JP4193266B2 - Peripheral vehicle notification device - Google Patents

Peripheral vehicle notification device Download PDF

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Publication number
JP4193266B2
JP4193266B2 JP4379899A JP4379899A JP4193266B2 JP 4193266 B2 JP4193266 B2 JP 4193266B2 JP 4379899 A JP4379899 A JP 4379899A JP 4379899 A JP4379899 A JP 4379899A JP 4193266 B2 JP4193266 B2 JP 4193266B2
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Prior art keywords
vehicle
range
predicted
current position
prediction
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JP4379899A
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Japanese (ja)
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JP2000242898A (en
Inventor
裕記 石川
誠一 鈴木
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株式会社エクォス・リサーチ
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Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a surrounding vehicle notification device for grasping a relative position with respect to another vehicle located in the vicinity of the own vehicle including a subsequent movement range.
[0002]
[Prior art]
When driving, the driver of the vehicle visually checks the positions of other vehicles around the vehicle and recognizes the positional relationship with each vehicle and performs a driving operation. The vehicle is provided with a rearview mirror, a side mirror, and the like in order to assist visual recognition by the driver. In addition, a structure for facilitating the recognition of a passing vehicle, such as a convex mirror, is provided as a road facility at an intersection with poor visibility. However, there are many factors that hinder recognition between vehicles, such as traveling in a bad environment such as rain or fog, or traveling at night.
[0003]
On the other hand, the conventional vehicle is equipped with a navigation system that displays the current position of the vehicle detected by the GPS receiver on a screen displaying a map database that is mounted in advance and informs the driver of the current position. Has been. By using such a guidance system, information on the position of the own vehicle detected by the GPS receiver is transmitted to other surrounding vehicles, and the position of the other vehicle is displayed together with the position of the own vehicle in the screen on which the map is displayed. There has also been proposed a device for displaying the image.
[0004]
[Problems to be solved by the invention]
The driver can visually check the speed and direction of travel of other vehicles in the surrounding area directly to see if it is a vehicle that hinders the traveling of the vehicle based on past experience, or whether it is a vehicle that needs attention. Judging.
[0005]
However, simply displaying the vehicle position transmitted from another vehicle on the screen as it is does not mean that the speed, acceleration, etc. of the other vehicle can be directly visually recognized. For this reason, it is difficult for the driver to judge from his / her own experience whether or not the other vehicle displayed on the screen is a vehicle that needs attention in relation to the own vehicle. Such a determination becomes even more difficult when, for example, a large number of other vehicles are displayed on the screen, it becomes difficult to specify which vehicle to pay attention to.
[0006]
An object of the present invention is to provide a surrounding vehicle notification device capable of predicting a range that may move in the future in addition to information related to the position of another vehicle and accurately assisting the driver in determining the situation of the vehicle. is there.
[0007]
[Means for Solving the Problems]
Such an object is achieved by the present invention described below.
[0008]
(1) Current position detection means for detecting the current position of the vehicle;
Sent by another car,After the current position of the other vehicle and the predetermined estimated timeOther carsPrediction range on the road that calculated the range that may be locatedAnd the estimated time,By communicationOther vehicle information acquisition means to acquire;
AboveEstimated timeButProgressdidlatermy carA movable range predicting means for calculating a predicted range on a road where
It has a display means for displaying the detected current position of the own vehicle, the calculated prediction range of the own vehicle, the acquired current position of the other vehicle, and the acquired prediction range of the other vehicle, and also calculates the calculated prediction of the own vehicle. Calculate the area where the range and the predicted range of the acquired other vehicle overlap, and notify the user of the determination means and the determination result to determine the possibility that the other vehicle will block the traveling of the own vehicle according to the calculation result A surrounding vehicle notification device.
[0009]
(2) current position detecting means for detecting the current position of the vehicle;
Crossing point detection means for detecting a crossing point where the course of the vehicle and the other vehicle crosses,
At the detected intersectionOwn carA time range prediction means for calculating a temporal prediction range that is expected to be reached,
Sent by another car,Current position of other vehiclesas well asAt the intersectionOther carsThe estimated time range expected to reachBy communicationOther vehicle information acquisition means to acquire;
It has a display means for displaying the detected current position of the own vehicle, the calculated prediction range of the own vehicle, the acquired current position of the other vehicle, and the acquired prediction range of the other vehicle, and also calculates the calculated prediction of the own vehicle. The time when the range and the acquired prediction range of the other vehicle overlap is calculated, and the determination means for determining the possibility that the other vehicle interferes with the traveling of the own vehicle according to the overlap time, and the determination result An informing device for informing a surrounding vehicle.
[0010]
(3)The predicted range is displayed as a circular shape centered on a point reached after the predicted time has elapsed when traveling while maintaining the current traveling speed.Above (1)The surrounding vehicle notification device described.
[0014]
(4The shape of the prediction range is determined according to the movement characteristics of the vehicle (1)The surrounding vehicle notification device described.
(5The shape of the prediction range is determined according to the road element on which the vehicle is traveling (1))The surrounding vehicle notification device described.
(6)The notification means further includes a notification means for notifying a user of a warning according to the possibility determined by the determination means.Above (1)-(5) Any one of the surrounding vehicle notification devices.
[0015]
DETAILED DESCRIPTION OF THE INVENTION
A preferred embodiment of the present invention will be described in detail with reference to the accompanying drawings. FIG. 1 is a block diagram showing a configuration of a surrounding vehicle notification device 1 according to the present invention. The surrounding vehicle notification device of the present embodiment is mounted on the own vehicle and receives vehicle information such as the current position and the vehicle speed of the other vehicle transmitted (or transmitted) from other vehicles around the own vehicle (as receiving means). Communication department). The surrounding vehicle notification device predicts (calculates) a geographically movable range in which the other vehicle can move within a preset movement prediction time (n seconds) based on the received vehicle speed or the like (other vehicle movement is possible). A processing unit that functions as a range prediction unit). Further, the surrounding vehicle notification device predicts (calculates) a geographically movable range in which the host vehicle can move within the predicted time based on the vehicle speed of the host vehicle (processing that functions as a host vehicle movable range predicting unit). Part). The surrounding vehicle notification device determines whether or not the movable range of the other vehicle overlaps the movable range predicted for the own vehicle (determination means). And it notifies with an image, a sound, and sound (change of sound) so that a user (own vehicle passengers, such as a self-vehicle driver) can recognize about other vehicles by which the overlapped movable range was predicted (as a reporting means) Display section, input / output section). The movable range of the other vehicle and the vehicle calculated as described above is displayed together with the display unit.
[0016]
More specifically, the surrounding vehicle notification device 1 includes a communication unit 11, a processing unit 12, a GPS receiving unit 13, a display unit 14, a command input unit 15, and an input / output unit 16. . The communication unit 11 is used when acquiring information from the outside, and for example, receives other vehicle information transmitted from another vehicle by radio. Examples of this wireless system include spread spectrum communication, FM communication, amateur radio, MCA, mobile phone, PHS, and the like.
[0017]
The information acquired by the communication unit 11 is converted into a digital signal and supplied to the processing unit 12. The processing unit 12 includes a central processing unit, a ROM (Read Only Memory), and a RAM (Random Access Memory). A ROM and a RAM are connected to the central processing unit via a bus line such as a data bus. The ROM stores a movable range of the host vehicle, which will be described later, a program for determining the possibility of hindering traveling, and the like. The RAM serves as a working memory when the central processing unit performs various arithmetic processes. The configuration of the processing unit 12 is not limited to the above configuration.
[0018]
The GPS receiving unit 13 receives radio waves emitted from artificial satellites, measures the current position of the own vehicle, and the measured position is sent to the processing unit 12. The GPS receiver 13 has a function as own vehicle position detecting means for detecting the current position of the own vehicle. As the vehicle position detection means, in addition to the GPS receiver, a sensor unit 17 having one or more of a geomagnetic sensor, a distance sensor, a steering sensor, a beacon sensor, a gyro sensor, and the like is provided. Thus, a more accurate current position of the host vehicle may be specified in consideration of various values detected from these sensors.
[0019]
Here, the geomagnetic sensor detects the geomagnetism and obtains the direction in which the host vehicle is facing, and the distance sensor detects, for example, the number of rotations of the wheel and counts twice, and detects the acceleration twice. An integrating device or other measuring device is used. As the steering sensor, for example, an optical rotation sensor or a rotation resistance volume attached to the rotating portion of the handle is used, but an angle sensor attached to the wheel portion may be used. The beacon sensor receives position information from beacons placed on the road. The gyro sensor is configured by a gas rate gyro, a vibration gyro, or the like that detects the rotational angular velocity of the vehicle and integrates the angular velocity to obtain the vehicle direction.
[0020]
The display unit 14 has a screen for displaying an image. On this screen, the surrounding map information centered on the own vehicle, the position information of other vehicles acquired by the communication unit 11, and the self-calculated by the processing unit 12 are displayed. Image information such as the movable range of the vehicle and other vehicles, or character information for issuing a warning to the driver, visual information such as graphic information, and the like are displayed. The map information displayed on the display unit 14 is stored in various storage devices such as a DVD, MO, CD, optical disk, magnetic tape, IC card, and optical card. As the display unit 14, a CRT display, a liquid crystal display, a plasma display, a hologram device that projects a hologram on a windshield, or the like can be used.
[0021]
The command input unit 15 is an input unit that inputs commands for various operations. As an example of the configuration of the command input unit 15, for example, the command input unit 15 is arranged on the screen of the display that configures the display unit 14. Examples include a touch panel for inputting information by touching a menu, a keyboard, a mouse, a barcode reader, a light pen, a remote control device for remote operation, and the like.
[0022]
The sound / voice input / output unit 16 that inputs / outputs information by voice is configured by a microphone, a speaker, or the like, and can input information by voice. Further, it is used when a warning is given to the driver by sound output from a speaker, or when necessary information is transmitted to the driver by a change or type of a pitch or rhythm other than the sound.
[0023]
Here, in the present embodiment, the GPS receiving unit 13 and / or the sensor unit 17 functions as a current position detecting unit that detects the current position of the host vehicle. The processing unit 12 functions as a movable range predicting unit, as an intersection detection unit, as a time range predicting unit, as an other vehicle movable range predicting unit, as a host vehicle movable range predicting unit, or as a determining unit. . The communication unit 11 and the processing unit 12 function as other vehicle information acquisition means. The processing unit 12, the display unit 14, and the sound / voice input / output unit 16 function as a notification unit or a notification unit, and in particular, the display unit 14 functions as a display unit. On the other hand, the other vehicle is equipped with a vehicle information transmission device substantially the same as the surrounding vehicle notification device 1 of FIG. The vehicle information transmitting device mounted on the other vehicle includes the same GPS receiver 13, sensor unit 17, command input unit 15, and processing unit 12 connected thereto as the surrounding vehicle notification device 1. The vehicle information transmission device has a vehicle information storage device and a communication unit for transmitting vehicle information stored in the storage device to the outside of the vehicle, and these devices are connected to the processing unit 12. .
[0024]
The surrounding vehicle notification device 1 of the present invention configured as described above has the following operation. FIG. 2 is a schematic diagram showing the positional relationship between the host vehicle and the other vehicle while traveling, and FIG. 3 is a schematic diagram showing the display mode of the host vehicle and the other vehicle displayed on the screen of the display unit 14 of the host vehicle. . FIG. 2 shows an own vehicle M traveling toward the intersection C on the road R1 and another vehicle A traveling toward the intersection C along the road R2 intersecting the road R1, The arrows indicate the traveling direction of each vehicle.
[0025]
The processing unit 12 calculates the movable range Ma of the host vehicle M and displays it on the display unit 14. Based on the speed of the host vehicle and the traveling direction, the host vehicle is positioned after elapse of a predetermined time (n seconds) (hereinafter simply referred to as “predicted time”) predetermined (stored in advance) in the processing unit 12. Calculate the geographical prediction range (movable range) that can move within the prediction time (in other words, calculate the distance prediction range), and display on the screen of the display unit 14 To display. The predicted time may be changed as appropriate according to the speed of the host vehicle or according to the type of road on which the vehicle is traveling. For example, the predicted time is set shorter as the vehicle speed increases, or the predicted time is set shorter as the road speed limit increases.
[0026]
An example of a method for calculating the geographical prediction range is, for example, when the vehicle travels while maintaining the current travel speed, the position Mb that arrives after the predicted time has elapsed is calculated, and a circle centered on that point is drawn. The inside of the circle is assumed to be a geographical prediction range (movable range) Ma that can be moved. As will be described later, the radius of the circle is determined based on data (learned values) measured in advance with respect to the speed and direction that change after the predicted time has elapsed. Therefore, the radius or area of the circle can be determined each time according to the traveling speed.
[0027]
On the other hand, the information related to other vehicles acquired through the communication unit 11 has contents as shown in Table 1, for example. Each information of Table 1 is stored in a storage device mounted on another vehicle. Table 1 shows an example of data that can be transmitted (transmitted) from another vehicle. These data are transmitted at regular intervals. If the data transmitted from the other vehicle is the current position and the vehicle speed of the other vehicle, the other vehicle is multiplied by a predetermined predicted time (n seconds) and the received vehicle speed. The estimated travel distance for the car is obtained. Then, it is possible to predict (calculate) a circular area centered on the received current position and having the calculated movement predicted distance as a radius as a movable geographical prediction range (movable range) for another vehicle.
[0028]
On the other hand, when the data transmitted from the other vehicle is the movable range calculated in the other vehicle itself, it is not necessary to calculate the movable range in the own vehicle that has received these. In this case, if the predicted movement time (n seconds) is also transmitted from the other vehicle, the own vehicle that can receive the movement can move within the received predicted movement time (n seconds). The range can be calculated. In addition, when the data transmitted from the other vehicle is the current position, the vehicle speed, and the traveling direction of the other vehicle, by multiplying a predetermined predicted time and the received vehicle speed in the own vehicle that has received these When the predicted travel distance for the other vehicle is obtained, and the traveling direction is added to this, the predicted travel position for the other vehicle is determined. A circular area centered on the obtained predicted movement position and having a predicted movement distance as a radius may be predicted (calculated) as a movable range for another vehicle. The radius r described later may be used as the radius of the circular region.
[0029]
[Table 1]
[0030]
The position information includes, for example, information related to the position of the other vehicle A, the predicted position Ab after the predicted time (n seconds) has elapsed, the vehicle speed at that position, the traveling direction, and the like. Based on the acquired position information, the position of the other vehicle is displayed on the display screen of the display unit 14 together with the current position of the own vehicle. The predicted time of the host vehicle is set in accordance with the predicted time for setting the movable range of the other vehicle. The time information is the time when the vehicle position is measured or the time when the vehicle reaches the predicted movable range. The vehicle movement performance is a movable range Aa predicted with respect to the movement of the other vehicle, and this range is displayed on the screen of the display unit 14 together with the movable range of the host vehicle. The color information of the vehicle includes the color of other vehicles, the presence / absence of a pattern, and feature points in other colors. This information is displayed on the display unit 14. As a display method, the color or pattern may be directly displayed, or other character information may be displayed. In addition, you may output from the input-output part 16 as an audio | voice.
[0031]
The vehicle shape information includes information on characteristic parts such as the total length and width of other vehicles, the presence / absence of modification, and the like, as well as displacement, vehicle type, vehicle manufacturer, vehicle number, and the like. Both of these and information are displayed on the display unit 14. As a display method, the shape or the like may be directly displayed, or other character information may be displayed. In addition, you may output from the input-output part 16 as an audio | voice. The relationship information with the own vehicle includes information representing the relationship with the own vehicle such as a friend, another person, the same trader, a family, and the same vehicle type. These pieces of information may also be displayed on the display unit 14 or may be output from the input / output unit 16 by voice. Among the vehicle information described above, in particular, the visual information (color information, shape information) of the vehicle and the relationship information with the own vehicle are for the driver to directly recognize the other vehicle displayed on the screen of the display unit 14 visually. It is easy to confirm other vehicles directly with the naked eye by obtaining this information.
[0032]
FIG. 2 shows a situation in which the host vehicle M and the other vehicle A are traveling in the direction of the arrow toward the same intersection C. The other vehicle A transmits the current position, traveling direction, and vehicle speed of the other vehicle A at regular time intervals by a communication device such as an SS radio. In the host vehicle M, a predicted movement time (for example, 5 seconds) is preset by the user and stored in the storage device. Hereinafter, the operation of the surrounding vehicle notification device mounted on the host vehicle M under the same situation will be mainly described.
[0033]
FIG. 4 is a flowchart of the display process of the movable range of the other vehicle and the process of notifying the user about the other vehicle in the own vehicle M. The other vehicle predicted movement range display processing and warning processing routine starts when the ignition is turned on and ends when the ignition is turned off. When the processing program is activated, it is determined whether or not the other vehicle information reception flag is on (step S10). The other vehicle information reception flag is turned on when other vehicle information (current position, traveling direction, and vehicle speed) transmitted from other vehicles around the host vehicle is received. On / off of the other vehicle information reception flag is processed in another processing routine. By this routine, the function as other vehicle information acquisition means is exhibited.
[0034]
If the other vehicle information reception flag is not on (step S10: No), the process returns and the determination in step S10 is repeated. When the other vehicle information reception flag is on (step S10: Yes), the movable range of the other vehicle is calculated and displayed on the display unit (step S12). By this step S12, the function as the display means is exhibited. FIG. 3 is a display example of the movable range of the other vehicle A and the own vehicle M. In the figure, the substantially triangular symbol A indicates the current position of the other vehicle A, Ab indicates the predicted position of the other vehicle after the predicted time (5 seconds), and Aa allows the other vehicle A to move within the predicted time (5 seconds). Each represents a geographical range. Note that the predicted position Ab of the other vehicle A after the predicted time is obtained by multiplying the received vehicle speed by the predicted time set in the host vehicle. In addition, the movable range Aa that can move within the predicted time of the other vehicle A can be obtained as a circular region having a radius r and centered on the predicted position. The radius r can be obtained from the following equation, for example.
[0035]
r = Gmax × 9.8 × Time × Time
Here, r is the radius (unit: m) of the predicted movable range, Gmax is the maximum acceleration (unit: G), and Time is the predicted time (unit: second). The maximum acceleration Gmax is obtained, for example, as (Gmax = car-specific limit acceleration × past driving learning value). The vehicle-specific limit acceleration is set in accordance with the vehicle type, and an acceleration exceeding this value is a value that is basically not output. The past driving learning value can be obtained from an acceleration sensor, a trajectory of a car navigation system, or the like, and can be obtained as an average value of accelerations measured in the past. For example, if the vehicle type limit acceleration is 0.5G and the learning value is 0.2G, the difference between the vehicle type limit acceleration and the learning value of 0.3G is set as a margin value, and Gmax is set to 0.35G. To do. The driving learning value is an average value of accelerations measured in the past, but may be the largest value among the accelerations measured in the past. The vehicle-specific limit acceleration is set in advance for each vehicle type, for example. Here, the type of the vehicle is determined by a combination of a vehicle type such as a sedan, a wagon, a coupe, a minivan, and a four-wheel drive, or a displacement, an overall weight, and the like.
[0036]
Next, the movable range of the host vehicle M is calculated and displayed on the display unit (step S14). Thereby, the function as a movable range prediction means is exhibited. In FIG. 3, the substantially triangular symbol M indicates the current position of the vehicle M, Mb indicates the vehicle predicted position after the predicted time (5 seconds), and Ma indicates the vehicle A can move within the predicted time (5 seconds). Each represents a geographical range. Note that the predicted position Mb of the host vehicle M after the predicted time is obtained by multiplying the host vehicle speed by the predicted time (5 seconds). Further, the geographical range Ma that can move within the predicted time (5 seconds) of the host vehicle M can be obtained as a circular region having a radius r and centered on the predicted position. The method of calculating the radius r is the same as described above.
[0037]
In step S14, the overlapping range (overlapping area) of the movable range Aa of the other vehicle A and the movable range Ma of the host vehicle M calculated as described above is calculated. When the overlapping area is 0, there is no overlapping range, and when there is an overlapping area, there is an overlapping range. Based on the calculation result in step S14, it is determined whether or not there is an overlapping range (step S16). If there is no overlapping range (step S16: No), the process returns and step S10 is executed again. If there is an overlapping range (step S16: Yes), a predetermined table is referred to (step S18). A function as a determination unit is exhibited by the above steps S14, S16, and S18.
[0038]
The warning content determined based on the table is displayed on the screen of the display unit 14 as shown in FIG. 7 (step S20). By this step, the function as a notification means is exhibited. Here, as a display method, in addition to displaying as character information, a warning display F other than characters may be added to the display portion of the other vehicle A corresponding to the warning content. This display pattern is different from the case of adding new graphic (diagram) information to the normal display as in the display F, as well as flashing the display of the other vehicle A corresponding to the warning content, It is good also as a pattern which changes a color from the color used normally to another color (for example, red, yellow, etc.).
[0039]
[Table 2]
[0040]
The table of Table 2 is a table in which the threshold value of the overlapping area of the movable range of the other vehicle and the movable range of the own vehicle is associated with the content of the warning (notification). For example, when the overlapping range is 0%, no warning is required, so no warning is given. If the overlap range is less than 30%, the display will indicate "A vehicle that may interfere with the vehicle's path from the left (right) direction" is displayed and a dial tone (for example, PIPO ... PIPO ...) Sound. When the overlapping range is less than 30 to 60%, in addition to the warning when it is less than 30%, the symbol of the other vehicle displayed on the screen is blinked. When the overlapping range is 60% or more, the warning content is changed to “the vehicle that is blocking the vehicle's route from the left (right) direction is approaching”, and the sound quality of the dial tone is changed. In addition, it is good also as a structure which instruct | indicates not only a warning but subsequent avoidance action. For example, instructions such as “Decelerate”, “Stop”, “Change course”, “Change lane”, etc. can be displayed or voiced after warning. .
[0041]
The transmission pattern is set so that the interval of the dial tone is narrowed in the order of overlap range of less than 30%, 30 to less than 60%, and 60% or more, and the driver is consciously aware of the degree of importance of warning. You may make it make it. After the warning step S20 is completed, the other vehicle information reception flag is turned off (step S22). For example, when the positional relationship between the own vehicle M and the other vehicle A is shown in FIG. 3, the movable ranges Ma and Aa of the own vehicle M and the other vehicle A do not overlap, so no warning is given.
[0042]
However, as the host vehicle M and the other vehicle A travel, as shown in FIG. 5, when both movable ranges Ma and Aa overlap and the overlapping area becomes 20%, for example, 30 in Table 2 The warning (or notification) in the right column corresponding to the column of less than% is performed. Further, when the own vehicle M and the other vehicle A further travel and the overlapping area between both movable ranges Ma and Aa becomes 50% as shown in FIG. 6, for example, 30% to 60% in Table 2 The warning (or notification) in the right column corresponding to the less than column is performed.
[0043]
As described above, the surrounding vehicle notification device according to the present embodiment is mounted on the own vehicle, and the user (own vehicle driver) is predicted for the other vehicle in which the movable range determined to overlap the movable range of the own vehicle is predicted. In order to be recognized by the vehicle's own passengers), the user is notified by image, sound, sound (changes in sound), so that the user can identify the vehicle surrounding the vehicle that may interfere with the course of the vehicle. It can be recognized early.
[0044]
In addition, since the movable range of the other vehicle and the movable range of the own vehicle are displayed together on the display unit, the user can display the screen for the surrounding vehicles that may interfere with the course of the own vehicle. It can be judged by taking a glance. Note that the same effect can be obtained by displaying the movable range for other vehicles and displaying only the current position of the own vehicle for the own vehicle.
[0045]
In the present embodiment, the description has been given so that the user can recognize the other vehicle in which the movable range overlapping the movable range of the own vehicle is predicted. However, the movable range of the own vehicle is described. If the movable ranges of other vehicles overlap, braking may be performed by switching the gear position of the automatic transmission to a gear position lower than the current gear position.
[0046]
Further, in the present embodiment, it has been described that the movable range of the own vehicle and the other vehicle is calculated using the predicted time stored in the storage device of the own vehicle, but the predicted time transmitted from the other vehicle In addition, the movable range calculated in the other vehicle may be received using the predicted time. In this case, for the other vehicle, the received movable range is displayed, while for the own vehicle, the movable range is calculated and displayed using the received predicted time.
[0047]
Moreover, you may make it correct | amend the movable range transmitted from the other vehicle to the range which can move within the estimated time stored in the memory | storage device of the own vehicle. In this case, for other vehicles, the corrected movable range is displayed, while for the own vehicle, the movable range is calculated and displayed using the predicted time stored in the storage device of the own vehicle. .
[0048]
In addition, the vehicle sends a predicted time (calculates the geographically movable range within which the vehicle can move within a specific predicted time and sends it as a request for sending it), and receives this The other vehicle may calculate the movable range of the other vehicle using the received predicted time, and transmit the calculated movable range to the own vehicle. In this case, for the other vehicle, the received movable range is displayed, while for the own vehicle, the movable range is calculated and displayed using the predicted time transmitted to the other vehicle.
[0049]
Further, in the present embodiment, the notification (warning) of the surrounding vehicle at the intersection has been described, but the notification of the surrounding vehicle at various points and places other than the intersection (for example, junctions of expressways, branch roads, etc.) Can be done in the same way.
[0050]
In the configuration as described above, the driver can visually recognize the movable range of the own vehicle and the other vehicle, so that it becomes easy to recognize whether the other vehicle will hinder driving in the near future. .
[0051]
Moreover, when determining the possibility that another vehicle will interfere with the traveling of the host vehicle based on the overlapping range, the increasing speed of the area of the overlapping range may be used as a parameter. For example, even if the overlapping range is less than 30%, if the increase rate of the area of the overlapping range is high, it can be determined that there is a high possibility of hindrance. Even if the overlapping range is 60% or more, if there is no increase in the area of the overlapping range, the possibility of obstruction can be low. In such a case, for example, there are cases where two vehicles are traveling along a road having a plurality of lanes.
[0052]
Next, a method for calculating the movable range of the own vehicle will be described based on the predicted predicted movable range display processing routine shown in FIG. By this routine, the function as a vehicle movable range prediction means is exhibited. This routine starts when the ignition is turned on and ends when the ignition is turned off.
[0053]
First, it is determined whether or not the vehicle position measurement flag is on (step S30). This flag is turned on when the vehicle position is measured by the GPS receiver 13. Alternatively, every time the host vehicle travels a fixed distance, the host vehicle position is calculated based on a signal from the sensor unit 17, and the host vehicle position measurement flag is turned on each time the host vehicle position is calculated. It may be. When the flag is off, that is, when the vehicle position is not measured (step S30: No), the following processing is not performed and the process returns. When the flag is on, that is, when the vehicle position is measured (step S30: Yes), the next step S32 is executed. In step S32, it is determined whether the other vehicle information reception flag is on. When other vehicle information is received via the communication unit 11, the flag is turned on. Whether or not other vehicle information has been received is determined by another determination routine.
[0054]
When the other vehicle information reception flag is on, that is, when other vehicle information is received (step S32: Yes), the predicted time (n seconds) for calculating the movable range is set in the other vehicle. It is determined that the predicted time being used is used as the predicted time of the vehicle (step S34). When the other vehicle information reception flag is off, that is, when the other vehicle information is not received (step S32: No), the predicted time (n seconds) for calculating the movable range is set in the own vehicle. It is determined to use the predicted time as it is (step S40).
[0055]
In step S34, the accuracy of the warning can be ensured by unifying the prediction time for predicting the movable range between the own vehicle and the other vehicle. It is possible to easily determine the possibility that another vehicle interferes with the own vehicle. This may be achieved by unifying the predicted time to the time adopted by one of the own vehicle and the other vehicle, or the predicted time set by the own vehicle may be used. In this case, it is necessary to recalculate the movable range displayed for the other vehicle based on the predicted time set by the own vehicle.
[0056]
Based on the predicted time determined in the previous step, a predicted movable range of the host vehicle is calculated (step S36). The predicted movable range in step S36 is expressed as a predicted movable range Ma inside the circle centered on the moving position Mb after the predicted time (n seconds) has elapsed. Regarding the calculation method of the radius r of the circle centered on Mb, in the description of the flowchart of the display process of the movable range of the other vehicle and the process of notifying the user about the other vehicle shown in FIG. The calculation method described in (Description of FIG. 3) is used.
[0057]
The own vehicle predicted movable range calculated based on step S36 and the already measured own vehicle position are displayed on the display screen of the display unit 14 (step S38), and the own vehicle position measurement flag is turned off (step S38). Step S39). In the case of calculating the predicted movable range of the other vehicle by the own vehicle, the calculation is performed according to the above method based on the other vehicle information (including past driving learning values) obtained through communication.
[0058]
Moreover, although the above demonstrated the example at the time of making the prediction movement range circular, you may make it set the prediction movement possible range according to the characteristic of a vehicle, and the state of the road which is drive | working. For example, a general vehicle changes its direction using two front wheels. For this reason, it is possible to set the predicted movable range in consideration of the movement characteristics of the vehicle, such as being unable to move right next to it. For example, as shown in FIG. 9, the predicted movable range in a stopped vehicle is a range in which the front and rear are spread left and right. Further, even when the vehicle is moving, if the predicted movable range corresponding to the turning performance of the vehicle is determined, as illustrated in FIG. Further, when the moving speed is slow, it is close to the shape when the vehicle is stopped as shown in FIG. Parameters for determining such a predicted movable range include a minimum turning radius (unit: m) that varies depending on the vehicle type, a moving speed, the aforementioned vehicle type limit acceleration, and the like.
[0059]
Some roads have a median or guardrail. Since it is usually not possible for a vehicle to move beyond this median strip or guardrail, road elements can also be added to the parameters that determine the predictable range of movement. FIG. 12 is a schematic diagram showing a predicted movable range of a vehicle traveling on a road with a median strip and a guard rail. As shown in FIG. 12, the predicted movable range Ma has a shape that is defined so as not to spread outward from the central separation band 22 and the guard rail 21. If such a regulation is provided, it is difficult for the other vehicle in the opposite lane approaching from the front to overlap, and the vehicle in the opposite lane is prevented from being recognized as a vehicle that obstructs the course.
[0060]
The own vehicle position, the predicted moving range of the own vehicle, the other vehicle position, and the predicted moving range of the other vehicle obtained based on the results calculated in the above steps are displayed on the screen of the display unit 14. Here, when the other vehicle information is not normally received, as shown in FIG. 13A, the predicted movable range based on the predicted time (3 seconds in the figure) set in the own vehicle. Appears on the screen. When the predicted time (in the figure: 5 seconds) based on the received other vehicle information is different from the predicted time of the own vehicle, as shown in FIG. The display content changes to a screen that displays the predicted movable range calculated by changing to time (5 seconds). By changing the display content in this way, the determination as to the possibility that another vehicle may interfere with the traveling of the host vehicle becomes more accurate. On the other hand, as shown in FIG. 13C, the predicted time (3 seconds) set by the own vehicle is applied to the other vehicle information to correct the predicted movable range of the other vehicle. It may be displayed.
[0061]
Next, transmission of vehicle information transmitted from another vehicle will be described. FIG. 14 is a flowchart showing a vehicle information transmission processing routine. The program starts processing when the ignition is on, and ends when the ignition is off.
[0062]
First, it is determined whether or not the position measurement flag is on (step S50). The position measurement flag is turned on when the position is measured by the GPS receiver. Alternatively, every time the other vehicle travels a certain distance, the vehicle position is calculated based on the signal from the sensor unit 17, and the position measurement flag is turned on every time the vehicle position is calculated. Also good.
[0063]
That is, in step S50, it is determined whether or not the position has been measured. When the flag is off, that is, when the position is not measured (step S50: No), the process returns and the following processing is not performed. When the flag is on, that is, when the position is being measured, the predicted movable range after the predicted time (n seconds) has elapsed from the measured position is calculated (step S52). This calculation method is the calculation described in step S12 (description of FIG. 3) in the description of the flowchart of the display process of the movable range of the other vehicle and the process of notifying the user about the other vehicle shown in FIG. Use the method.
[0064]
The predicted movable range calculated in step S52, the measured position information, and other position information shown in Table 1 are stored in the buffer (step S54). The information stored in the buffer is transmitted to the other vehicle when a signal requesting information transmitted from the other vehicle is received (step S56). After the transmission, the position measurement flag is turned off (step S58) and the process returns. A signal for requesting information transmitted from the own vehicle or other vehicles to surrounding vehicles is periodically transmitted at a predetermined interval or at a predetermined time, for example. Such transmission in response to a request for information may be transmitted as update information when the vehicle speed is changed by an operation such as a course change, brake-on or accelerator-on thereafter.
[0065]
In the above, the example in which the other vehicle transmits the predicted movable range calculated in the other vehicle has been described, but the other vehicle information is also stored in the transmission buffer and transmitted at a predetermined time interval or a preset time. The In the above example, the case where there is one other vehicle around the host vehicle has been described, but there may be a plurality of other vehicles around the host vehicle. For example, as shown in FIG. 15, when there are many vehicles in the vicinity, information is received from each vehicle, and information on each other vehicle is also displayed on the screen of the display unit 14. In this way, by simultaneously displaying information related to other vehicles on one screen, it is possible to grasp at a glance the relative positional relationship with respect to a plurality of other vehicles, and other vehicles located in a plurality of surroundings can drive their own vehicles. The possibility of hindering can be easily grasped at a glance.
[0066]
Next, the operation of another embodiment will be described. In the following embodiments, a car navigation system is used to determine and warn of the possibility of obstruction of the vehicle's route at a predetermined point such as an intersection. Hereinafter, the processing content will be described based on a flowchart showing a warning processing routine based on the own vehicle / other vehicle predicted time range shown in FIG. For example, as shown in FIG. 17, warning processing when two other vehicles A1 and A2 are traveling toward two intersections C1 and C2 located in the traveling direction of the host vehicle M, respectively. explain.
[0067]
The warning processing routine based on the own vehicle / other vehicle predicted time range starts when the ignition is turned on and ends when the ignition is turned off. It is determined whether or not the other vehicle information reception flag is on (step S60). The other vehicle information reception flag is turned on when other vehicle information transmitted from other vehicles around the host vehicle is received. If the flag is off, no other vehicle information has been received, so the subsequent processing is not performed and the process returns. When the flag is on, the other vehicle information has been received, and the subsequent processing is performed based on the information. Whether other vehicle information has been received is determined by another routine. The function as other vehicle information acquisition means is exhibited by this other routine and step S60.
[0068]
Here, in the transmitted other vehicle information, instead of the vehicle movement performance in the information shown in Table 1, the own vehicle predicted arrival time range to the nearest intersection in the vehicle traveling direction is transmitted as the vehicle information. The The intersection number and coordinates are also transmitted as vehicle information. In this embodiment, an intersection is adopted as an intersection where the courses of the own vehicle and the other vehicle intersect.
[0069]
A temporal prediction range that is expected to be required to reach the detected intersection is set as the prediction time range. The predicted time range varies depending on the size of the intersection, the arrival time differs between the front and back, and the predicted movable range has a width, as well as the vehicle type and past actions. This is because a difference occurs.
[0070]
Based on the acquired other vehicle information, the other vehicle position, the nearest intersection in the other vehicle traveling direction, and the other vehicle predicted time range up to the same intersection are displayed on the display unit 14 (step S62). With this display, the driver confirms the presence of another vehicle. It is determined whether or not the intersection displayed based on the other vehicle information exists on the course of the own vehicle (step S64). The function as the intersection detection means is exhibited by this step. If it does not exist (step S64: No), the other vehicle does not interfere with the traveling of the host vehicle, so the following processing is not performed and the process returns. When it exists (step S64: Yes), the own vehicle prediction time range to reach the intersection displayed based on the other vehicle information is calculated (this function serves as a time range prediction means). ), The overlapping range with the other vehicle predicted time range displayed in step S62 is calculated (step S66).
[0071]
Based on the calculation result of step S66, it is determined whether or not there is an overlapping range (step S68). If there is no overlapping range, that is, 0% (step S68: No), there is no possibility that the other vehicle interferes with the traveling of the own vehicle, and the routine is returned. When there is an overlapping range (step S68: Yes), the contents of the warning are determined with reference to the table shown in Table 2 (step S70), the warning is displayed on the display unit 14, and the voice is also displayed. Alternatively, a warning is issued by sound (step S72). Finally, the other vehicle information reception flag is turned off (step S74) and the process returns. In step S70, the function as the determination unit is exhibited, and in step S72, the function as the notification unit is exhibited.
[0072]
When the example of FIG. 17 is displayed on the display unit 14, it is displayed as shown in FIG. 18, and the predicted time range to the intersection C1 is 20 to 30 seconds for the own vehicle M, 10 to 22 seconds for the other vehicle A1, and 2 seconds overlap. Therefore, there is a possibility that the other vehicle A1 may hinder the traveling of the own vehicle, and a warning is given. As for the predicted time range to the intersection C2, the vehicle M is 40 to 45 seconds, the other vehicle A2 is not duplicated in 12 to 20 seconds, and there is no possibility that the other vehicle A2 will interfere with the traveling of the own vehicle. Not done.
[0073]
Although the embodiment described above is configured to display the calculated predicted movable range and the own vehicle position on the screen of the display unit 14, the other vehicle can be displayed without displaying the other vehicle position and the movable range. It is good also as a structure which calculates the possibility which obstructs driving | running | working of the own vehicle, and issues the warning based on the possibility.
[0074]
【The invention's effect】
The invention according to claim 1 calculates the predicted movable range of the host vehicle and the other vehicle, and determines the possibility that the other vehicle hinders the traveling of the host vehicle according to the overlapping area of the range. The driver can easily grasp other vehicles that hinder the progress of the vehicle. In addition, since the determination is made according to the degree of the overlapping area, the driver can change the degree of attention to other vehicles according to the determination result.Since the movable range is displayed at the same time in addition to the current positions of the own vehicle and the other vehicle, it is possible to relatively easily grasp other vehicles that may obstruct the course of the own vehicle.
[0075]
The invention according to claim 2 prevents the other vehicle from traveling by itself.PossibleIt is easy to avoid other vehicles because the points with potential are clear.Since the movable range is displayed at the same time in addition to the current positions of the own vehicle and the other vehicle, it is possible to relatively easily grasp other vehicles that may obstruct the course of the own vehicle.
[0080]
Claim3In the invention described in, the circular area can be predicted as a movable geographical prediction range for another vehicle.
Claim4The invention described in 1 can determine the predicted movable range according to the performance of the vehicle.
Claim5In the invention described in (1), the shape of the predictable movable range of the vehicle traveling on the road with the median strip or the guard rail is a shape that is defined so as not to spread outside the median strip or the guard rail. If such a regulation is provided, it is difficult for the other vehicle in the opposite lane approaching from the front to overlap, and the vehicle in the opposite lane is prevented from being recognized as a vehicle that obstructs the course.
In the invention according to the sixth aspect, since a warning corresponding to the determination result is notified, the driver can easily take a coping action according to the content.
[Brief description of the drawings]
FIG. 1 is a block diagram showing a configuration of the present invention.
FIG. 2 is a schematic diagram showing a positional relationship between a host vehicle and another vehicle that are traveling.
FIG. 3 is a schematic diagram showing display modes of the host vehicle and other vehicles displayed on the screen of the display unit.
FIG. 4 is a flowchart showing a predicted other vehicle movable range display process and a warning process routine.
FIG. 5 is a schematic diagram showing an overlapping state of movable ranges.
FIG. 6 is a schematic diagram showing an overlapping state of movable ranges.
FIG. 7 is a schematic diagram showing the content of a warning displayed on the screen of the display unit.
FIG. 8 is a flowchart showing a predicted vehicle movable range display processing routine.
FIG. 9 is a schematic diagram illustrating another shape example of the predicted movable range.
FIG. 10 is a schematic diagram illustrating another shape example of the predicted movable range.
FIG. 11 is a schematic diagram illustrating another shape example of the predicted movable range.
FIG. 12 is a schematic diagram illustrating another shape example of the predicted movable range.
FIG. 13 is a schematic diagram showing a display mode of a predicted movable range of the host vehicle and other vehicles displayed on the screen of the display unit.
FIG. 14 is a flowchart showing a vehicle information transmission processing routine.
FIG. 15 is a schematic diagram showing a display mode of a predicted movable range of the host vehicle and other vehicles displayed on the screen of the display unit.
FIG. 16 is a flowchart showing a warning processing routine based on a predicted time range of own vehicle / other vehicle.
FIG. 17 is a schematic diagram showing a positional relationship between a traveling vehicle and two other vehicles.
FIG. 18 is a schematic diagram showing display modes of the host vehicle and other vehicles displayed on the screen of the display unit in another embodiment.
[Explanation of symbols]
11 Communication Department
12 Processing unit
13 GPS receiver
14 Display section
15 Input section
16 Input / output section
17 Sensor part
M own car
A Other cars

Claims (6)

  1. Current position detecting means for detecting the current position of the vehicle;
    Other vehicles originated, and the current position of the other vehicle, and a predicted range and estimated time on the road other vehicle is calculated a range of potentially located after the predicted time determined in advance, acquired by the communication Other vehicle information acquisition means,
    A movable range prediction means for calculating the expected range on the road that may vehicle is located after the predicted time has elapsed,
    It has a display means for displaying the detected current position of the own vehicle, the calculated prediction range of the own vehicle, the acquired current position of the other vehicle, and the acquired prediction range of the other vehicle, and also calculates the calculated prediction of the own vehicle. Calculate the area where the range and the predicted range of the acquired other vehicle overlap, and notify the user of the determination means and determination result to determine the possibility that the other vehicle will block the traveling of the own vehicle according to the calculation result A surrounding vehicle notification device.
  2. Current position detecting means for detecting the current position of the vehicle;
    Crossing point detection means for detecting a crossing point where the course of the vehicle and the other vehicle crosses,
    A time range prediction means for calculating a temporal prediction range expected to be required until the vehicle reaches the detected intersection,
    Other vehicles originated, and the current position and the temporal prediction range other vehicles intersection is expected to be required until the arrival of another vehicle, and other vehicle information acquiring means for acquiring the communication,
    It has a display means for displaying the detected current position of the own vehicle, the calculated prediction range of the own vehicle, the acquired current position of the other vehicle, and the acquired prediction range of the other vehicle, and also calculates the calculated prediction of the own vehicle. The time when the range and the acquired prediction range of the other vehicle overlap is calculated, and the determination means for determining the possibility that the other vehicle interferes with the traveling of the own vehicle according to the overlap time, and the determination result An informing device for informing a surrounding vehicle.
  3. The surrounding vehicle notification device according to claim 1, wherein the predicted range is displayed as a circular shape centered on a point reached after the predicted time has elapsed when the vehicle travels while maintaining the current travel speed.
  4. The surrounding vehicle notification device according to claim 1, wherein the shape of the prediction range is determined according to a moving characteristic of the vehicle.
  5. The surrounding vehicle notification device according to claim 1, wherein the shape of the prediction range is determined according to an element of a road on which the vehicle is traveling.
  6. The surrounding vehicle notification device according to any one of claims 1 to 5, wherein the notification unit further includes a notification unit that notifies a user of a warning according to the possibility determined by the determination unit.
JP4379899A 1999-02-22 1999-02-22 Peripheral vehicle notification device Expired - Fee Related JP4193266B2 (en)

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