JP3951293B2 - Vehicle control device - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to information on other vehicles that travel on the opposite lane provided from outside for vehicles that are waiting for a right turn in an intersection, etc., and vehicles that are waiting for entry before the intersection to go straight or turn right or left at the intersection The present invention relates to a vehicle control device that assists visual confirmation of other vehicles when traveling at an intersection by presenting information to the driver such as information on other vehicles traveling in an intersection lane provided from the outside.
[0002]
[Prior art]
In recent years, information on other vehicles existing in the opposite lane from the outside when the vehicle enters a predetermined information transmission section in the intersection and in front of the intersection in order to check the oncoming vehicle when waiting for a right turn or at the right turn in the intersection By providing a right turn support system that supports the driver's forward confirmation by providing the information on the pedestrian on the pedestrian crossing that passes after the right or left turn to the vehicle that makes a right or left turn at the intersection. Crossing pedestrian information providing system that provides pedestrian confirmation support, and in addition to entering the intersection from the non-priority road in order to go straight or turn left or right at the intersection where the priority road and non-priority road intersect There is a cueing support system that provides cueing support to intersections by providing information on other vehicles traveling on priority roads and pedestrians on pedestrian crossings. It has been developed towards the iodide.
[0003]
Each of these systems is opposed to a communication device such as an information antenna installed in this section when the information providing vehicle (own vehicle) passes through a base point set in advance before the intersection and enters an information transmission section. Information on other vehicles in lanes and intersection lanes and pedestrians on the pedestrian crossing is given, and the information provided by the vehicle is presented to the driver, so that the head of the vehicle when turning to the right or left of the intersection or entering the intersection can be found. And confirmation of crossing pedestrians.
[0004]
[Problems to be solved by the invention]
However, in the right turn support system, the opposite lane is a road with at least two lanes, the lane close to the host vehicle (the lane closer to the center) is congested, and the lane far from the host vehicle (the lane closer to the road) is congested. If it is not, it is necessary to check the oncoming vehicle in the lane near the roadside by entering the gap in the congested central lane and cueing the tip of the vehicle in the lane on the roadside. In other situations, information on other vehicles existing in the lane closer to the center is not necessary, and the provided information is displayed on the host vehicle, causing the driver's attention to be directed to the display information. .
[0005]
Similarly, in the cueing support system, when the priority road is at least two lanes, the lane close to the own vehicle (lane near the road) is congested, and the lane far from the own vehicle (lane near the center) is congested. If it is not, it is necessary to check the crossing vehicle that exists in the lane closer to the center by cutting into the gap in the congested roadside and cueing the tip of the vehicle in the lane closer to the center. In such a situation, information on other vehicles existing in the lane closer to the roadside is not necessary, and the provided information is displayed on the own vehicle so that the driver's attention is directed to the display information. .
[0006]
Moreover, in both systems, there is a possibility that the driver feels troublesome due to unnecessary information presentation.
[0007]
In addition, when receiving information from both systems, if the information provision continues until the vehicle heads to the opposite lane or intersection lane where traffic is not congested, vehicles existing in the opposite lane or intersection lane where traffic is not congested You can go straight or turn left and right while paying attention to the above, which will be convenient.
[0008]
The present invention has been made in view of the above problems, and the object thereof is a situation in which the road facing or intersecting with the traveling lane of the own vehicle is at least a two-lane road, and the own vehicle is about to turn right or enter the intersection. When the lane close to the host vehicle is congested, the driver does not feel bothersome and emphasizes the information of other vehicles existing in the lane far from the host vehicle, which is necessary for the visual And a vehicle control device that can improve convenience.
[0009]
Another purpose is to continue providing information until the vehicle reaches the opposite lane or intersection lane where traffic is not congested, while paying attention to vehicles that are in the opposite lane or intersection lane where traffic is not congested. It is an object of the present invention to provide a vehicle control device that can go straight or turn right and left at an intersection and improve convenience.
[0010]
[Means for Solving the Problems]
In order to achieve the above object, a vehicle control apparatus according to the present invention is a receiving means for receiving, from the outside, information on other vehicles existing on a road in at least one lane that faces or intersects the traveling path of the host vehicle. And a presenting means for presenting information of the other vehicle in a state of waiting for a right turn in the intersection and a waiting state for entering the intersection, and a lane facing or intersecting with the traveling path of the own vehicle. When the lane close to the host vehicle is congested, the information is displayed so that the information of the other vehicle existing in the lane far from the host vehicle is emphasized compared to the information of the other vehicle existing in the lane close to the host vehicle. Control means for controlling the means, and when the traffic congestion in the lane close to the host vehicle is resolved, the control means issues an alarm to notify the traffic congestion resolution.
[0016]
The vehicle control apparatus according to the present invention comprises: receiving means for receiving position information of another vehicle existing in at least two lanes on one side facing or intersecting with a traveling path of the own vehicle; and the own vehicle at least at an intersection Presenting means for presenting information on the other vehicle in a right turn waiting state and waiting for entering an intersection, and when the own vehicle is within a predetermined range from the intersection, The presenting means is controlled so as to present information of other vehicles existing in the intersecting lane, and the predetermined range is extended when the lane close to the host vehicle is congested among the opposite or intersecting lanes. Control means.
[0017]
Preferably, the control means extends the predetermined range to a lane far from the host vehicle in the intersection.
[0018]
Preferably, the control means determines whether a lane close to the host vehicle is congested based on a history of position information of other vehicles or vehicle speed information received by the receiving means.
[0019]
【The invention's effect】
As described above, according to the invention of claim 1, information on other vehicles existing on a road in at least one lane that faces or intersects with the traveling path of the own vehicle is received from the outside, and the own vehicle is at least When presenting information about other vehicles in a right turn waiting state and an intrusion waiting state at an intersection, a lane that is close to the own vehicle is congested among lanes that face or intersect the traveling path of the own vehicle. In this case, control is performed so that information on other vehicles existing in the lane far from the own vehicle is presented in an emphasized manner compared to information on other vehicles existing in the lane close to the own vehicle. By doing this, it is possible to accurately present to the driver information on other vehicles existing in the lane far from the host vehicle, which is difficult to visually check due to traffic congestion in the lane closer to the host vehicle. In addition, when congestion in the lane close to the host vehicle is resolved, a warning is issued in order to notify the cancellation of the congestion, thereby accurately presenting the driver of the congestion in the lane close to the host vehicle. .
[0025]
Claim 2 According to the invention, the position information of the other vehicle existing in the lane of at least one side two lanes facing or intersecting the traveling path of the own vehicle is received from the outside, and the own vehicle is waiting for a right turn at least within the intersection and When presenting the information of the other vehicle in the waiting state for entering the intersection, when the own vehicle is within a predetermined range from the intersection, information on the other vehicle existing in the lane facing or intersecting with the traveling path of the own vehicle If the lane near the host vehicle is congested among the opposite or intersecting lanes, the opposite means that the host vehicle is not congested is extended by extending the predetermined range. Information provision continues until the head of the vehicle reaches the lane or the intersection lane, and it is possible to go straight or turn right or left while paying attention to the oncoming lane or the vehicle in the intersection lane that is not congested. , Convenience can be improved.
[0026]
Claim 3 According to the invention, the control means extends the predetermined range from the own vehicle in the intersection to the far lane, so that when the lane close to the own vehicle is congested, the control means changes to the oncoming lane or the intersection lane that is not congested. It is possible to go straight or turn left and right while paying attention to existing vehicles, and convenience can be improved.
[0027]
Claim 4 According to the invention, the control means determines whether the lane close to the host vehicle is congested based on the history of the position information of the other vehicle or the vehicle speed information received by the receiving means. Vehicle information can be used effectively.
[0028]
DETAILED DESCRIPTION OF THE INVENTION
Embodiments according to the present invention will be described below in detail with reference to the accompanying drawings.
[0029]
The embodiment described below is an example as means for realizing the present invention, and the present invention can be applied to a modified or modified embodiment described below without departing from the spirit of the present invention.
[Right turn support system and crossing pedestrian information provision system]
First, the overall configuration of the right turn support system and the crossing pedestrian information providing system that are the premise of the present embodiment will be described.
[0030]
As shown in FIG. 1, the right turn support system and the crossing pedestrian information providing system applied to the present embodiment include at least one lane road R1 on which a traffic light is installed and at least one lane crossing the road R1. At the intersection with the road R2 and in the vicinity of this intersection, a base point 11 installed on the roadside of the own vehicle V1 on the road R1 before the intersection (for example, 30 m) and a driving lane of the own vehicle V1 on the road R1 The vehicle detection sensor 12 installed on the road side of the opposite lane of the other vehicle V2 and two diagonally installed on the road lane side of the host vehicle V1 and the opposite lane side of the road R1 near the intersection. An information antenna 13 and two pedestrian detection sensors 14 installed near the pedestrian crossing on the road side before the intersection of the road R2 are provided.
[0031]
The base point 11 is, for example, a magnetic nail embedded in the road surface, and identifies unique identification information (hereinafter referred to as a base point ID) and provision information associated with the base point ID as shown in FIG. The provision ID (to be described later) is held so that it can be detected by a base point detector 71 (see FIG. 3A) mounted on the host vehicle V1, and the host vehicle V1 has passed the base point 11 While detecting by the detector 71, the base point ID and the provision ID are acquired from the base point 11 when passing through the base point. Further, the base point 11 is a reference position for measuring the travel distance of the host vehicle V1 from the base point 11 to the intersection. The travel distance from the base point 11 to the intersection is a reference for specifying the information provision section A1 by the information antenna 13. In the present embodiment, as will be described later, the information providing section A1 is variable according to the traffic condition of the oncoming lane.
[0032]
The vehicle detection sensor 12 detects the other vehicle V2 existing in the oncoming lane of the host vehicle V1 in the predetermined detection range B1 before the intersection from the vicinity of the intermediate point in the intersection, and positional information of the other vehicle V2 in the predetermined detection range B1, Vehicle speed information or vehicle type information is detected and transmitted to the system base station 41.
[0033]
As shown in FIG. 3 (b), the information antenna 13 has unique identification information (hereinafter referred to as a provision ID) and a base point ID associated with the provision ID similarly to the base point 11, and together with the provision ID. , Base point ID, position information of other vehicle V2, vehicle speed information, vehicle type information, information on road shape (distance to intersection, lane width, etc.), and pedestrian information are transmitted (provided) to host vehicle V1 in information providing section A1. To do.
[0034]
The pedestrian detection sensor 14 detects a pedestrian on a pedestrian crossing and transmits it to the system base station 41.
[0035]
In addition, the host vehicle V1 has a base point ID, a provision ID, position information of other vehicles V2, vehicle speed information, vehicle type information, information on road shape, pedestrian information (hereinafter referred to as these information) via the information antenna 13 in the information providing section A1. Are collectively referred to as provision information), and presentation control for presenting the provision information on a display or the like within the host vehicle V1 is performed.
[0036]
This presentation includes an output of a voice message or a warning sound from a speaker in addition to an image or character display on the display.
[0037]
In the above system, in contrast to FIG. 1, the other vehicle V <b> 2 is also an information provided vehicle similar to the own vehicle V <b> 1, and the other vehicle V <b> 2 receives information provided by the own vehicle V <b> 1 traveling on the opposite lane from the information antenna 13. It will be.
[Cueing support system]
Next, the configuration of the cueing support system that is a premise of the present embodiment will be described.
[0038]
As shown in FIG. 2, the cueing support system applied to the present embodiment is located at an intersection where there is no traffic signal where the priority road S1 and the non-priority road S2 of at least two lanes cross each other and in the vicinity of this intersection ( For example, a vehicle installed on the roadside of the lane to which the base point 21 installed on the roadside of the own vehicle V1 in the road S2 near 30m) and the own vehicle V1 in the vicinity of the intersection on the priority road S1 is to be headed. The detection sensor 24, the first information antenna 23A installed on the roadside of the non-priority road S2 ahead of the base point 21 by a predetermined distance, and the second information antenna 23B installed near the temporary stop line before the intersection of the non-priority road S2 With.
[0039]
The base point 21 is, for example, a magnetic nail embedded in the road surface, as in the case of the base point 11, and as shown in FIG. 3B, a unique base point ID and a provision ID associated with the base point ID are provided. The base point detector 71 (see FIG. 3 (a)) mounted on the host vehicle V1 is detected and held by the base point detector 71 to detect that the host vehicle V1 has passed the base point 21, and the base point is passed. Sometimes the base point ID and the provision ID are acquired from the base point 11. Further, the base point 21 is a reference position for measuring the travel distance of the host vehicle V1 from the base point 21. The travel distance from the base point 21 to the intersection is a reference for specifying the information providing sections A2 and A3 by the first and second information antennas 23A and 23B. In the present embodiment, as will be described later, this information provision section A3 is variable.
[0040]
The vehicle detection sensor 24 detects an intersection vehicle V2 existing in a predetermined detection range B2 (for example, 30 m) before the intersection on the priority road S1, and position information, vehicle speed information, vehicle type information, etc. of the intersection vehicle V2 in the predetermined detection range B2. Is detected.
[0041]
A unique provision ID is assigned to the first information antenna 23A in the same manner as the base point 21, and information on the road shape (distance to the intersection, position of the stop line, etc.) is provided along with the base point ID and provision ID in the information provision section. It transmits to the own vehicle V1 in A2. A unique provision ID is assigned to the second information antenna 23B as well as the base point 21, and information regarding the position information, vehicle speed information, vehicle type information, road shape (distance to the intersection, lane width, etc.) of the intersecting vehicle V2 is provided. The information is transmitted to the host vehicle V1 in the information provision section A3 (for example, 5 m before the temporary stop line and 3 m ahead from the intersection connection point).
[Function block]
FIG. 3A is a block diagram showing functions mounted on the vehicle in order to receive information from each of the above systems. The system controller 31 detects the vehicle speed signal detected by the vehicle speed sensor 32 and the accelerator position sensor 33. The entered accelerator position signal is input.
[0042]
The system controller 31 receives the base point ID and the provision ID from the base point detector 71 when passing through the base points 11 and 12, and receives the information antenna 13, the first and second information antennas 23A and 23B from the system base station 41. The base point ID, provision ID, position information of other vehicles, vehicle speed information, vehicle type information, information on the road shape, and pedestrian information transmitted from the road-to-vehicle communication device 36 are input via the in-vehicle antenna 35. The base point detector 71 is, for example, a magnetic nail sensor that detects a magnetic nail.
[0043]
The system controller 31 first determines whether or not the base point ID and provision ID received from the information antenna match the base point ID and provision ID acquired when the base point passes, and an information antenna having a provision ID corresponding to the base point ID Is provided on a display device 37 such as a car navigation display.
[0044]
Further, the system controller 31 detects the travel distance of the host vehicle V1 after receiving the base point ID, and determines whether or not the host vehicle V1 enters the intersection from the detected travel distance.
[0045]
Further, the system controller 31 receives the provision information, outputs a braking control signal to the brake actuator 34, outputs a display control signal to the display device 37, and outputs an audio output signal to the speaker 38.
[0046]
The brake actuator 34 is provided to receive a braking control signal and execute automatic braking when braking is necessary, such as when the distance from the oncoming vehicle or the crossing vehicle is within a predetermined range.
[0047]
As will be described later, the display device 37 and the speaker 38 are provided to display the provided information on a car navigation display or the like, or to alert the driver by generating an alarm sound.
[0048]
Below, the presentation control in the own vehicle V1 of the provided information acquired from each said system is demonstrated.
[First Embodiment]
FIG. 4 is a flowchart for explaining presentation information presentation control received from the right turn support system and the crossing pedestrian information provision system as the first embodiment.
[0049]
In FIG. 4, in step S <b> 1, the host vehicle passes through the base point and enters the information provision section, thereby receiving provision information from the information antenna (YES in step S <b> 1).
[0050]
In step S2, it is determined whether or not the lane (front side or center side lane) near the host vehicle in the lane facing the traveling path of the host vehicle is congested. This determination determines that the vehicle is jammed when the vehicle speed information of the other vehicle V2 is equal to or less than a predetermined value.
[0051]
If the lane closer to the host vehicle in the opposite lane is not congested in step S2 (NO in step S2), normal display control is executed in step S3. In this normal display control, a vehicle that reaches the intersection in the shortest among other vehicles existing in the oncoming lane of the host vehicle or a vehicle that is closest to the intersection is displayed.
[0052]
FIG. 5A, FIG. 6A, and FIG. 7A are present in the oncoming lane closer to the own vehicle in normal display control when the oncoming lane closer to the own vehicle is not congested. An example of a screen displaying only other vehicle information to be displayed so that it can be seen that the image G1 representing the host vehicle and the image G2 representing the other vehicle closest to the intersection in the opposite lane are both heading to the same intersection. Is displayed. Further, in FIG. 8A, in the normal display control when the lane on the side close to the host vehicle is not congested, there are other lanes on the opposite lanes on the side close to the host vehicle and on the far side (road side lane). The screen example which displayed vehicle information is shown, and the image G1 showing the own vehicle and the images G2 and G3 showing the other vehicles of each oncoming lane closest to the intersection among the oncoming lanes are displayed.
[0053]
In the illustrated case, the speeds are represented by the length and direction of the arrows as the images G2 and G3 representing the other vehicles, and the position to the intersection is represented by the position of the arrows. Further, as shown in FIG. 9, other vehicle information is displayed with arrows and bars, and the length of the arrows and bars is changed according to the arrival time of the other vehicles at the intersection and the distance to the intersection. By dividing the bar into a plurality of segments, the segments can be displayed so as to extend stepwise in accordance with the arrival time of the other vehicle at the intersection and the distance to the intersection.
[0054]
Next, in step S4, it is determined whether or not the host vehicle enters the intersection and is in a right turn waiting state. These determinations determine that the vehicle has entered the intersection when the travel distance from the base point of the host vehicle is greater than or equal to a predetermined value, and the vehicle speed of the host vehicle is substantially zero (the brake pedal is depressed and the brake switch is turned on, or the accelerator pedal When the right turn blinker switch is turned on in a state where the depression of the accelerator is released and the accelerator switch is turned off), or when the steering is steered to the right, it is determined that the vehicle is waiting for a right turn.
[0055]
If the host vehicle does not enter the intersection in step S4 (NO in step S4), emphasis display control different from the normal display control is executed in step S5.
[0056]
This emphasizing display control emphasizes other vehicles in the opposite lane that is not congested on the side far from the host vehicle by using images, colors, sounds, etc. relative to the information on the lane on the side closer to the host vehicle. To display.
[0057]
5 (b), 6 (b), and 7 (b) show examples of screens by display control for emphasizing and displaying oncoming traffic lanes on the side far from the own vehicle and representing the own vehicle. G1 is similar to FIGS. 5 (a), 6 (a), and 7 (a). In FIG. 5 (b), only the other vehicle existing in the opposite lane on the far side from the own vehicle is not captured. Information displayed so that the driver's attention is directed to other vehicles in the opposite lane that are not congested on the side far from the host vehicle by displaying characters such as “Congestion. Beware of the vehicle passing through!” Present.
[0058]
In addition, in FIG. 6B, the other vehicle existing in the oncoming lane is displayed in an image G4 on which a plurality of vehicles are superimposed so that the oncoming lane near the own vehicle is congested. The other vehicle existing in the non-congested oncoming lane on the side far from the own vehicle adjacent to the image G4 is displayed on the non-congested oncoming lane on the side far from the own vehicle by displaying the image G3 such as an arrow. Information is presented so that the driver's attention is directed to other vehicles.
[0059]
Further, in FIG. 7B, the oncoming lane L is displayed in a different color so that the oncoming lane on the side close to the host vehicle is congested, and adjacent to the changed lane. The driver's attention to other vehicles in the opposite lane that is not congested on the side far from the own vehicle is displayed by displaying an image G3 such as an arrow on the other vehicle that is not congested on the side far from the own vehicle. Present the information so that
[0060]
In addition to text messages and images as shown in Fig. 5 (b), Fig. 6 (b), and Fig. 7 (b) above, a voice message such as "There is a traffic jam. You may output and highlight the blinking lane arrows that are not congested.
[0061]
In this way, when the lane close to the host vehicle is congested, information on other vehicles existing in the lane is presented to the host vehicle by presenting a simplified image of multiple other vehicles and changing the color of the lane. You can easily recognize that a nearby lane is congested.
[0062]
In step S6, it is determined whether or not the traffic congestion on the opposite lane near the host vehicle has been eliminated. This determination determines that the traffic jam is resolved when the speed of the other vehicle existing in the oncoming lane closer to the host vehicle exceeds a predetermined value.
[0063]
If the traffic jam in the opposite lane on the side close to the host vehicle is resolved in step S6 (YES in step S6), the traffic jam resolution is notified by image or voice in step S7.
[0064]
When the traffic congestion in the oncoming lane near the host vehicle is resolved in step S6, the display of the image G3 of the other vehicle existing in the oncoming lane far from the own vehicle V1 that has been highlighted is stopped. Then, an image G2 of only the other vehicle existing in the oncoming lane on the side close to the own vehicle that has flowed out after the traffic jam is eliminated is displayed with an arrow or a bar, or the length or width of the arrow or bar is increased (see FIG. 8 (a)), the brightness of the arrows and bars, which are the images G3 of the lane far from the host vehicle, is made lower than the lane on the near side (FIG. 8B).
[0065]
In addition, when the opposite lane near the own vehicle is congested, the brightness of the arrow in FIG. Alternatively, the other vehicle in the opposite lane that is congested may be highlighted from before the own vehicle enters the intersection (for example, 10 m before the intersection).
[0066]
If the traffic jam has not been resolved in step S7 (NO in step S7) and there is another vehicle in the opposite lane far from the host vehicle in step S8 (YES in step S8), the traffic from the host vehicle in step S9. Only other vehicle information existing in the far side lane is displayed as an image G2 with an arrow or bar, or the length or width of this arrow or bar is increased (inverted in FIG. 8A). The brightness of the arrows and bars on the near lane is set lower than that on the far lane (inversion of FIG. 8B).
[0067]
Furthermore, when a pedestrian is present on the pedestrian crossing through which the vehicle passes after a right turn in step S10 (YES in step S10), the pedestrian is highlighted and displayed in step S11.
[0068]
FIGS. 10B, 11B, and 12B show examples of screens by display control that emphasize and display crossing pedestrians when the oncoming lane near the host vehicle is congested. The image G1 representing the host vehicle is the same as that shown in FIGS. 5A, 6A, and 7A. In FIG. 10B, an intersection road that intersects the opposite lane far from the host vehicle is shown. Only the pedestrians on the pedestrian crossing are displayed as a humanoid image H1, etc., and the opposite lane on the side close to the host vehicle is congested by displaying characters such as “congested. Beware of pedestrians!” And present information so that the driver's attention is directed to the crossing pedestrian.
[0069]
Further, in FIG. 11B, the other vehicle existing in the oncoming lane is displayed in an image G4 on which a plurality of vehicles are superimposed so that the oncoming lane on the side close to the host vehicle is congested. Displaying pedestrians on the pedestrian crossing of the crossing road that intersects the opposite lane far from the host vehicle with an image H1 or the like, and that the opposite lane near the host vehicle is congested and crossing pedestrians Present information to the driver's attention.
[0070]
In FIG. 12B, the oncoming lane L is displayed in a different color so that the oncoming lane near the own vehicle is congested, and intersects with the oncoming lane far from the own vehicle. By displaying the pedestrians on the crosswalk of the intersecting road with the image H1 etc., information is displayed so that the oncoming lane near the own vehicle is congested and that the driver's attention is directed to the pedestrian Present.
[0071]
In addition to text messages and images as shown in FIGS. 10 (b), 11 (b) and 12 (b) above, a voice message such as “There is a traffic jam. Be careful with crossing pedestrians.” May be output or the image of a crossing pedestrian may blink and be highlighted.
[0072]
In addition, when it is desired to highlight only that the oncoming lane near the host vehicle is congested, as shown in FIGS. 13 (a) to 13 (c), "Oncoming lane is congested" before entering the intersection. ! "(Fig. 13 (a)), or when waiting for a right turn at the intersection, other vehicles existing in the opposite lane near the host vehicle are displayed in an image G4 in which a plurality of vehicles are superimposed. (FIG. 13 (b)), the opposite lane L on the side close to the host vehicle is displayed in a different color (FIG. 13 (c)) to ensure that the oncoming lane near the host vehicle is congested. Can be recognized by the driver.
[0073]
In step S7 of FIG. 4 above, when the vehicle is turning right or entering the intersection, if the lane near the vehicle is congested, the information on other vehicles existing in the lane is emphasized. By presenting, it is possible to improve visibility and convenience by emphasizing and presenting information on other vehicles existing in a lane far from the own vehicle, which is originally required, without causing the driver to feel bothered.
[0074]
In step S9 of FIG. 4 described above, when a lane close to the own vehicle is congested, other vehicles existing in the lane close to the own vehicle are restricted by restricting the presentation of information on other vehicles existing in the lane. In a situation that can be visually confirmed, the information of other vehicles existing in the lane far from the host vehicle is displayed highlighted in the host vehicle, so that the host vehicle is difficult to visually check due to traffic congestion in the lane closer to the host vehicle. The information of other vehicles existing in the lane far from the vehicle can be accurately presented to the driver.
[0075]
Further, in step S11 of FIG. 4 described above, when the lane close to the own vehicle is congested, the information on the pedestrian crossing the lane that intersects the lane far from the own vehicle is emphasized and presented from the own vehicle. Not only information on other vehicles existing in the far lane, but also information on pedestrians crossing a lane that intersects the lane far from the host vehicle can be accurately presented to the driver.
[0076]
In step S7 in FIG. 4, when the traffic congestion in the lane close to the host vehicle is resolved, an alarm is issued to notify the driver of the traffic congestion cancellation, thereby accurately presenting the driver of the traffic congestion in the lane close to the host vehicle. can do.
[0077]
In step S5 in FIG. 4, in the initial stage when the host vehicle has entered the intersection and in the state before entering the vehicle, information on other vehicles existing in the traffic lane is presented to drive the traffic lane. It is possible to improve the visibility and convenience when entering an intersection.
[Second Embodiment]
In the second embodiment, the information provision section A1 when the opposite lane RL1 on the side close to the host vehicle V1 is congested (FIG. 14 (a)), compared to the case where there is no congestion (FIG. 14 (b)). The information will continue to be provided by expanding (extending) the section A1 'to the opposite lane RL2 on the far side from the host vehicle V1, and when the host vehicle V1 makes a right turn while interrupting a traffic jam, the side far from the host vehicle V1 This is configured to proceed while paying attention to a passing vehicle that travels straight on the opposite lane RL2.
[0078]
FIG. 15 is a flowchart illustrating information providing section change control when the host vehicle turns right at an intersection as the second embodiment.
[0079]
14 and 15, in step S21, the information provided from the information antenna is received when the host vehicle passes through the base point and enters the information provision section (YES in step S21).
[0080]
In step S22, other vehicle information existing in the oncoming lane is acquired from the information received from the information antenna.
[0081]
In step S23, the position information of the host vehicle after passing through the base point is acquired. The position information of the own vehicle is detected using the position information received from the GPS antenna and the map database possessed by the own vehicle, the integrated value of the detection signal of the vehicle speed sensor after passing through the base point, and the road shape It is calculated | required by either of the methods detected using data.
[0082]
In step S24, the information provision section is set to the initial value A1.
[0083]
In step S25, it is determined whether or not the lane RL1 (front side or center side lane) closer to the host vehicle in the lane facing the travel path of the host vehicle is congested. This determination determines that the vehicle is congested when the vehicle speed information of the other vehicle is equal to or less than a predetermined value.
[0084]
If the near lane or the center lane RL1 is congested in step S25 (YES in step S25), the information provision section A1 is changed to be expanded in step S26. For example, when the oncoming lane is an n-lane (n is a natural number) lane, the information providing section is an adjustment margin a for the estimation error of the distance L from the base point to the intersection center, the lane width W, and the position of the host vehicle V1.
L + W / 2 + a when there is no traffic jam
L + W / 2 + nW + a when there is traffic
Is required.
[0085]
Subsequently, when the host vehicle is in the information provision section A1 or A1 ′ set in step S27 (YES in step S27), normal display control and emphasized display similar to those in the first embodiment are performed in step S28. Execute control.
[0086]
Further, when the host vehicle exits from the set information provision section A1 or A1 ′ in step S27 (NO in step S27), normal display control and emphasized display similar to those in the first embodiment are performed in step S29. Stop control.
[0087]
Also, whether or not the host vehicle is in the information provision section A1 or A1 ′ is, if the travel distance of the host vehicle from the base point is x,
L + W / 2 + a <x when there is no traffic jam
L + W / 2 + nW + a <x when there is traffic
When is established, it is determined that the information providing section has been removed.
Is required.
[0088]
It should be noted that even if the lane RL1 near the host vehicle in the opposite lane of the host vehicle is not congested and the lane RL2 (road side lane) far from the host vehicle is congested in step S25, the vehicle passes through. Since it is necessary to notify the existence of a vehicle etc., it changes so that an information provision area may be expanded.
[0089]
According to the above embodiment, when the lane RL1 (front side or center lane) closer to the host vehicle in the opposite lane of the host vehicle is congested, the information providing section is changed to be expanded. Information provision is continued until the vehicle heads to the lane RL2 on the far side from the vehicle. Therefore, it is possible to turn right at the intersection while paying attention to the passing vehicle existing in the lane RL2.
[Third Embodiment]
The third embodiment is a control when presenting the provided information received from the cueing support system of FIG. 2, and the vehicle enters the intersection from the non-priority road so that the vehicle goes straight or turns left or right at the intersection. ), The information provision section in the case where the intersection lane to which the vehicle is going to enter is congested is expanded as compared with the case where there is no congestion.
[0090]
FIG. 16 is a flowchart illustrating change control of an information provision section when the host vehicle enters an intersection from a non-priority road as the third embodiment.
[0091]
In FIG. 16, in step S31, the information provided from the first and second information antennas is received when the host vehicle passes through the base point and enters the information provision section A3 (YES in step S31).
[0092]
In step S32, other vehicle information existing in the intersection lane is acquired from the information received from the first and second information antennas.
[0093]
In step S33, the position information of the host vehicle after passing through the base point is acquired. The position information of the own vehicle is detected using the position information received from the GPS antenna and the map database possessed by the own vehicle, the integrated value of the detection signal of the vehicle speed sensor after passing through the base point, and the road shape It is calculated | required by either of the methods detected using data.
[0094]
In step S34, the information provision section is set to an initial value. The initial value of the information provision section is set to a range X1 (for example, 10 to 20 m from the base point 21) from the start point X0 of the information provision section to the vicinity of the center of the intersection lane SL1 closest to the host vehicle V1 shown in FIG. .
[0095]
In step S <b> 35, it is determined whether the host vehicle is traveling straight, turning right, or turning left. This determination is that when the turn signal switch is turned on in the right turn direction, it is determined that the vehicle is waiting for a right turn, when the turn signal switch is turned on in the left turn direction, it is determined that the vehicle is waiting for a left turn, and when the turn signal switch is off, the vehicle goes straight. It is determined that it is waiting.
[0096]
When waiting for a right turn in step S35, it is determined in step S36 whether the intersection lane SL1 closest to the host vehicle is congested. This determination determines that the vehicle is congested when the vehicle speed information of other vehicles existing in the intersection lane SL1 is equal to or less than a predetermined value.
[0097]
If the intersection lane SL1 is congested in step S36 (YES in step S36), in step S37, the information providing section is up to the range X2 to the vicinity of the center of the lane SL2 second closest to the host vehicle shown in FIG. , From the base point 21 to 10 to 25 m).
[0098]
Next, if the intersection lane SL1 is not congested in step S36 (NO in step S36), it is determined in step S38 whether the intersection lane SL2 closest to the host vehicle is congested. This determination determines that the vehicle is congested when the vehicle speed information of other vehicles existing in the intersection lane SL2 is equal to or less than a predetermined value.
[0099]
If the intersection lane SL2 is congested in step S38 (YES in step S38), in step S39, the information providing section is up to the range X3 to the vicinity of the center of the lane SL3 third closest to the host vehicle V1 shown in FIG. For example, the base point 21 is expanded to 10 to 30 m).
[0100]
Similarly, if the intersection lane SL2 is not congested in step S38 (NO in step S38), it is determined in step S40 whether the intersection lane SL3 closest to the host vehicle is congested. This determination determines that the vehicle is congested when the vehicle speed information of other vehicles existing in the intersection lane SL3 is equal to or less than a predetermined value.
[0101]
If the intersection lane SL3 is congested in step S40 (YES in step S40), in step S41, the information providing section A3 is up to the range X4 to the vicinity of the center of the lane SL4 fourth closest to the host vehicle shown in FIG. For example, the base point 21 is expanded to 10 to 35 m).
[0102]
Further, after step S41 or if the intersection lane SL3 is not congested at step S40 (NO at step S40), if the vehicle is in the set information provision section at step S46 (YES at step S46) In step S47, the other vehicle information existing in the crossing lane is displayed. In step S46, when the host vehicle V1 leaves the set information provision section (NO in step S46), display of other vehicle information existing in the crossing lane is stopped in step S48.
[0103]
FIG. 18 shows an example of a screen that displays other vehicles existing in the intersection lane when the host vehicle is in the information providing section, and an image G1 representing the host vehicle V1 is displayed near the stop line of the non-priority road, An image G5 of the other vehicle V2 existing in the intersection lane of the priority road is displayed.
[0104]
On the other hand, in the case of waiting straight ahead in step S35, it is determined in step S42 whether or not the intersection lane SL1 closest to the host vehicle is congested. This determination method is the same as step S36.
[0105]
If the intersection lane SL1 is congested in step S42 (YES in step S42), in step S43, the information providing section is up to the range X2 to the vicinity of the center of the lane SL2 second closest to the host vehicle V1 shown in FIG. For example, the base point 21 is expanded to 10 to 25 m).
[0106]
Next, if the intersection lane SL1 is not congested in step S42 (NO in step S42), it is determined in step S44 whether the intersection lane SL2 closest to the host vehicle is congested. This determination method is the same as in step S38.
[0107]
If the intersection lane SL2 is congested in step S44 (YES in step S44), in step S45, the information providing section is up to the range X3 to the center of the lane SL3 that is third closest to the host vehicle V1 shown in FIG. For example, the base point 21 is expanded to 10 to 30 m).
[0108]
Also, after step S45 or if the intersection lane SL3 is not congested in step S44 (NO in step S44), if the vehicle is in the set information provision section in step S46 (YES in step S46) ), The same display control as in step S47 is executed, and when the vehicle leaves the set information provision section (NO in step S46), the display of other vehicle information existing in the crossing lane is stopped in step S48. .
[0109]
When waiting for a left turn in step S35, the process proceeds to step S46, and display control similar to the subsequent steps S47 and S48 is executed.
[0110]
According to the above embodiment, in a situation where the own vehicle is entering the intersection from the non-priority road in order to go straight or turn right or left at the intersection, the intersection lane to which the own vehicle is entering is congested. By expanding the information provision section compared to when there is no traffic jam, information will continue to be provided until the vehicle finds the intersection lane where there is no traffic jam, so pay attention to the vehicles that are in the intersection lane. You can go straight or turn left or right at the intersection.
[Brief description of the drawings]
FIG. 1 is a diagram showing an overall configuration of a right turn support system and a crossing pedestrian information providing system of an embodiment.
FIG. 2 is a diagram illustrating an overall configuration of a cueing support system according to the present embodiment.
FIG. 3A is a block diagram showing functions mounted on a vehicle for receiving information from a right turn support system, a crossing pedestrian information providing system, and a cueing support system, and FIG. 3B is a base point and information. It is a figure which shows the data structure of the information transmitted from an antenna.
FIG. 4 is a flowchart illustrating presentation information presentation control received from the right turn support system and the crossing pedestrian information provision system as the first embodiment;
FIG. 5A is an example of a screen displaying only other vehicle information existing in the oncoming lane close to the own vehicle in normal display control when the oncoming lane near the own vehicle is not congested. (B) is an emphasis display control when the oncoming lane closer to the host vehicle is congested, and the oncoming lane far from the own vehicle is highlighted. It is a figure which shows the example of a screen by display control.
FIG. 6A is an example of a screen displaying only other vehicle information existing in the oncoming lane closer to the own vehicle in normal display control when the oncoming lane closer to the own vehicle is not congested. (B) is an emphasis display control when the oncoming lane closer to the host vehicle is congested, and the oncoming lane far from the own vehicle is highlighted. It is a figure which shows the example of a screen by display control.
FIG. 7A is an example of a screen displaying only other vehicle information existing in the oncoming lane close to the own vehicle in normal display control when the oncoming lane close to the own vehicle is not congested. (B) is an emphasis display control when the oncoming lane closer to the host vehicle is congested, and the oncoming lane far from the own vehicle is highlighted. It is a figure which shows the example of a screen by display control.
FIG. 8 is a diagram showing a modification in display control of other vehicle information.
FIG. 9 is a diagram showing a modification in display control of other vehicle information.
FIG. 10A is an example of a screen displaying only other vehicle information existing in the oncoming lane near the own vehicle in normal display control when the oncoming lane near the own vehicle is not congested. (B) is a figure which shows the example of a screen by the display control which emphasizes and displays a crossing pedestrian when the opposite lane near the own vehicle is congested.
FIG. 11A is an example of a screen displaying only other vehicle information existing in the oncoming lane closer to the own vehicle in normal display control when the oncoming lane closer to the own vehicle is not congested. (B) is a figure which shows the example of a screen by the display control which emphasizes and displays a crossing pedestrian when the opposite lane near the own vehicle is congested.
FIG. 12A is an example of a screen displaying only other vehicle information existing in the oncoming lane close to the own vehicle in normal display control when the oncoming lane near the own vehicle is not congested. (B) is a figure which shows the example of a screen by the display control which emphasizes and displays a crossing pedestrian when the opposite lane near the own vehicle is congested.
FIGS. 13A to 13C are diagrams showing examples of screens that display only other vehicle information of the congested oncoming lane when the oncoming lane of the host vehicle is congested.
FIG. 14 is a diagram illustrating information provision section change control when the host vehicle turns right at an intersection as a second embodiment.
FIG. 15 is a flowchart illustrating information providing section change control when the host vehicle turns right at an intersection as a second embodiment.
FIG. 16 is a flowchart illustrating information providing section change control when the host vehicle enters an intersection from a non-priority road as a third embodiment.
FIG. 17 is a diagram illustrating change control of an information provision section when the host vehicle enters an intersection from a non-priority road as a third embodiment.
FIG. 18 is a diagram showing an example of a screen for displaying other vehicles existing in the intersection lane when the own vehicle is in the information provision section.
[Explanation of symbols]
11 base point
12 Vehicle detection sensor
13, 23, A23B Information antenna
14, 24 Pedestrian detection sensor
31 System controller
32 Vehicle speed sensor
35 Onboard antenna
36 Road-to-vehicle communication machine
37 Display device
38 Speaker
41 System base station

Claims (4)

Receiving means for receiving information on the other vehicle existing on the road of at least one side two lanes facing or intersecting with the traveling path of the own vehicle from the outside;
Presenting means for presenting information of the other vehicle in a state where the host vehicle is waiting for a right turn in an intersection and waiting to enter an intersection;
When a lane close to the host vehicle is congested among lanes facing or crossing the travel path of the host vehicle, information on other vehicles existing in a lane far from the host vehicle is present in a lane close to the host vehicle. Control means for controlling the presenting means so as to be presented with emphasis compared to vehicle information,
The vehicle control apparatus according to claim 1, wherein when the traffic congestion in the lane close to the host vehicle is resolved, the control means issues a warning to notify the traffic congestion resolution. Receiving means for receiving, from the outside, position information of other vehicles existing in a lane of two lanes at least on one side facing or crossing the traveling path of the own vehicle;
Presenting means for presenting information of the other vehicle in a state where the host vehicle is waiting for a right turn in an intersection and waiting to enter an intersection;
When the host vehicle is within a predetermined range from an intersection, the presenting means is controlled so as to present information on another vehicle existing in a lane that faces or intersects the traveling path of the host vehicle, A control device for a vehicle comprising: control means for extending the predetermined range when a lane close to the host vehicle is congested among intersecting lanes. The vehicle control device according to claim 2 , wherein the control unit extends the predetermined range to a lane far from the host vehicle in the intersection. Said control means of claims 1 to 3, characterized in that the lane closer to the vehicle is determined whether or not the traffic congestion based on the history or the vehicle speed information of the position information of the other vehicle received by the receiving means The vehicle control device according to claim 1.

Images