JP4367174B2 - On-vehicle transmitter and obstacle detection system - Google Patents

Description

  The present invention relates to an in-vehicle transmission device, an in-vehicle reception device, and a server that perform transmission, reception, and notification of an obstacle determination based on a travel locus of a vehicle.

2. Description of the Related Art Conventionally, a technique for detecting an obstacle around a vehicle using an in-vehicle camera or a laser radar sensor and notifying the detected information about the detected information is known (for example, see Patent Document 1).
JP 10-79100 A

  In the above technique, an in-vehicle camera or a laser radar sensor needs to be mounted on a vehicle, but there are few vehicles currently equipped with such a device.

  The present invention has been made in view of the above points, and an object of the present invention is to detect an obstacle by a new method that is different from an in-vehicle camera or a laser radar sensor.

In order to achieve the above object, the invention according to claim 1 is characterized in that the own vehicle position specifying means (11) for specifying the position of the own vehicle and the own result obtained from the specifying result of the own vehicle position specifying means (11). The avoidance determination is based on the own vehicle avoidance determining means (120, 310, 410, 415, 450) for determining that the travel locus of the vehicle avoids an obstacle and the own vehicle avoidance determining means. Traveling locus information transmitting means (130, 320, 330, 470, 480) for transmitting traveling locus information based on the traveling locus of the host vehicle at the avoidance position determined by the means to an in-vehicle receiving device mounted on a succeeding vehicle; The in-vehicle transmission device provided with. However, when the in-vehicle receiving device mounted on the succeeding vehicle determines that the received travel locus information avoids an obstacle, the vehicle-mounted receiving device notifies the occupant that there is an obstacle at the avoidance position. It is.
Further, an invention according to claim 2, mounted on the other vehicle, traveling locus information received the traveling locus information from other vehicle mounting transmitting apparatus for transmitting traveling locus information based on the travel locus of the other vehicle The receiving means (210), the other vehicle avoidance determining means (220) for determining that the traveling locus information received by the traveling locus information receiving means avoids an obstacle, and the other vehicle avoidance determining means determine the fact that there is an obstacle to the position of the avoidance is onboard transmit device according to claim 1, further comprising a, an obstacle informing means for informing the multiplication membered vehicle (230).

  Thus, based on the travel locus information of the other vehicle, it is determined that the travel locus information is for avoiding the obstacle, and the passenger is notified that there is an obstacle based on the determination. Obstacles can be detected by a novel method based on the travel route. In addition, an obstruction means the existence which becomes obstruction, and is a concept including a person, an animal, and an object.

Further, the invention according to claim 3, in the vehicle-mounted transmit device according to claim 2, wherein the vehicle avoidance judging means, the vehicle at a position corresponding to the traveling locus information in which the traveling locus information received by the receiving means The travel locus information transmitting means determines the travel locus information received by the travel locus information receiving means based on the determination by the own vehicle avoidance determination means. The travel locus information based on the travel locus of the host vehicle at the corresponding position is transmitted to the in-vehicle receiving device mounted on the succeeding vehicle .

  When the in-vehicle receiving device that transmits the traveling locus information to the in-vehicle transmitting device of the other vehicle having the traveling locus information receiving means is mounted on a plurality of vehicles, and the plurality of vehicles form a row on the road, The in-vehicle transmission device that has received the trajectory information transmits the trajectory information based on the trajectory of the host vehicle at the position to the in-vehicle reception device of the subsequent vehicle. Then, the subsequent in-vehicle receiving device that has received the trajectory information further transmits the trajectory information at the position to the subsequent vehicle. In this way, the travel locus information is passed to the following vehicle in a bucket relay manner, and each vehicle-mounted receiving device performs obstacle avoidance determination and obstacle notification based on the received travel locus information.

The invention of claim 4 is the vehicle transmit device according to claim 3, wherein the vehicle avoidance determination means, the travel locus information receiving means predetermined from the position corresponding to the traveling locus information received It is determined that the traveling locus of the own vehicle in the vicinity deviated within the range avoids an obstacle, and the traveling locus information transmitting means has one obstacle that moves from the corresponding position to the vicinity. and transmits the information to the effect that the vehicle receiving apparatus of the following vehicle.

Further, the invention according to claim 5, in the vehicle-mounted transmit device according to any one of claims 2 to 4, the traveling locus information transmitting means, traveling locus information in which the traveling locus information received by the receiving means in the traveling locus information in consideration of the traveling locus of the vehicle in a position corresponding to the traveling locus information, and transmits the vehicle receiving device following vehicle having the traveling locus information receiving means.

Further, the invention according to claim 6, in-vehicle transmit device according to claim 5, other vehicle avoidance determination means is the running locus the traveling locus information received by the receiving means to avoid the obstacle The criterion for judging this is relaxed as the number of vehicle trajectories added to the travel trajectory information received by the travel trajectory information receiving means increases.

Further, the invention according to claim 7, in the vehicle-mounted transmit device according to any one of claims 1 to 6, the other vehicle avoidance determination means, the travel locus of the traveling locus information received by the receiving means, When a plurality of vehicles indicate that the vehicle has taken a running locus that has continuously exceeded a predetermined criterion, it is determined that the running locus avoids the obstacle. .

The invention according to claim 8 is characterized in that the own vehicle position specifying means (11) for specifying the position of the own vehicle, and the traveling locus of the own vehicle obtained from the specifying result of the own vehicle position specifying means (11). Based on the own vehicle avoidance determining means for determining that the vehicle avoids an obstacle, and the travel locus of the own vehicle at the avoidance position determined by the avoidance determining means based on the determination of the own vehicle avoidance determining means. A vehicle-mounted transmission device comprising travel locus information transmitting means for transmitting travel locus information to the server (50). However, the server (50) determines that the vehicle is performing obstacle avoidance at the position of the travel locus based on the received information on the travel locus of the vehicle, and determines that the obstacle is being avoided. The information indicating that there is an obstacle at a specific position is received and transmitted to the vehicle-mounted receiving device that notifies the occupant that there is an obstacle at the specified position.
The invention according to claim 9 includes the in-vehicle transmission device according to claim 8 and a server,
The server includes a travel locus information receiving means (510) for receiving information on the travel locus from the in-vehicle transmission device, and a position of the travel locus based on the travel locus information received by the travel locus information receiving means. A vehicle avoidance determining means (530) for determining that the vehicle is performing obstacle avoidance, and a specific position indicating that there is an obstacle at the position determined by the vehicle avoidance determining means as performing obstacle avoidance. The obstacle detection system is characterized by comprising obstacle information transmission means (550, 570) for receiving information indicating that there is an obstacle in the vehicle and transmitting it to the vehicle-mounted receiving device for notifying the passenger.

  Thus, since the server determines that the travel locus avoids the obstacle based on the travel locus of the vehicle, and notifies the vehicle that there is an obstacle based on the determination, the vehicle Obstacles can be detected by a novel method based on the travel route.

According to a tenth aspect of the present invention, in the obstacle detection system according to the ninth aspect of the present invention, the vehicle avoidance determining means is based on the travel locus information received by the travel locus information receiving means. Determining that the vehicle no longer performs obstacle avoidance at the position of the travel locus, and the obstacle information transmitting means determines that the obstacle is not at the position determined by the vehicle avoidance determining means. It is characterized by receiving information indicating that it has disappeared and transmitting it to a vehicle-mounted receiving device that informs the passenger.

Further, an invention according to claim 1 1, in the obstacle detection system according to claim 9 or 10, wherein the vehicle avoidance determination means, based on an average of a plurality of information of the running track received the traveling locus information Thus, it is determined that the vehicle is performing obstacle avoidance at the position of the travel locus.

Further, an invention according to claim 1 2, in the obstacle detection system of claim 11, wherein the vehicle avoidance determination means, as the number of the travel locus to be the average of the target is large, the position of the travel track The criterion for determining that the vehicle is performing obstacle avoidance is relaxed.

The invention according to claim 1 3, a vehicle position specifying means for specifying the position of the vehicle (11), the traveling locus of the vehicle obtained from the identification result of the vehicle position identifying means (11) Based on the determination by the own vehicle avoidance determining means (120) for determining that the vehicle avoids the obstacle, and the avoidance determining means determines that there is an obstacle at the avoidance position determined by the avoidance determining means. It is an in-vehicle transmission device provided with obstacle information transmitting means for transmitting information indicating that there is an obstacle at a specific position and transmitting the information to the in-vehicle receiving device for notifying an occupant.

  As described above, when it is determined that the traveling locus of the host vehicle avoids an obstacle, information indicating that there is an obstacle at the position of the avoidance and information indicating that there is an obstacle at a specific position are received. Thus, the obstacle can be detected by a novel method by transmitting to the vehicle-mounted receiving device that informs the passenger.

  Note that the reference numerals in parentheses of the above means indicate the correspondence with the specific means described in the embodiments described later, or the processing of the program for causing the control circuit 18 and the CPU 54 to function as specific means. is there.

(First embodiment)
Hereinafter, a first embodiment of the present invention will be described. FIG. 1 shows a state in which vehicles 1 to 3 on which a car navigation device 10 (corresponding to the transmitting device and the receiving device in the claims) according to the present embodiment is mounted are traveling on a road 4 on one lane on one side. FIG. The driver of the vehicle 1 visually recognized that the obstacle 5 had fallen in the traveling lane shape, and caused the vehicle 1 to travel along the traveling locus 45 so as to avoid the obstacle 5. As a result, the vehicle 1 protrudes once in the opposite lane of the road 4 and then returns to the original travel lane.

  In such a case, the car navigation device 10 of the vehicle 1 determines that the vehicle 1 has avoided an obstacle based on the travel locus 45, and determines that the vehicle 1 has avoided the obstacle, the information on the travel locus 45 of the host vehicle is obtained. It transmits to the car navigation device 10 of the following vehicle 2.

  Then, the car navigation device 10 of the vehicle 2 receives the transmitted information on the travel locus 45 and determines that the travel locus 45 is an obstacle avoidance based on the travel locus 45. When it is determined that the vehicle is to be avoided, the driver is warned of an obstacle, and when the vehicle 2 travels along a locus that avoids the obstacle 5 later, the traveling locus of the vehicle 1 and the traveling of the vehicle 2 Information on the average trajectory of the trajectory is transmitted to the vehicle 3.

  FIG. 2 is a block diagram showing the hardware configuration of the car navigation apparatus 10. The car navigation device 10 includes a position detector 11, a map data input device 16, an operation switch group 17, a control circuit 18, a display device 20, a radio device 23, and an antenna 24.

  The display device 20 includes a display surface such as a liquid crystal display and a speaker, displays the video on the display surface such as a liquid crystal display in response to an input of the video signal from the control circuit 18, and an audio signal from the control circuit 18. The sound is output to the speaker in response to the input.

  The operation switch group 17 includes input devices such as a plurality of mechanical switches provided around the display surface of the display device 20 and a touch panel provided so as to overlap the display surface. And a signal based on the touch on the touch panel is output to the control circuit 18.

  The position detector 11 includes sensors such as a well-known geomagnetic sensor, a gyroscope, a vehicle speed sensor, and a GPS receiver that detects the position of the vehicle based on radio waves from a GPS (Global Positioning System) satellite (not shown). Information for specifying the current position based on the individual properties of the sensors is output to the control circuit 18.

  The map data input device 16 includes a non-volatile storage medium such as an HDD (hard disk drive). Based on a control command from the control circuit 18, the map data input device 16 reads data from the non-volatile storage medium and data if possible. Control writing of. Information stored in the nonvolatile storage medium includes various data including map data and landmark data, so-called map matching data for improving the accuracy of the above-described current position, and operation for the car navigation device 1. There are programs.

  The wireless device 23 performs processing according to a predetermined wireless communication protocol such as amplification, frequency conversion, demodulation, A / D conversion, and the like on the signal received by the antenna 24, and outputs the result to the control circuit 18. The wireless device 23 performs processing according to a predetermined wireless communication protocol, such as D / A conversion, modulation, frequency conversion, amplification, etc., on the data input from the control circuit 18, and sends the resulting signal to the antenna 24. Output. By the operation of the wireless device 23, the control circuit 18 can transmit the transmission data via the wireless device 23 by outputting the transmission data to the wireless device 23. By receiving data included in the radio signal, data transmitted by radio from other grass paper devices can be received via the radio 23.

  The control circuit 18 is configured as a normal computer, and includes a CPU, a ROM, a RAM, a flash memory, an I / O, and a bus line for connecting these configurations. The control circuit 18 executes a program for the operation of the car navigation device 1 read from the ROM and the map data input device 16 and reads information from the ROM, RAM, and flash memory at the time of execution. The information is written in and the signal is exchanged with the position detector 11, the map data input device 16, the operation switch group 17, the display device 20, the wireless device 23, etc. via the I / O.

  When the car navigation apparatus 1 is activated, the CPU of the control circuit 18 reads out and executes a boot program, an operating system (hereinafter referred to as OS) from the ROM, and performs hardware control and process management based on the OS. . Processes that operate on the OS include a menu program, a destination setting program, a route search program, a map display program, and other programs.

  The CPU of the control circuit 18 determines the current position based on a signal for specifying the current position output from the sensor of the position detector 11 if it is necessary to specify the current position in the execution of these programs. Is calculated. At that time, since the outputs from the various sensors of the position detector 11 have errors of different properties, the current position in the CPU of the control circuit 18 is specified in a complementary manner using a plurality of sensors. ing. In the present embodiment, it is assumed that the specific accuracy of the current position is 10 cm or less. This accuracy can be realized by using a quasi-zenith satellite, an RTK (real-time kinematic positioning), or the like as a GPS satellite.

  In the following, the operation in which the CPU reads and executes the program will be described as the operation of the executed program itself.

  The menu program hierarchically displays various programs operating on the OS according to the function and purpose of the program, and starts execution of the program selected by the user from the menu displayed. The menu is displayed by outputting the image data of the menu to the display device 20, and the user selects a selection operation (cursor movement, confirmation button) for the remote control 22 or the operation switch group 17 via the remote control sensor 21. Detection is performed based on a signal input to the control circuit 18 by pressing or the like.

  The destination setting program is a program for setting a destination, and causes the display device 20 to display the display device 20 to prompt the user to input a destination. As a result, the destination setting program using the remote controller 22 or the operation switch group 17 by the user is displayed. Based on the input, the setting is realized by storing the destination in the RAM of the control circuit 18.

  The route search program automatically selects an optimum route from the current position to the destination set by the destination setting program, and causes the display device 20 to display the selected route as a guide route. A Dijkstra method or the like is known as a method for automatically setting an optimum route.

  The map display program superimposes the vehicle current position mark based on the specified current position information, the map data read using the map data input device 16, and additional data such as a guidance route formed by the route search program. 20 is displayed on the display screen.

  In the present embodiment, the map data stored in the map data input device 16 includes travel lane information for each travel lane of each road segment (link) that constitutes the road of the map. An example of travel lane information for a certain travel lane is shown in FIG. 3, and FIG. 4 shows a lane 47 of a road piece 4 targeted by this travel lane information.

  The traveling lane information includes a plurality of sets each including a plurality of positions on the center 44 of the lane (corresponding to an x mark in the drawing and indicated by coordinates such as latitude and longitude) and the width of the lane at each position. It is a list to have. In the travel lane information of FIG. 3, for example, the width of the travel lane is w1 at the position of c4, and the width is w6 at the position of c6.

  Hereinafter, the operation | movement for the car navigation apparatus 10 to determine the obstacle avoidance of a vehicle using this lane information is demonstrated.

  Of the programs executed by the control circuit 18 for this operation, a program for determining the obstacle avoidance behavior of the host vehicle and transmitting it to the car navigation device 10 of the following vehicle is shown in FIG. This program is executed immediately after the car navigation device 10 is activated, and steps 110, 120, and 130 are repeated in a loop as shown in FIG.

  First, at step 110, the current position of the host vehicle is detected based on the signal from the position detector 11, and the result is stored in the RAM of the control circuit 18 or the HDD of the control circuit 18. By executing the processing of step 110 periodically by repeating the above loop, the data of the traveling locus of the host vehicle is stored.

  Next, in step 120, it is determined whether or not the host vehicle has performed an avoidance behavior. Specifically, based on a comparison between the lane information and the traveling track of the host vehicle, it is determined that the traveling track of the host vehicle has deviated from the traveling lane more than a predetermined reference in the immediately preceding time zone (for example, within the past 30 seconds). By doing so, the avoidance behavior of the host vehicle is determined.

    6 to 8 show specific examples for explaining determination of avoidance behavior. As shown in FIG. 6, consider immediately after the host vehicle 1 takes a route such as a travel locus 45 in order to avoid the obstacle 5 on the road 4. At this time, as shown in FIG. 7, the information on the travel locus immediately before stored in step 110 associates the times t1 to t8 with the positions p1 to p8 of the vehicle 1 at the respective times. . Here, the positions p1 to p8 in FIG. 7 indicate the position coordinates (latitude and longitude) of the positions p1 to p8 shown in FIG. 6, respectively.

  In step 120, for each of the positions p1 to p8 on the travel locus, a distance from the position to the position closest to the lane center position indicated by the lane information is calculated. This calculated distance is the amount of deviation from the travel lane. Note that the lane in which the host vehicle is passing is specified by using a known map matching method. Further, the distances closest to the lane center position from the positions p1 to p8 are the positions p1 to p8 obtained by lowering the position of the lane center indicated by the lane information as shown in FIG. Use the length of the perpendicular from.

  FIG. 8 is a graph showing the positional relationship, which is the amount of deviation from the travel lane at each of the times t1 to t8 and the positions p1 to p8 at that time. The horizontal axis indicates time, and the vertical axis indicates the value obtained by dividing the amount of deviation from the driving lane at each of the positions p1 to p8 by the width value at the center of the lane closest to that position, that is, the deviation amount is normalized by the width of the lane. Shows the value. The broken line 31 is obtained by plotting and connecting the time corresponding to each of the points p1 to p8 and the normalized deviation amount.

  By using whether or not the normalized deviation exceeds a certain threshold value (for example, 0.5) for determining whether or not the vehicle travel locus deviates from the travel lane more than a predetermined reference, It can be determined whether or not there is. Note that a normalized deviation amount of 0.5 corresponds to a deviation that just causes the vehicle to protrude into another lane.

  If it is determined that the vehicle has performed the avoidance behavior, then in step 130, the travel locus is transmitted to the subsequent vehicle. Specifically, from the time zone when the avoidance action occurred, that is, from the time when the vehicle started avoidance (corresponding to time t1 in FIG. 7) to the time when avoidance ended (corresponding to time t8 in FIG. 7). The travel locus information is transmitted via the wireless device 23 using a communication protocol that can be received by the following vehicle. Since the following vehicle also has the same car navigation device 10, the communication protocol that can be received by the following vehicle is a communication protocol that can be received by the car navigation device 10 of the host vehicle.

  If it is not determined in step 120 that the vehicle has performed the avoidance behavior, and after step 120, the process of step 110 is executed again.

  By executing the program as described above, the control circuit 18 determines that the host vehicle has performed an avoidance behavior based on the travel locus and lane information of the host vehicle, and there is an avoidance based on the determination. The travel locus information including the travel locus is transmitted. Note that the travel locus information to be transmitted includes information indicating that the number of relays of the travel locus information is one.

  Next, among the programs executed by the control circuit 18, a program for receiving the traveling locus data transmitted by the other car navigation apparatus 10 according to the above-described program of FIG. 5 and displaying a warning to the user of the host vehicle is shown. . FIG. 9 shows a flowchart of this program. This program is executed every time when the traveling locus information is received via the wireless device 23.

  First, at step 210, a travel locus that has been received is received.

  Next, in step 220, it is determined whether or not there is an obstacle avoidance behavior based on the received travel locus and the stored lane information. The determination of the avoidance behavior is performed by the same method as the determination of the avoidance behavior in FIG. However, the threshold value used for determining whether or not the travel locus of the vehicle deviates from the travel lane more than a predetermined reference is changed based on the information on the number of relays received together with the travel locus information. For example, if the information on the number of times of relay indicates less than 5 times, the threshold value of the normalized deviation amount is 0.5, and if it indicates 5 times or more and less than 30 times, the threshold value is 0.4. If 30 times or more and less than 100 times are indicated, the threshold value is 0.3, and if 100 times or more is indicated, the threshold value is 0.2. That is, the larger the value indicated by the information on the number of relays, the lower the threshold for the deviation amount, thereby relaxing the standard for determining the avoidance behavior, that is, widening the range for determining the avoidance behavior.

  If it is determined that the received travel locus is to avoid an obstacle, warning control is subsequently performed in step 230. Specifically, the display device 20 is caused to display a voice and character display indicating that an obstacle exists at the position corresponding to the travel locus information, that is, the position where the avoidance is performed, and the position on the map. The image is displayed with emphasis on. Note that, as the position where the avoidance is performed, the position where the above-described deviation amount is the largest is adopted.

  If it is not determined that the travel locus received in step 220 is to avoid an obstacle, and after step 230, the travel locus and the number of relays received in step 240 are the HDD or control circuit 18 of the map data input device 16. Stored in the RAM. Then, the execution of this program is terminated.

  By executing such a program, the control circuit 18 determines whether or not there is an avoidance behavior in the travel locus based on the received travel locus and the number of relays, and if so, the driver of the own vehicle Informs that to warn that.

  Next, it is determined that the own vehicle has performed avoidance behavior at the position of the travel locus received and stored by the execution of the program of FIG. 9, and based on the determination, the travel locus of the own vehicle and reception / storage of the own vehicle are determined. A program for transmitting travel locus information based on the travel locus will be described. A flowchart of this program is shown in FIG. The execution of this program starts when the vehicle passes the position corresponding to the travel locus received and stored by the execution of the program of FIG. The control circuit 18 determines whether or not the position of the host vehicle has passed the corresponding position based on the information from the position detector 11 and the position information described in the saved travel locus.

  First, in step 310, it is determined whether or not the vehicle has an avoidance behavior at the position of the travel locus received and described. Specifically, it is determined whether or not the travel locus stored in step 110 in the execution of the program shown in FIG. 5 shows an avoidance behavior at the position of the received and described travel locus. Note that whether or not there is an avoidance behavior of the host vehicle is performed in the same manner as the determination in step 120 of FIG. If the avoidance behavior of the host vehicle is started or the avoidance behavior is ended between the position where the avoidance starts and the position where the avoidance ends in the received / described travel locus, in step 310 It is determined that there was an avoidance behavior at the position.

  If it is determined that there is an avoidance behavior at that position, then in step 320, the travel trajectories are averaged. Specifically, for the position where it is determined that there is an avoidance behavior, an average of coordinate values of the received and stored travel locus and the travel locus of the host vehicle is taken. Specifically, for each point in the lane information of the position range determined to have had the avoidance behavior, the coordinate value of the received trajectory is multiplied by the received relay number and the resulting coordinate value Is added with the coordinate value of the traveling locus of the host vehicle, and the resulting coordinate value is divided by the value obtained by adding 1 to the number of relays. By such calculation, an averaged traveling locus is derived.

  Next, in step 330, the averaged travel locus information and the information obtained by increasing the number of relays by 1 are transmitted to the following vehicle via the wireless device 23. In this way, the information on the number of relays included in the travel locus is incremented by 1 each time a trajectory averaged based on the travel locus received in the car navigation device 10 is transmitted. After step 330, execution of this program is terminated.

  If it is determined in step 310 that there is no own vehicle avoidance behavior at the position, the process of step 340 is subsequently executed, and the received and stored travel locus information for the position is discarded, that is, deleted. Then, the execution of this program is terminated.

  By executing such a program, the car navigation device 10 determines that there is an avoidance behavior of the host vehicle at the position of the received and stored travel locus, and based on the determination, the received travel locus and The travel locus averaged based on the travel locus of the host vehicle is transmitted to the car navigation device 10 of the subsequent vehicle.

  When the vehicle deviates from the travel lane due to the operation of the car navigation device 10 as described above, it is determined based on the travel locus of the vehicle that there is an obstacle avoidance behavior of the vehicle at the deviated position. Obstacle detection is realized.

  Further, when vehicles equipped with the car navigation device 10 form a platoon on the road, the car navigation device 10 that has received the travel trajectory information uses the trajectory information based on the trajectory of the host vehicle at that position as the car navigation device 10 of the subsequent vehicle. Send to. Then, the subsequent vehicle-mounted receiving device that has received the trajectory information further transmits the trajectory information at that position to the subsequent car navigation device 10. In this way, the traveling locus information is passed to the following vehicle in a bucket relay manner, and each car navigation device 10 determines obstacle avoidance and notifies the obstacle based on the received traveling locus information.

  In the above-described embodiment, the car navigation device 10 transmits the travel locus information to the following vehicle. However, the information on the position determined as the obstacle avoidance as shown in FIG. It may be transmitted as information notifying that there is, that is, obstacle information (corresponding to obstacle information transmitting means). Here, the position of the obstacle information is the position where the deviation amount from the lane in the avoidance behavior is the largest.

  When transmitting the obstacle information in this way, the car navigation device 10 on the receiving side receives the obstacle information (corresponding to the obstacle information receiving means) and gives a warning that there is an obstacle at the position. This is performed for the driver (corresponding to obstacle notification means). The received failure information may be transmitted to the following vehicle as it is, or the failure information may be transmitted to the subsequent vehicle only when the own vehicle performs an avoidance action at the position. Good.

  In addition, in the case of the road 6 having two or more lanes on one side as illustrated in FIG. 12 instead of the road 4 having one lane on one side as shown in FIG. 1, if only one vehicle deviates from the driving lane, It is difficult to determine whether the behavior avoids an obstacle or just a lane change behavior. In this case, obstacle avoidance of the vehicle may be determined based on the traveling trajectory of the plurality of vehicles. Specifically, in FIG. 12, the vehicle travels as a travel locus 7, the subsequent vehicle travels as a travel locus 8, and the subsequent vehicle travels as a travel locus 9. Only when a plurality of vehicles continuously perform avoidance actions, it is determined that the travel locus is to avoid an obstacle.

  This is based on the idea that, as long as there is an obstacle, any vehicle should always take an avoidance action, and two or more vehicles should continuously deviate from the lane. In such an obstacle detection method, for example, in the execution of the program of FIG. 9, in step 230, warning control may be performed only when the number of relays received is a predetermined number or more. In this way, the car navigation apparatus 10 indicates that the received travel locus indicates that a plurality of vehicles have continuously taken a travel locus that exceeds the predetermined determination criterion in step 310 of FIG. In addition, it is determined that the travel locus avoids the obstacle.

  Also, consider a case where the vehicle suddenly stops for some reason (for example, when the vehicle speed is suddenly decelerated or the vehicle's ABS (anti-lock brake system) is activated).

  There are two possible reasons for a sudden stop. One is a case where an obstacle that does not move cannot be avoided by the handle and stops, and the other is a case where a moving body such as a pedestrian, a bicycle, or an animal jumps out in front of the vehicle.

  In the former case, the vehicle needs to travel while avoiding obstacles after stopping. In the latter case, the vehicle can go straight because there are no moving objects, and there are obstacles in the following vehicle. There is no need to notify.

  For this reason, when the vehicle suddenly stops, the subsequent vehicle may be immediately notified that the host vehicle stops in order to prevent a rear-end collision. However, the fact that there is an obstacle is notified only when the vehicle that has actually stopped subsequently performs the avoidance behavior. By doing in this way, it is not necessary to transmit useless information to other vehicles.

  As a method of transmitting information only behind the host vehicle, for example, the antenna 24 has two antennas, a transmitting antenna and a receiving antenna, and the transmitting antenna has directivity toward the rear of the vehicle. It is sufficient that the receiving antenna has directivity toward the front of the vehicle.

  However, the failure information and the travel locus information are not necessarily transmitted only to the vehicle following the host vehicle, and may be transmitted to a vehicle around the host vehicle or a road machine. In this way, it is possible to notify the obstacle information and the traveling locus to the vehicle traveling in the oncoming lane and the vehicle traveling in the adjacent lane, so that the received vehicle side avoids the obstacle and avoids the lane. You can be prepared for deviating vehicles to occur.

Further, in the process of FIG. 10, information on a travel locus that has passed a certain amount of time after traveling may not be transmitted to the following vehicle. By doing in this way, the freshness of the information to transmit can be maintained. In addition, the amount of communication can be suppressed.
(Second Embodiment)
Next, a second embodiment of the present invention will be described. As shown in FIG. 13, this embodiment is different from the first embodiment in that a moving body 41 such as a person, an animal, or a bicycle is on the road 4, and the vehicles 1 to 3 have the same moving body 41 at different positions. Even in the case of avoidance, it is to detect that the moving body 41 is the same obstacle.

  Therefore, in the present embodiment, the control circuit 18 executes the program shown in FIG. 14 instead of the program of FIG.

  Note that steps denoted by the same reference numerals in FIG. 10 and FIG. 14 perform the same processes, and detailed description thereof is omitted here.

  In step 410, it is determined whether or not there is an avoidance behavior of the host vehicle. This determination is performed in the same manner as step 120 in FIG. However, regarding the determination of avoidance behavior at the same position as the position of the travel locus received / saved in the execution of the program of FIG. 9, even if the judgment criterion is relaxed, for example, the threshold value of the deviation amount is lowered based on the number of relays received. Good. If it is determined that it is not an avoidance action, if there is a received trajectory at the same position in step 240, the travel trajectory is discarded.

  If it is determined in step 410 that it is an avoidance action, then in step 415, it is determined whether or not the position of avoidance of the host vehicle is the same as the position of the travel locus received and stored in the execution of the program of FIG. judge. Here, the same position includes substantially the same position (specifically, within a predetermined short distance (for example, within 10 m)). If the positions are the same, the process of step 320 is subsequently executed.

  If the positions are not the same, then in step 450, it is determined whether the position difference is less than a predetermined threshold th. The difference in position here refers to the distance between the positions having the largest deviation amount from the travel lane in each of the comparison target travel loci. In FIG. 13, the difference in position between the travel locus 42 and the travel locus 43 corresponds to the movement amount 46 of the moving body 41.

  The threshold th is determined in advance based on the type of the object to be detected as the moving body. For example, when it is desired to determine a moving object having a moving speed equal to or lower than that of a bicycle, the average moving speed (for example, 20 km / h) of the bicycle is set to the time described in the information on the travel locus received and stored for comparison. The vehicle is derived by multiplying the difference with the time when the host vehicle traveled along the travel locus to be compared.

  If the difference between the positions is equal to or greater than the threshold th, the two traveling loci are regarded as avoidance behaviors for different objects, and subsequently, information on the traveling trajectory is newly transmitted in step 330. At this time, the number of relays transmitted together is one.

  If the difference between the positions is less than the threshold th, the two traveling loci are regarded as avoidance behaviors for the same moving object, and then the speed of the moving object is calculated in step 470. Specifically, the difference between the positions identified in step 450 is calculated by comparing the time described in the information on the travel track received and stored for comparison with the time when the host vehicle traveled the travel track for comparison. The thing divided by the difference is specified as the moving speed of the moving object.

  Subsequently, in step 480, the calculated moving speed of the moving body and the information on the travel locus of the host vehicle are transmitted to the succeeding vehicle.

  After step 480, 330, 340, execution of this program is terminated.

  Then, the car navigation apparatus 10 (corresponding to the transmitting apparatus and the receiving apparatus in the claims) having received this information displays information indicating that there is an obstacle and the traveling speed of the moving body as the obstacle. To display.

When the control circuit 18 executes such a program, the car navigation device 10 can avoid not only the fixed obstacle but also the car navigation device 10 in which the position difference is detected in the vicinity within the predetermined threshold th. Based on the behavior, an obstacle as a moving body can be detected, and the moving speed thereof can be detected.
(Third embodiment)
Next, a third embodiment of the present invention will be described. In FIG. 15, the whole block diagram of the obstacle detection system of this embodiment is shown. In the present embodiment, the roadside machines in which the vehicles 1 to 3 traveling on the road 4 and the failure information management server 50 (corresponding to the claims server) are scattered on the side of the wide area network 60 and the road 4. Communication is performed via 61-63.

  And when it determines with the car navigation apparatus 10 mounted in the vehicle avoiding the obstruction 5 based on the driving | running | working locus | trajectory 45 of the own vehicle, the obstacle information containing the information of the traveling locus | trajectory is transmitted to the obstacle information management server 50. To do. Then, the obstacle information management server 50 determines the presence of an obstacle on the traveling lane based on the received traveling locus 45, and obtains obstacle information including the determined position of the obstacle as the vehicle 1, the vehicle 2, the vehicle 3 and the like. To the car navigation device 10. And the car navigation apparatus 10 which received this information performs alerting | reporting for the passenger | crew of a vehicle for a warning.

  FIG. 16 shows a hardware configuration of the failure information management server 50 that realizes such an operation. The failure information management server 50 includes a network interface 51, an input device 52, an output device 53, a CPU 54, a ROM 55, a RAM 56, and an HDD 57.

  The output device 53 displays the video signal input from the CPU 54 as a video to the user.

  The input device 52 includes input devices such as a keyboard and a mouse, and outputs a signal corresponding to the operation to the CPU 54 when operated by the user.

  A network interface (described as network I / F in FIG. 16) 51 is wired to a wide area network 60 such as the Internet, receives data via the wide area network 60, and converts it into a format that can be recognized by the CPU 54. It outputs to CPU54. The network interface 51 processes the data input from the CPU 54 so as to match the communication protocol of the wide area network 60, and outputs the processed data to the wide area network 60. The CPU 54 can perform communication using the network interface 51 by outputting transmission data to the network interface 51 and receiving data from the network interface 51.

  When the failure information management server 50 is activated, the CPU 54 reads the program from the ROM 55 or the HDD 57 and executes it. Further, the CPU 54 receives a signal input from the input device 52 as necessary for program execution, outputs a video signal to the output device 53, and controls data read / write to the RAM 56 and HDD 57.

  FIG. 17 shows one of the programs that the CPU 54 reads from the HDD 57 and executes. This program is transmitted from the car navigation apparatus 10 of the vehicles 1 to 3 and starts to be executed when the failure information arrives to the failure information management server 50 via the roadside devices 61 to 63 and the wide area network 60. To do.

  Note that the car navigation devices 10 of the vehicles 1 to 3 that transmit fault information have a hardware configuration equivalent to that of the first embodiment, and further execute the program shown in FIG. However, in step 130 of FIG. 5, the failure information addressed to the failure information management server 50, not to the subsequent vehicle, is wirelessly transmitted to the roadside devices 61 to 63 to which the host vehicle can communicate.

  FIG. 18 shows the data structure of the failure information transmitted by the car navigation device 10. The failure information is data having five items: an identification number, an update time, a position, a travel locus, and whether or not there is a failure. The identification number is a value automatically assigned in step 130, and takes a different value for each transmission. The update time is the time when this identification information is created. The position is a position where the vehicle has avoided. The travel locus is a travel locus of the vehicle at the time of avoidance. The presence / absence of a failure always takes a value indicating that there is a failure when transmitting in step 130.

  In the execution of the program of FIG. 17 by the CPU 54, first, at step 510, failure information is received.

  Subsequently, in step 520, it is determined whether or not the received failure information is a new failure. For this determination, the CPU 54 reads out a failure information list stored in the HDD 57.

  FIG. 19 is a table showing the structure of the failure information list. The failure information list includes a plurality of entries, and each entry has items of an identification number, a generation time, an update time, a position, an average travel locus, and the number of times. Each entry is added, deleted, and rewritten based on the failure information received by the CPU 54, as will be described later.

  In the determination at step 520, the CPU 54 searches the failure information list to determine whether there is an entry having the same identification number as the received failure information. Is determined not to be a new failure.

  If it is determined that the fault is a new fault, the process of step 525 is subsequently executed, and the received obstacle information is added to the fault information list as a new entry. At this time, the identification number in the received failure information becomes the value of the identification number item of the entry. Further, the update time in the received failure information becomes the value of the entry generation time and update time items. In addition, the position and the traveling locus in the received failure information are the values of the entry and the traveling locus items, respectively. In step 525, the value of the entry count item is a value indicating one time.

  Subsequently, at step 550, the failure warning information is transmitted to the vehicles 1 to 3. FIG. 20 shows the configuration of the failure warning information. The failure warning information is data having items of an identification number, a position, and an average travel locus. As the identification number, position, and average travel locus value of the fault warning information created in step 550, the identification number, position, and average travel locus items added to the failure information list in step 525 are used. After step 550, execution of this program ends.

  If it is determined in step 520 that the obstacle is not a new obstacle, then in step 530, it is determined whether the travel locus of the received obstacle information is performing an obstacle avoidance action. Specifically, the determination is performed by the same method as the determination in step 120 of FIG. However, the threshold is determined based on the item of the number of entries having the same identification number as the failure information received in step 510 in the identification number list. The relationship between the number of times and the threshold is the same as the relationship between the number of relays and the threshold in step 220 of FIG.

If it is determined that the behavior is an avoidance behavior, the process of step 540 is subsequently executed to update the failure information list. Specifically, the update time item of the entry having the same identification number as the failure information received in step 510 is set as the value of the update time of the received failure information, and the information on the average travel locus item of the entry is An average trajectory that takes into account the travel trajectory of the received fault information,
In addition, the value of the number of entries is set to a value increased by one from the current number.

  The average trajectory including the travel path of the received fault information is added to the current trajectory multiplied by the current number of times and the travel path of the received fault information is added to the current count. The trajectory divided by the value obtained by adding is used. Further, here, the average position may be taken into account in consideration of the position of the failure information that has received the position information of the entry.

  Subsequently, in step 550, failure warning information is generated based on the entry, transmitted to the vehicles 1 to 3, and then the execution of the program is terminated.

  If it is determined in step 530 that the behavior is not an avoidance behavior, that is, if it is determined that the vehicle no longer performs obstacle avoidance at the position of the travel locus, then in step 560, the entry in the obstacle information list is deleted. Specifically, the entry having the same identification number as the received failure information is deleted from the failure information entry in step 510.

  Subsequently, in step 570, the release information is transmitted to the car navigation devices 10 of the vehicles 1 to 3. The release information includes the identification number and position of the entry deleted in step 560 and information indicating that the identification number has no fault. Thereafter, the execution of this program is terminated.

  Note that the CPU 54 may delete an entry whose update time is older than a predetermined time in the failure information list. In this way, it is not necessary to use extra storage capacity. In addition, since information that has passed a certain period of time lacks information reliability, deleting the old entry in this way increases the reliability of the information in the remaining entries.

  In addition to the execution of the program described above, when the vehicle enters the communicable range of the roadside devices 61 to 63, the CPU 54 displays the failure warning information about the entry included in the failure information entry for the vehicle. Processing to send to the vehicle is performed.

  Next, FIG. 21 shows a program executed by the control circuit 18 in the car navigation apparatus 10 that receives the failure warning information. The control circuit 18 executes this program when the failure warning information is received from the failure information management server 50 via the roadside devices 61-62.

  First, at step 610, failure warning information is received via the wireless device 23. Next, in step 620, the failure warning information is temporarily stored in the HDD of the map data input device 16 or the RAM of the control circuit 18. Next, in step 630, the display device 20 is caused to display an image or / and audio warning indicating that there is an obstacle at the position included in the received fault warning information. And this program ends.

  Next, a program executed by the control circuit 18 when the host vehicle passes the position of the failure warning information temporarily stored by executing the above program will be described. A flowchart of this program is shown in FIG.

  First, in step 710, fault information is generated for the point of the fault warning information that has passed. The failure information generated here has the same configuration as that shown in FIG. The contents of each item of the fault information generated here use the identification number included in the fault warning information received for the passing point as the identification number, use the current time as the update time, A travel locus around the position included in the warning information is used, and a position having the largest deviation from the lane is used as the position. Further, the presence / absence of a fault is determined by avoiding the travel locus in the same manner as in step 120 of FIG. 5, and when it is determined that it has been avoided, the value is that there is a fault. The value of

  Subsequently, in step 720, the failure information is transmitted to the failure information management server 50. Further, in step 730, the failure warning information temporarily stored is deleted, and then the execution of this program is terminated.

  Further, when receiving the release information transmitted by the failure information management server 50 by executing the program of FIG. 17, the control circuit 18 causes the display device 20 to display information indicating that the obstacle has disappeared.

  As described above, the obstacle information management server 50 determines that the traveling locus avoids an obstacle based on the traveling locus of the vehicle transmitted from the car navigation device 10, and based on the determination, the obstacle Since the vehicle navigation device 10 is notified that there is an object, the obstacle can be detected by a novel method based on the travel route of the vehicle.

  In the fault information management server 50 according to the present embodiment, the avoidance action at a non-identical position is an obstacle as the same moving body based on the difference in the position, as in the process shown in FIG. The determination may be made to notify the car navigation device 10 of the vehicle to that effect.

  Further, when the vehicle on which the car navigation device 10 is mounted is equipped with obstacle detection means such as a camera or a laser radar sensor, the car navigation device 10 is located at the position of the fault warning information received from the fault information management server 50. Information such as photographing may be collected and the result may be transmitted to the failure information management server 50.

  The failure information management server 50 may receive the collected information and specify the content of the failure (for example, road depression, parked vehicle, one-way traffic due to construction) based on the received collected information. Alternatively, the user may be prompted to determine the content of the failure by displaying an image or data of the collected information on the output device 53 and receive an operation of the input device 52 that specifies the content of the failure by the user.

  Further, if necessary as a result of this, the failure information management server 50 or the user may contact the police, an administrative organization or the like.

  Further, in step 530 of FIG. 17, if the presence / absence of the presence / absence of the failure in the received failure information is indicated, it is determined that it is an avoidance behavior, and if it is not indicated, it is determined that it is not the avoidance behavior. May be.

It is the figure which looked at a mode that vehicles 1-3 with which car navigation device 10 concerning a 1st embodiment are carried are running on road 4 of one side 1 lane from the top. 2 is a block diagram showing a hardware configuration of a car navigation device 10. FIG. It is a figure which shows an example of the travel lane information about the travel lane of a certain road piece. It is a figure which shows the lane which the driving | running | working lane information of FIG. 3 makes object. It is a flowchart of the program for determining the obstacle avoidance behavior of the own vehicle. It is a figure which shows the driving | running | working locus | trajectory 45 of the vehicle 1 which avoids the obstruction 5 in the road 4. FIG. It is a figure which shows the information of the driving | running | working locus | trajectory 45 shown in FIG. It is a graph which shows the correspondence of the deviation | shift amount normalized in the driving | running | working locus of a vehicle, and time. FIG. 6 is a flowchart of a program for receiving travel locus data transmitted by another car navigation device 10 by executing the program of FIG. 5 and displaying a warning to the user of the host vehicle. FIG. 10 is a flowchart of a program for determining that the host vehicle has performed avoidance behavior at the position of the travel locus received and stored by execution of the program of FIG. 9 and transmitting travel locus information to the following vehicle based on the determination. It is a figure which shows the structure of failure information. It is a figure which illustrates the road 6 more than one side 2 lanes. It is a figure which shows a mode that the vehicles 1-3 avoid the mobile body 41 on the road. 12 is a flowchart of a program executed in place of the program of FIG. 10 in the second embodiment. It is a whole block diagram of the obstacle detection system of 3rd Embodiment. 2 is a diagram illustrating a hardware configuration of a failure information management server 50. FIG. It is a flowchart which shows the program which CPU54 of the failure information management server 50 performs. 4 is a diagram illustrating a data configuration of failure information that the car navigation device 10 transmits to the failure information management server 50. FIG. It is a chart which shows the composition of a failure information list. It is a figure which shows the structure of failure warning information. It is a flowchart of the program which the control circuit 18 performs in the car navigation apparatus 10 which receives failure warning information. It is a flowchart of the program which the control circuit 18 performs, when the own vehicle passes the position of the failure warning information temporarily saved by execution of the program of FIG.

Explanation of symbols

1-3 ... Vehicle, 4 ... Road, 5 ... Obstacle, 6 ... Multiple lanes on one side, 7 ... Traveling track,
8 ... running locus, 9 ... running locus, 10 ... car navigation device, 11 ... position detector,
16 ... Map data input device, 17 ... Operation switch group, 18 ... Control circuit,
20 ... display device, 23 ... wireless device, 24 ... antenna, 31 ... broken line, 41 ... moving body,
42 ... travel locus, 43 ... travel locus, 44 ... lane center, 45 ... travel locus, 46 ... movement amount,
47 ... lane, 48 ... width, 50 ... failure information management server,
51 ... Network interface, 52 ... Input device, 53 ... Output device,
54 ... CPU, 55 ... ROM, 56 ... RAM, 57 ... HDD,
60 ... Wide area network, 61-63 ... Roadside machine.

Claims (13)

Own vehicle position specifying means (11) for specifying the position of the own vehicle;
Own vehicle avoidance determining means ( 120, 310, 410, 415, 450) for determining that the traveling locus of the own vehicle obtained from the result of specifying the own vehicle position specifying means (11) avoids an obstacle. )When,
A travel trajectory that transmits travel trajectory information based on the travel trajectory of the host vehicle at the avoidance position determined by the avoidance determination unit based on the determination of the own vehicle avoidance determination unit to an in- vehicle receiving device mounted on a succeeding vehicle. An on-vehicle transmission device comprising information transmission means (130, 320, 330, 470, 480 ) . However, when the in-vehicle receiving device mounted on the succeeding vehicle determines that the received travel locus information avoids an obstacle, the vehicle-mounted receiving device notifies the occupant that there is an obstacle at the avoidance position. It is. Is mounted on another vehicle, and the other traveling locus information receiving means for the traveling locus information based on the travel path of the vehicle from the other vehicle mounting a transmitter for transmitting receives the traveling locus information (210),
Other vehicle avoidance determining means (220) for determining that the travel locus information received by the travel locus information receiving means avoids an obstacle;
According to claim 1, further comprising a, an obstacle alarm means (230) for notifying that said other vehicle avoidance determination means an obstacle on the position of the determined avoidance multiplication membered vehicle automotive transmit device. The own vehicle avoidance determining means determines that the traveling locus of the own vehicle at a position corresponding to the traveling locus information received by the traveling locus information receiving means avoids an obstacle ,
The travel locus information transmitting means , based on the determination of the own vehicle avoidance determination means , travel locus information based on the travel locus of the own vehicle at a position corresponding to the travel locus information received by the travel locus information receiving means, vehicle transmit device according to claim 2, characterized by transmitting to the vehicle mounting receiving device mounted on the following vehicle. The own vehicle avoidance determining means is configured such that the travel locus of the own vehicle in the vicinity deviated within a predetermined range from the position corresponding to the travel locus information received by the travel locus information receiving means avoids an obstacle. Judgment,
The traveling locus information transmitting means according to claim 3, characterized in that transmits information indicating that there is the corresponding one of the obstacles to be moved to the vicinity of the position in the vehicle receiving unit of the following vehicle automotive transmit apparatus. The travel trajectory information transmitting means includes travel trajectory information obtained by adding the travel trajectory of the host vehicle at a position corresponding to the travel trajectory information to the travel trajectory information received by the travel trajectory information receiving means. vehicle transmit device according to transmit to the vehicle reception device following vehicle to any one of claims 2 to 4, characterized in having a. The other vehicle avoidance determining means adds a determination criterion for determining that the travel locus received by the travel locus information receiving means avoids an obstacle to the travel locus information received by the travel locus information receiving means. in-vehicle transmit device according to claim 5, characterized in that relieving the larger the number of the travel path of the vehicle. The other vehicle avoidance determining means indicates that the traveling locus received by the traveling locus information receiving means indicates that a plurality of vehicles have taken a traveling locus continuously exceeding a predetermined criterion. vehicle transmit device according to any one of claims 2, wherein determining that the travel locus is intended to avoid the obstacle 6. Own vehicle position specifying means (11) for specifying the position of the own vehicle;
Own vehicle avoidance determining means for determining that the traveling locus of the own vehicle obtained from the result of specifying the own vehicle position specifying means (11) avoids an obstacle;
Travel locus information transmitting means for transmitting, to the server (50), travel locus information based on the travel locus of the own vehicle at the avoidance position determined by the avoidance determination means based on the determination of the own vehicle avoidance determination means. In-vehicle transmission device. However, the server (50) determines that the vehicle is performing obstacle avoidance at the position of the travel locus based on the received information on the travel locus of the vehicle, and determines that the obstacle is being avoided. The information indicating that there is an obstacle at a specific position is received and transmitted to the vehicle-mounted receiving device that notifies the occupant that there is an obstacle at the specified position. An in-vehicle transmission device according to claim 8 and a server,
The server
Traveling locus information receiving means for receiving information of the traveling locus from the vehicle transmission unit (510),
Vehicle avoidance determining means (530) for determining that the vehicle is performing obstacle avoidance at the position of the travel locus based on the information of the travel locus received by the travel locus information receiving means;
The vehicle avoidance determining means receives information indicating that there is an obstacle at a specific position and transmits it to the vehicle-mounted receiving device that notifies the occupant that there is an obstacle at the position determined to be avoiding the obstacle. An obstacle detection system comprising obstacle information transmission means (550, 570). The vehicle avoidance determining means determines that the vehicle no longer performs obstacle avoidance at the position of the travel locus based on the information of the travel locus received by the travel locus information receiving means,
The obstacle information transmitting means receives information indicating that there is no obstacle at the position determined by the vehicle avoidance determining means not performing obstacle avoidance, and transmits the information to an in-vehicle receiving device that notifies the occupant. The obstacle detection system according to claim 9 , wherein The vehicle avoidance determination unit determines that the vehicle is performing obstacle avoidance at the position of the travel locus based on an average of a plurality of pieces of travel locus information received from the travel locus information. Item 11. The obstacle detection system according to Item 9 or 10 . The vehicle avoidance determination unit relaxes the determination criterion for determining that the vehicle is performing obstacle avoidance at the position of the travel locus as the number of the average travel locus is larger. The obstacle detection system according to claim 11 . Own vehicle position specifying means (11) for specifying the position of the own vehicle;
Own vehicle avoidance determining means (120) for determining that the traveling locus of the own vehicle obtained from the identification result of the own vehicle position specifying means (11) avoids an obstacle;
Based on the determination by the own vehicle avoidance determination means, information indicating that there is an obstacle at the avoidance position determined by the avoidance determination means and information indicating that there is an obstacle at a specific position are received by the passenger. An in-vehicle transmission device comprising: obstacle information transmission means for transmitting to an in-vehicle reception device for notification.

Images