs the information to the information output unit 5-2 only when the traveling lane information matches, the forward imaging from the leading vehicle 1-1 in the same traveling lane is performed. Only output images.

  Therefore, as shown in FIG. 18 (b), the wireless transmission means for transmitting the forward captured image uses, for example, a millimeter wave with strong radio wave directivity to weaken the radio wave intensity, and the front vehicle 1-1. Since the radio wave can only reach the following vehicle 1-2 that stops just behind the vehicle, the front captured image received by the following vehicle 1-2 is always the leading vehicle 1-1 of the same driving lane without adding the driving lane information. It becomes the captured front image. However, in this case, a process for transmitting the forward captured image received by the host vehicle to the rear side in a relay format is required.

  FIG. 21 is a flowchart in the calculation unit of the passenger car information processing system corresponding to the explanatory diagram shown in FIG. 20.

  In the figure, when the passenger car interior information processing system 2 receives a front captured image from the front of the host vehicle (ST1901), the received front captured image is transmitted to the rear of the host vehicle (ST1902), and the process is terminated.

Explanatory drawing explaining the concept of the information provision system in embodiment of this invention The hardware block diagram of the passenger car information processing system contained in the information provision system in embodiment of this invention Hard block diagram of a passenger car drive unit in an embodiment of the present invention Functional block diagram of passenger car information processing system in an embodiment of the present invention The flowchart in the calculating part of the passenger car information processing system corresponding to the functional block diagram shown in FIG. Functional block diagram of passenger car information processing system in an embodiment of the present invention The flowchart in the calculating part of the passenger car information processing system corresponding to the functional block diagram shown in FIG. The flowchart in the calculating part of the passenger car information processing system corresponding to the functional block diagram shown in FIG. 4 or FIG. The flowchart in the calculating part of the passenger car information processing system corresponding to the functional block diagram shown in FIG. 4 or FIG. The flowchart in the calculating part of the passenger car information processing system corresponding to the functional block diagram shown in FIG. 4 or FIG. Explanatory drawing explaining the case where the imaging part which images a driving lane is used for the imaging part which images a front captured image The flowchart in the calculating part of the passenger car information processing system corresponding to the functional block diagram shown in FIG. 4 or FIG. 6 and the explanatory view shown in FIG. The flowchart in the calculating part of the passenger car information processing system in the case different from the flowchart shown in FIG. In the functional block diagram shown in FIG. 4 or FIG. 6, “the function of acquiring a front captured image obtained by imaging the front of the host vehicle from the imaging unit” and “the host vehicle belongs to the front captured image acquired when the host vehicle stops. Explanatory drawing explaining the specific example of "the function which judges whether it is the head vehicle of a procession" The flowchart in the calculating part of the passenger car information processing system corresponding to explanatory drawing shown in FIG. Explanatory drawing explaining the specific example in the case different from FIG. The flowchart in the calculating part of the passenger car information processing system corresponding to explanatory drawing shown in FIG. Explanatory drawing explaining the specific example of the setting method of the reference value (Pth2) shown in FIG. Explanatory drawing explaining the specific example of the judgment process using the measured value of the reflected wave shown in FIG. Explanatory drawing explaining the case where transmission of a front picked-up image is transmitted to the back of the own vehicle using a radio wave with strong directivity The flowchart in the calculating part of the passenger car information processing system corresponding to explanatory drawing shown in FIG.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Passenger car 1-1 Leading vehicle 1-2 Subsequent vehicle 2 Passenger vehicle information processing system 3 Passenger vehicle drive part 4 Driver 6 Imaging part 7 Calculation part 10 Control part

Claims (6)

In a plurality of vehicles that run in the same direction and form a queue when they stop, an information providing system that provides information from a leading vehicle in the queue to a following vehicle located behind the leading vehicle,
Stop determination means for determining stop / running of the vehicle;
When the stop determination means determines that the host vehicle has stopped, a matrix head determination means for determining whether the host vehicle is further at the head of the queue;
When the matrix head determination means determines that the host vehicle is the head vehicle, the information transmission means is instructed to start transmission to the rear of the host vehicle using a front captured image obtained by capturing the front of the host vehicle as a stop factor, Further, when the stop determination means determines that the host vehicle has started running, an information transmission instruction means for instructing the information transmission means that transmits the front captured image to the rear of the host vehicle to stop transmission;
If the matrix head determining means determines that the host vehicle is the succeeding vehicle, and if the front captured image is received from the front of the host vehicle, the output start of the received front captured image is information Instructing the output means, and further comprising: an information output instruction means for instructing the information output means outputting the front captured image to stop the output when the stop determination means determines that the vehicle has started running. A characteristic information provision system.   The information output instruction means, when the stop determination means determines that the host vehicle is stopped, the reception of the front captured image is stopped from the front of the host vehicle. 2. The information providing system according to claim 1, wherein the information output unit is instructed to stop outputting the image and to output notification information notifying that the matrix to which the vehicle belongs starts moving. A travel lane discriminating means for discriminating a travel lane defined on the road surface and outputting the discriminated travel lane as travel lane information;
The information transmission instructing unit instructs the information transmitting unit to transmit the traveling lane information output by the traveling lane discriminating unit to the forward captured image information, and transmit the information.
When the information output instruction means receives the forward captured image together with the travel lane information, the information output instruction means determines whether or not the received travel lane information matches the travel lane information of the host vehicle, and the travel lane information matches. 3. The information providing system according to claim 1, wherein the information output unit is instructed to output the received forward-captured image. An information providing method using an information providing system that provides information from a leading vehicle in the queue to a succeeding vehicle located behind the leading vehicle in a plurality of vehicles that run in the same direction and form a queue when stopped. And
The stop / running start of the vehicle is determined by stop determination means,
When the stop determination means determines that the host vehicle has stopped, the queue start determination means further determines whether the host vehicle is at the head of the queue,
When the matrix head determination means determines that the host vehicle is the head vehicle, the information transmission means is instructed to start transmission to the rear of the host vehicle using a front captured image obtained by capturing the front of the host vehicle as a stop factor, Further, when the stop determination means determines that the host vehicle has started running, the information transmission instruction means instructs the information transmission means that is transmitting the front captured image to the rear of the host vehicle, and the information transmission instruction means.
If the matrix head determining means determines that the host vehicle is the succeeding vehicle, and if the front captured image is received from the front of the host vehicle, the output start of the received front captured image is information Instructing the output means, and further, if the stop judging means judges that the host vehicle has started running, the information output instructing means instructs the information output means outputting the front captured image to stop the output. How to provide information.   The information output instruction means, when the stop determination means determines that the host vehicle is stopped, the reception of the front captured image is stopped from the front of the host vehicle. 5. The information providing method according to claim 4, wherein the information output unit is instructed to stop outputting the image and to output notification information notifying that the matrix to which the vehicle belongs starts moving. A travel lane discriminating means for discriminating a travel lane defined on the road surface and outputting the discriminated travel lane as travel lane information;
The information transmission instructing unit instructs the information transmitting unit to transmit the traveling lane information output from the traveling lane discriminating unit to the forward captured image information, and transmit the information.
When the information output instruction means receives the forward captured image together with the travel lane information, the information output instruction means determines whether or not the received travel lane information matches the travel lane information of the host vehicle, and the travel lane information matches. 6. The information providing method according to claim 4, wherein in the case where the information is output, the information output unit is instructed to output the received front captured image.

Images