JP4483589B2 - Vehicle information providing device - Google Patents

Description

The invention, in accordance with the traveling situation surrounding the vehicle, a vehicle information providing apparatus that performs driving support for the driver.

Conventionally, this by detecting the driving situation around the vehicle in the vehicle so as to provide information to the driver of the subject vehicle, by the driver performing a driving operation by considering the running state of another vehicle, so to achieve a safe driving It has been proposed a system that was.
For example, to communicate between vehicles equipped with vehicle-to-vehicle communication function for performing two-way communication, and the position information of each vehicle, by exchanging information of other vehicles in each vehicle surroundings held by each vehicle , road traffic system which is adapted to acquire the traffic situation around the vehicle has been proposed. At this time to detect the peripheral vehicle by the distance measuring means, for exchanging the even inter-vehicle communication information about the vehicle which is not also recognizes presence of a vehicle not equipped with inter-vehicle communication function equipped with the inter-vehicle communication function it is, even when the non-equipped vehicle not equipped with a vehicle and inter-vehicle communication function for mounting the inter-vehicle communication function are mixed, the position and travel of each vehicle of the vehicle around which the own vehicle as a reference Some systems have to grasp the state has been proposed (e.g., see Patent Document 1.).

Moreover, acquiring the position and speed of the traveling vehicle on the priority road from the infrastructure arranged on the road side, the acquired information and notifies the driver of the non-priority road side vehicle, a road shape or positional relationship , by the vehicle alone to acquire vehicle information useful around the vehicle that can not be detected from the infrastructure, when entering the non-priority road priority road, even a system which is adapted to prevent a collision Crossing proposed is (e.g., see Patent Document 2).
JP 11-265497 discloses JP 2002-163789 JP

Incidentally, etc. In general, to support safe driving, which detects the vehicle to be obstacle for the vehicle, display or voice against the driver of the subject vehicle, also the braking operation regardless of the will of the driver, some it is necessary to information transmitting there is a failure in the form.
For realizing such communication, as a method for detecting a vehicle comprising an obstacle for the vehicle, for example, autonomous detection method for detecting the obstacle sensor such onboard laser radar or the imaging means and the like to the vehicle , detects the surrounding vehicle by sensors arranged on the road, the detection method of the infrastructure cooperative for transmitting travel information of the surrounding vehicles in a moving vehicle by road-vehicle communication using radio or the like, or, GPS, etc. detecting the position of the vehicle using a vehicle position, vehicle speed, the driver's operation information of the vehicle, detection method such as the inter-vehicle communication type to exchange information between vehicles have been proposed by the inter-vehicle communication using radio ing.

However, in the detection method of the autonomous, detection performance of the obstacle sensor, or by the detection range or the like of the obstacle sensor may vehicle that can not be detected is present. In the detection method of the infrastructure cooperative, the detection performance and detection range of the sensor disposed on the road side, or the like, there is a possibility that the vehicle can not be detected is present, the road side vehicle or exist that can not be detected by the infrastructure side problem, also there is a possibility that the or interruption of radio waves by shadowing or the like. Similarly, in the detection method of the inter-vehicle communication type, or the vehicle is present which can not be detected because the peripheral vehicle is not provided with the inter-vehicle communication function, also, it is likely to choppy radio waves by shadowing or the like.

Therefore, like the operational support and such that the braking force is applied regardless of the operating driver using the information around the vehicle detected by each single detection method, a decision support such like issues an alarm prompting the prohibition of entry, especially to do under complicated traffic environment such as an intersection or a T-junction or the like, a sufficient in terms of the reliability of the detected information, the level of assistance to the driver, it is difficult to raise up the operational support and decision support It was.
Accordingly, the present invention has been made in view of the problems of the prior unresolved, even under complicated traffic environment such as an intersection or a T-junction, etc., of carrying out the higher level driver support and its object is to provide a vehicle information providing apparatus capable.

To achieve the above object, a vehicle information providing apparatus according to the present invention detects the running conditions of the peripheral vehicle of the vehicle in a number of different detection methods, peripheral based on the detection conditions around the vehicle by different detection methods vehicle calculating the abundance of, performs driving support for supporting level corresponding to the calculated existence ratio. At this time, the existence ratio for one around the vehicle, grasp the number of means to know the presence of the one around the vehicle out of the autonomous detector and the peripheral vehicle information acquiring means, the presence of one nearby vehicle calculated on the basis of the preset reliability against it have means, further, the number of means to know the presence of the one around the vehicle is the existence ratio is higher as the time increases, and the one when the number of means to know the presence of the peripheral vehicle is equal, the existence ratio is high enough when the sum of the preset reliability is larger than the means to know the presence of the one around the vehicle calculated as.

According to the vehicle information providing device according to the present invention, to detect the driving situation around the vehicle in the vehicle at a plurality of different detection methods, calculates the existence ratio of the peripheral vehicle on the basis of the detected situation surrounding the vehicle by different detection methods and, in order to perform driving support with the support level according to the present rate, in each detection method alone, even if it is not possible to perform advanced driver assistance from a point or the like of the reliability, several different detection methods by performing the relatively advanced driving assistance in accordance with the present rate when in the presence rate from the detection status of the detected around the vehicle is predicted to be high, for example, a under complicated traffic environment such as an intersection or a T-junction, etc. even, when the abundance ratio near the vehicle is predicted to be high, it is possible to perform a relatively sophisticated driving support.
Further, the number of means to know the presence of one nearby vehicle is higher prevalence is high when large and when the number of means to know the presence of one nearby vehicle is equal, the one around to calculate such as the existence ratio is high when the sum of the preset reliability against means to know the presence of the vehicle is large, the number of means to know the presence of one nearby vehicle it can be calculated easily and accurately present rate based on its reliability.

Hereinafter, an embodiment of the present invention.
First, a first embodiment.
Figure 1 is a schematic diagram showing an example of a vehicle information providing apparatus 100 according to the present invention.
In Figure 1, 1, and the running condition of the host vehicle, a vehicle state measurement unit for detecting an operating condition of the driver, for example, a vehicle speed sensor for detecting the traveling speed of the vehicle, detects the brake fluid pressure brake fluid pressure sensor for configured to include a an accelerator opening sensor for detecting an accelerator opening.

Figure 2 is a navigation system, which has a vehicle position detecting function by utilizing the GPS for detecting the current position of the vehicle, has a map information around the current position of the vehicle, detected by GPS from the map information around the present position of the vehicle, detecting a vehicle ahead and the presence or absence of a road shape and an intersection of the vehicle near.
Figure 3 is a obstacle sensor detects a vehicle or an obstacle in front or side of the vehicle, detects the relative speed with respect to the vehicle distance and the detected object to the detection object.

Vehicle information providing apparatus 100 further includes a road-to-vehicle radio device 4 and the inter-vehicle radio set 5, the road-to-vehicle radio device 4 receives radio waves from infrastructure disposed will be described later, the traveling path side, for example, the service type, as long as about the intersection turn right, such distance from the speed and intersections central oncoming vehicle present in front of the vehicle facing the lane, useful information when the vehicle turns right at an intersection to receive. Further, the car-to-car radio 5 also driving operation data, the car-to-car performed between communication, vehicle state measurement unit 1 data and driver regarding the traveling state of the vehicle detected by the wireless communication or the like with another vehicle, the navigation system the vehicle position and the like obtained from 2 exchanges between vehicles.
And these various measuring portion and a sensor, by radio or the like, detection or acquired various information is input to the information providing controller 10.

2, together with the road-to-vehicle radio device 4 constitutes a road vehicle cooperation system performs providing information to the road-to-vehicle radio device 4 is a schematic diagram of the deployed infrastructure to the running road.
2, 31 denotes a base point beacons, base beacon 31, the service target vehicle (the case of FIG. 2 the vehicle A) is, then the reception frequency of the received information beacon (information beacons 32 in the case of FIG. 2) and the information such as the type of service, to the service target vehicle. In Figure 2, 33 is a vehicle detection sensor, for example, a laser radar detects the position of the vehicles traveling in the opposite lane of the service target vehicle A. Information detected by the vehicle detection sensor 33 is input to the data processing unit 34, a vehicle approaching the intersection on the opposite to the data processing apparatus 34 lanes, the speed, the distance from the intersection center, for example, the first lane (traveling lane), such second lane (passing lane), detects the presence lane position of the vehicle, along with such information, the number of lanes of the road, road width, and information about the distance from the base point beacon 31 to the intersection center, the road line shape data of up to around the intersection is generated as approaching vehicle information from the base point beacon 31 is transmitted at frequency specify this.

The information providing controller 10, as shown in FIG. 1, on the basis of the information detected by the vehicle state measurement unit 1 and the navigation system 2, the transmission signal generation unit 11 for generating data to be transmitted to other vehicles by inter-vehicle communication When, various sensors and measuring unit also detects or based on the acquired various information, judges support level determination part 12 a support level for the driver, and support level determined by the level of assistance determination unit 12 in each radio 1-5 and a driver assistance execution unit 13 to provide support for the driver in accordance with the.

The driver assistance execution unit 13, based on the obstacle sensor 3, the road-to-vehicle radio device 4 and the inter-vehicle radio set 5 road shape information of the own vehicle periphery detected by the information and the navigation system 2 about the other vehicle detected or acquired by such to, for example, as shown in FIG. 3, the moving direction and position of the peripheral vehicle of the vehicle and the vehicle as a reference, the process displays the configured information presentation unit 21 in the display device or the like, also, the vehicle alarm when the state of the obstacle or another vehicle is approaching a certain extent, from the detection state of the brake fluid pressure sensor and an accelerator opening sensor of the vehicle driver is determined to depresses the accelerator pedal releases the brake pedal brake controller 2 when the buzzer 22 process and issues an alarm to the operation to the driver, and is in a state where an obstacle or another vehicle to the own vehicle is approaching a certain extent Actuating the driver controls the brake actuator 24 as is the braking force as releasing the brake pedal is not released, a breaking operation is executed processing such like to stop the vehicle. The brake actuator includes, for example, a known negative pressure control boosters like.

Figure 4 is a flow chart showing an example of a processing procedure of a process executed by the information providing controller 10. The computing process is executed at a preset predetermined period.
Information providing controller 10 first reads in the processing in step S1, detected in the vehicle state measurement unit 1, a vehicle speed sensor and the brake fluid pressure sensor, the detection information of the accelerator opening sensor and various sensors.

Then, the process proceeds to step S2, reads the positional information of the own vehicle detected by the navigation system 2, to acquire the position coordinates Ph (Pxh, Pyh). Also, read road shape data representing the vehicle ahead road shape. As the road shape data, for example, as shown in FIG. 5, the current position of the vehicle, and the node number Nn granted to sequentially close to the current position, the position coordinates NDn of each node (XRn, YRn), n th distance L, the angle θ of the road straight each other connecting this node and its front and rear node is represented by an angle formed at each node contains Suto the branch of the node Nn until the next node there. In FIG. 5, the numerals added to the distance L and the angle of the road θ between nodes represents the n-th node and the node number of the node located in the next, the distance between which nodes these figures L is either, also indicates whether the angle θ between which nodes.

Then, the process proceeds to step S3, reads the detection information from the obstacle sensor 3. As the detection information, for example, obstructions number m for identifying obstacles such as oncoming vehicles, the distance from the vehicle to the obstacle m LNRm, the vehicle and the relative speed VrNRm the obstacle m, vehicle angle θLRm like of the own vehicle is positioned in respect to the obstacle m is the direction of the obstacle m viewed from.
Then, the process proceeds to step S4, reads the infrastructure information acquired by the road-to-vehicle radio 4.

For example, as shown in FIG. 2, when the vehicle is going to turn right at intersection, the vehicle A as a service target vehicle, when it reaches near the intersection, becomes a reception standby state information from the base point beacon 31 receives information from the base point beacon 31 when it reaches the coverage area information from the base point beacon 31. The received signal, and the reception frequency information from the information beacon 32 receiving this next includes the type of service provided in the road-vehicle cooperation system. The service type determination is performed, for example, by using a header identifier indicating the type of additional information services to the received data. Here, the road-vehicle cooperation system, it is assumed that the right turn collision prevention services To realize a notified traveling conditions of the oncoming vehicle smoothly turn right against right turn to the vehicle at an intersection.

After receiving the data from the base beacon 31, the road-to-vehicle radio device 4 sets the notified frequency as the reception frequency corresponding to the information beacons 32, it waits to receive information from the information beacon 32.
Next, when the own vehicle A reaches the coverage area of ​​the information from the information beacon 32 enters the intersection, to receive the approaching vehicle information from the information beacon 32. As the approaching vehicle information, as described above, the approaching vehicle number s to identify the vehicle i.e. approaching vehicle on the opposite lane, the travel speed VIs, distance from the intersection center to the approaching vehicle s LIS, the approaching vehicle present driving lane DIs, the number of lanes NI on the opposite lane, includes road width WI like. Note that the travel lane DIs is the sidewalk side 1, 2, and.

Then, the process proceeds to step S5, read inter-vehicle communication data acquired by the inter-vehicle radio set 5. As the inter-vehicle communication data, for example, for each vehicle number u, the current position coordinates Ptu (Pxtu, Pytu) of the vehicle of the vehicle communication destination and acquires its running speed Vtu.
Then, the process proceeds to step S6, the obstacle sensor 3, and the detected information or acquire information about the vehicle for obstacles and the approaching vehicle also inter-vehicle communication destination in the road-to-vehicle radio device 4 and the inter-vehicle radio set 5, the obstacle sensor 3, the road such vehicle radio 4 and the inter-vehicle radio device 5, based on a reliability that is preset for each of the detection means for detecting the traveling information around the vehicle, sets the level of assistance. Reliability is set to the detection means is set in accordance with the reliability of the travel information detected by the detecting means. Moreover, the level of assistance, for example, is set in three stages. Then, depending on the level of assistance, perceptual and cognitive support, decision support, perform any one or more of the support operation support.

Determination of the level of assistance, for example, carried out in the procedure shown in FIG.
First, in step S11, it converts the position information of the obstacle detected by the obstacle sensor 3, the current vehicle position Ph (Pxh, Pyh) and the position coordinates of the same coordinate system. Incidentally, the coordinate system representing the current vehicle position Ph and X-Y coordinates. That is, in the navigation system 2, the current position of the vehicle, is detected as the position coordinates on the X-Y coordinate system.

Specifically, first, an obstacle number m for identifying an obstacle detected by the obstacle sensor 3 is set to "1", the distance from the vehicle to the obstacle m (= 1) LNR1, of the vehicle angle and θLR1 for obstacle m (= 1). Here, as shown in FIG. 7, V-axis so as to pass through the vehicle widthwise center of the vehicle, the direction and the vertical direction of the vehicle takes a U-axis, and the coordinate center of the installation position of the obstacle sensor 3 U Given the -V coordinate system.

Here, the position coordinates on the U-V coordinate system of the obstacle m (= 1), when the PLR ​​(PLR1u, PLR1v), PLR1u and PLR1v can be respectively expressed by the following formula (1) and (2) .
PLR1u = -LNR1 · sin (θLR1) ...... (1)
PLR1v = LNR1 · cos (θLR1) ...... (2)

Then, the position coordinates on the obstacle 1 of U-V coordinate system (PLR1u, PLR1v) in the following equation (3) and (4) the position coordinates on the X-Y coordinate system with (PLR1x, PLR1y) conversion to.
PLR1x
= PLR1u · cos (θuxr) -PLR1v · sin (θuxr) + OFSTRX ...... (3)
PLR1y
= PLR1u · sin (θuxr) + PLR1v · cos (θuxr) + OFSTRY ...... (4)

Incidentally, Shitauxr in the formula (3) and (4) is an angle between the U-axis and the X axis, for example, it is calculated by the following procedure.
The current position of the vehicle Ph (Pxh (k), Pyh (k)), the past values ​​Ph (Pxh (k-1), Pyh (k-1)) When the, representing the traveling direction of the vehicle equation can be expressed by the following equation (5).
Y = Ah (k) · X + Bh (k) ...... (5)
Ah (k)
= [Pyh (k) -Pyh (k-1)] / [Pxh (k) -Pxh (k-1)]
Bh (k) = Pyh (k) -Ah (k) · Pxh (k)

Straight line perpendicular to the equation (5), i.e. the slope of the U-axis, because can be represented by -1 / Ah (k), the angle θuxr the X-axis with respect to the U-axis may be represented by the following formula (6) .
^{θuxr = tan -1 (-1 / Ah} (k)) ...... (6)
Further, Equation (3) and (4) in OFSTRX, OFSTRY is the origin of the X-Y coordinate system, since represents the offset of the origin of the U-V coordinate of the current position center of the vehicle, these OFSTRX, OFSTRY can be expressed by the following equation (7).
OFSTRX = Pxh
OFSTRY = Pyh ...... (7)

The above processing, the obstacle number m is, m = 2 do the same for the subsequent obstacle, the position coordinates of all the obstacles are detected by the obstacle sensor 3, the position on the X-Y coordinate to convert to the coordinate.
Then, the process proceeds to step S12, received by the road-to-vehicle radio 4, the positional information of the approaching vehicle to hold in infrastructure, vehicle position Ph (Pxh, Pyh) positions on the same X-Y coordinate system to convert to the coordinate.

Specifically, first, an approaching vehicle number s for identifying the approaching vehicle received by the road-to-vehicle radio 4 and s = 1, the distance from the intersection center to the approaching vehicle s (= 1) LI1, approaching vehicle the driving lane to the presence of the DI1. Here, as shown in FIG. 8, the approaching vehicle s (= 1) is assumed to be traveling on a sidewalk side.
Here, in FIG. 8, the intersection central node N04, the approach of the traveling path of the vehicle s travels, V 'axis, the V' a line passing through the node N05 located on the next intersection central node N04 and the shaft the straight line perpendicular 'to the axis, U'-V and coordinates centered at the intersection center 'U assumes a coordinate system.

Approaching vehicle, assuming travels substantially the center of the lane, the approaching vehicle s (= 1) the position coordinates PI1 (PI1u, PI1v) in U '-V' coordinate system is the following equation (8) and (9) it can be expressed.
PI1u = Wlane · (NI-DI1) + (Wlane / 2) ...... (8)
PI1v = LI1 ...... (9)
Incidentally, in the formula (8), Wlane is a width of one lane is calculated by Wlane = WI / NI. Incidentally, WI road width, NI is the number of lanes. Further, DI1 is traveling lane of the approaching vehicle s (= 1).

Next, the approaching vehicle s (= 1) U'-V 'coordinates on the coordinate system (PI1u, PI1v) of the position coordinates on the following equation (10) and (11) X-Y coordinate system with to convert (PI1x, PI1y) to.
PI1x
= PI1u · cos (θuxi) -PI1v · sin (θuxi) + OFSTIX
... (10)
PI1y
= PI1u · sin (θuxi) + PI1v · cos (θuxi) + OFSTIY
... (11)
Incidentally, Shitauxi (10) and (11) wherein it is calculated an angle between U 'axis and the X axis, for example, the following steps.

8, the position coordinates of the intersection central node N04 (x04, y04), from the position coordinates of the previous node N05 (x05, y05), the road on which the vehicle detecting sensor 33 disposed in the traveling path side is detected straight line representing the direction can be in the X-Y coordinate system represented by the following formula (12).
Y = AI · X + BI ...... (12)
AI = (y04-y05) / (x04-x05)
BI = y04-AI · x04

Straight line perpendicular to the equation (12), namely U 'is the inclination of the axis, since it can be represented by -1 / AI, U' angle θuxi the X-axis relative to the axis can be expressed by the following equation (13) .
^{θuxi = tan -1 (-1 / AI} ) ...... (13)
Further, (10) and (11) in formula OFSTIX, OFSTIY is the origin of the X-Y coordinate system, since the offset of the origin of the U '-V' coordinate system to the intersection center as the origin, OFSTIX, OFSTIY can be expressed by the following equation (14).
OFSETIX = x04
OFSETIY = y04 ...... (14)

The above processing is approaching the vehicle number s is similarly performed for s = 2 subsequent approaching vehicle, the position coordinates of all of the approaching vehicle notified, into a position coordinate on X-Y coordinate system.
The position coordinates of the inter-vehicle communication destination vehicle acquired by the inter-vehicle radio 5, it is represented by the position coordinates on the likewise X-Y coordinate system and a the own vehicle position coordinates detected by the navigation system 2 from, it is not necessary to perform conversion of the position coordinates. Incidentally, in the case being represented by the position coordinates in different coordinate system with the vehicle performs coordinate transformation in the same manner as above procedure, the position coordinates on the same X-Y coordinate system and the position coordinates of the vehicle it may be converted.

Then, the process proceeds to step S13, the obstacle sensor 3, the road-to-vehicle radio 4, detected by the various detection means such as the inter-vehicle radio set 5, the obstacle approaching the vehicle, the detected object such as the vehicle inter-vehicle communication destination, other also determine whether the detected by the detection means, in response thereto, to calculate the sum of the multi-level and reliability.
Here, as detection means for detecting a nearby vehicle of the vehicle, the obstacle sensor 3, since there are three detecting means such as the road-to-vehicle radio set 4 and the inter-vehicle radio set 5, each of the detection means of one or more objects depending on whether the detected and can assume a pattern of eight, the pattern detection whether the respective detection means, variable = 1, when not = 0, is as follows .

Pattern 1 (obstacle sensor, the road-to-vehicle radio, car-to-car radio) = (1,1,1)
Pattern 2 (obstacle sensor, the road-to-vehicle radio, car-to-car radio) = (1,1,0)
Pattern 3 (obstacle sensor, the road-to-vehicle radio, car-to-car radio) = (1, 0, 1)
Pattern 4 (obstacle sensor, the road-to-vehicle radio, car-to-car radio) = (1,0,0)
Pattern 5 (obstacle sensor, the road-to-vehicle radio, car-to-car radio) = (0,1,1)
Pattern 6 (obstacle sensor, the road-to-vehicle radio, car-to-car radio) = (0,1,0)
Pattern 7 (obstacle sensor, the road-to-vehicle radio, car-to-car radio) = (0,0,1)
Pattern 8 (obstacle sensor, the road-to-vehicle radio, car-to-car radio) = (0, 0, 0)
Here, as the reliability of the detection means, for example, the reliability "3" of the obstacle sensor 3, the road-to-vehicle radio device 4, i.e., the reliability of the information obtained by the road-to-vehicle radio set 4 "2", inter-vehicle radio set 5, that is, the reliability of the information obtained by the inter-vehicle radio 5 to "1".

Among the patterns, the pattern 8 is not detected the object in any of the detection means. Therefore multiplex level to "0". In addition, the sum of reliability is also "0".
Next, of the pattern, the pattern 4, 6 and 7, only one detection means is detecting an object. In this case, multi-level is set to "1". Further, the sum of the reliability, the reliability is set to a detection unit operable to detect an object. Then, the storage position coordinates in the X-Y coordinate system of the detection object detected by any detection means, the sum of the multi-level and reliability in a predetermined storage area.

For example, in the case of the pattern 4, if the one obstacle detected by the obstacle sensor 3, since reliability of the obstacle sensor 3 is "3", the X-Y coordinate of the obstacle (PLRx, PLRy ) and when, stores P1 = (PLRx, PLRy, 1,3) as.
Further, in the case of the pattern 6, if the approaching vehicle acquired by the road-to-vehicle communication equipment 4 is two, since the reliability is "2" for detecting information of the road-to-vehicle communication device 4, the approaching vehicle the X-Y coordinate (PI1x, PI1y), When (PI2x, PI2y), P1 = (PI1x, PI1y, 1,2), P2 = stores (PI2x, PI2y, 1,2) as.

Further, in the case of the pattern 7, when the inter-vehicle vehicle acquired vehicle communication destination by radio 5 is one, since the reliability is "1" for detecting information of the inter-vehicle radio set 5, the inter-vehicle communication destination When the X-Y coordinate of the vehicle and (Pxtu, Pytu), P1 = (Pxtu, Pytu, 1,1) is stored as.
Next, of the pattern, the pattern 2, 3 and 5, two detection means is detecting an object. Therefore, the detected object by the respective detector to determine whether the same thing.

For example, in the case of pattern 2, it detects the object by the obstacle sensor 3 and the road-to-vehicle radio 4. Here, the position coordinates of the obstacle detected by the obstacle sensor 3 (PLR1x, PLR1y), (PLR2x, PLR2y), ......, (PLRmx, PLRmy) and the position of the approaching vehicle acquired in the road-to-vehicle radio 4 the coordinates (PI1x, PI1y), (PI2x, PI2y), ......, When (PIsx, PIsy), among the approaching vehicle acquired in the road-to-vehicle radio device 4, the position coordinates, detected by the obstacle sensor 3 position coordinates near (PLRmx ± PLTHX, PLRmy ± PLTHY) of the obstacle is determined whether the approaching vehicle is present located. Then, if there is that fall out of the approaching vehicle acquired in the road-to-vehicle radio 4 determines the obstacle sensor 3 and the road-to-vehicle radio 4 and detects the same object. Performed for all obstacles detected this on obstacle sensor 3.

Then, the obstacle detected by the obstacle sensor 3, if included in the approaching vehicle acquired in the road-to-vehicle radio 4, i.e., if the same object in both of the obstacle sensor 3 and infrastructure are detected is multi-level for this detected object is a "2". On the other hand, if it is detected by only one of the obstacle sensors 3 and infrastructure equipment, multi-level for this detected object is "1".

Then, predetermined and X-Y coordinate of the detected obstacle or the approaching vehicle, and multilevel, a sum of the reliability, similarly to the above, P1 = a (X-Y coordinates, multilevel, the sum of confidence) stored in the storage area. Incidentally, the sum of the reliability, if you are detecting the one object in both the obstacle sensor 3 and infrastructure equipment, the reliability of obstacle sensor 3 "3" and reliability of the road-to-vehicle radio device 4 " "sum of the, or" 2 is 5 ".

In the case of the detected detected objects only in either the obstacle sensor 3 and infrastructure is a set confidence to the detection part detecting the object. That is, if it is detected only by the obstacle sensor 3, the sum of the reliability "3", and if it is detected only by the infrastructure, the sum of the reliability is "2".
In the case of pattern 3 and pattern 5 it is calculated in a similar manner.

Next, of the pattern, the pattern 1 has three detection means has detected an object, respectively. In this case even if the same procedure that detects an object in two detection means described above, to determine whether to detect the same object in each detection means.
That is, the position coordinates near (PLRmx ± PLTHX, PLRMY ± PLTHX) of the detected obstacle by the obstacle sensor 3 or to, whether there is the approaching vehicle detected by the infrastructure, also inter-vehicle communication destination of the vehicle is present determines, every obstacle approaching the vehicle, compares the position coordinates for the vehicle inter-vehicle communication destination, it is determined whether detects the same object.

As a result, if the detected three detection means one object, multi-level of the detection object is "3". Also, one object, if you are only detected in either of two detection means, i.e., if detected by only obstacle sensor 3 and infrastructure, or the object and a vehicle of the car-to-car communication destination this obstacle sensor 3 or, if you are detected by only one of the infrastructure, the multi-level for this detected object is a "2".

Then, one of the objects, if you are detected only in one of the detecting means, i.e., only the obstacle sensor 3, or if detected by the infrastructure alone, or in a vehicle of the object vehicle communication destination there are, in the case where the object is not detected by any of the obstacle sensors 3 and infrastructure equipment, multi-level for the object is set to "1".
Then, for each detected object, and it stores its X-Y coordinates, and multilevel, a sum of the reliability in association in the same manner as described above in a predetermined storage area. Incidentally, if you are detecting a single obstacle at three detection means, the sum of the reliability, the sum of the reliability of the detection means, i.e., the reliability of obstacle sensors 3 and "3" road the sum of the reliability "1" for the inter-vehicle radio set 5 and reliability "2" for the inter-vehicle radio device 4 that is, "6".

Thus, if you set the sum of determining the detection patterns multilevel and reliability in accordance with this, the process proceeds to step S14, and calculates the total reliability.
The total reliability, based on the multilevel, the sum of reliability, calculated from the map shown in FIG.
9, total reliability, when the multi-level "3", that is high if the most reliability thereof in which one object is detected by the three detection means. Then, the reliability as time multiplex level is large becomes high. Here, if the multi-level "2", but a combination of three types for two detecting means are conceivable, total reliability as when the sum of the reliability is high is high. Likewise, if the multi-level "1", total reliability as when the sum of the reliability is high is high.

Thus, if you set the total reliability, and proceeds to step S15, it is determined level of assistance.
Specifically, if the total reliability is "5-7", the reliability is judged to be low. In addition, in the case of the reliability is "2-4", it is determined that the moderate reliability. In addition, when the reliability is "1", it is determined that reliability is high. And, in the case of total reliability is "0", the support is determined not to take place.

Once subjected to determination of support levels this manner, the process proceeds to step S7 back to FIG. 4, it performs the driving assistance in accordance with the level of assistance.
Specifically, when the reliability is determined to be low, perception and the display as shown in FIG. 3, the running conditions such as the position and the traveling direction and the like around the vehicle relative to the host vehicle information presentation unit 21 the recognition support do.

Further, when the reliability is determined to moderate, the driver of the subject vehicle in addition to the perception and recognition support releases the depression of the brake pedal, when depressed the accelerator pedal, a determination assistance by activating an alarm buzzer.
Further, operation when the reliability is determined to be high, in addition to the perceptual and cognitive support and decision support, Furthermore, even the vehicle driver releases the brake pedal, the brake actuator as the generation of the braking force is not canceled is not performing an operation support such like to stop the host vehicle.

Incidentally, the warning buzzer and the brake actuator actuation determining, for example, for each detected object, time to reach the detection object reaches the vehicle TTC (= moving speed of the distance / the detected object to the vehicle of the detected object) calculates the for the shortest sensing object arrival time until arriving at the vehicle arrival time TTC until the detection object reaches the vehicle becomes less than or equal to a predetermined time, and when the driver releases the brake pedal to operate.
Then, thus if the the driving support was performed proceeds to step S8, and generates the travel information of the vehicle including the current position information of the vehicle, running speed, operating condition of the operating conditions and the accelerator pedal of the brake pedal, etc. , which is transmitted to the other vehicles via the inter-vehicle radio set 5.

Next, the operation of the first embodiment.
In the vehicle A with a vehicle information providing apparatus 100 shown in FIG. 1, the obstacle sensor 3 detects the obstacle ahead of the host vehicle to detect the position information and the like. Also, the road-to-vehicle radio device 4, for example, an intersection or the like as shown in FIG. 2, when the traveling road side reach communicable area between disposed the infrastructure, the information from the information beacons 32 from the reference beacons 31 change the frequency according to such frequency information for acquiring, traveling the opposite lane of the vehicle a are detected by the infrastructure from the information beacons 32, to acquire the travel information of the approaching vehicle approaching the intersection or the like.

Further, the inter-vehicle radio set 5 performs inter-vehicle communications with the peripheral vehicle having a vehicle communication function around the host vehicle, the traveling information such as operational status of the position and running speed also the accelerator pedal and the brake pedal around the vehicle such exchanges.
Then, in the information providing controller 10, the arithmetic processing shown in FIG. 4 executed in a predetermined cycle, acquiring the traveling speed and the brake fluid pressure of the vehicle, the accelerator opening or the like from the vehicle state measurement unit 1, the travel of the vehicle to grasp the state (step S1), and acquires the map information around the current position together with acquiring the current position of the vehicle from the navigation system 2 (step S2). The obstacle sensor 3, the road-to-vehicle radio 4, to grasp the traveling state of another vehicle in the vehicle periphery detected or obtained by the inter-vehicle radio set 5 (from step S3 step S5), and level of assistance to the driver on the basis of these It determines (step S6), and performs a driving support according to (step S7). Also it transmits it to generate a transmission signal to be transmitted by the inter-vehicle communication by the inter-vehicle radio set 5 to the other vehicle (step S8).

Here, for example, if only the obstacle sensor 3 detects an obstacle, does not include information about the approaching vehicle to receive information by road-to-vehicle radio device 4, also the inter-vehicle communication is not established, multilevel 1, the reliability is set as "3" corresponding to the obstacle sensor 3 (step S13 in FIG. 6), from being set as a total reliability "5" from the map of FIG. 9, the reliability is low it is determined that assistance level is perceived, it is determined as a recognition support (step S15).

Therefore, the operated information providing unit 21, as shown in FIG. 3, the information representing the running state around the vehicle relative to the own vehicle A provided is performed. In this case, for example, traveling in the obstacle sensor 3 of the own vehicle A, when detects the three vehicles traveling opposite lane, as shown in FIG. 3, the opposing lane based on the host vehicle A information indicating that the vehicle is present three to is to be symbolized with the road shape around the vehicle. Thus, the driver of the own vehicle A can recognize the presence of the vehicle on the opposite lane trying to enter the intersection.

Here, when the obstacle sensor 3 consists of laser radar or the like, and the detection range, since even obstacles may be present can not be detected in terms of detection performance, in particular, the intersection or T-shaped intersection when traveling, reliability of the obstacle detection is insufficient. Therefore, thus regarded as low abundance of obstacles when a low reliability of detection of the obstacle, the impact to the driver as was driving support for the driver in the presence of a low rate state of the obstacle not to give, and can be performed to provide useful information to the driver, to perform only perception and recognition support, based on the low reliability information, and providing information to the extent possible because it was so, in this way it is possible to avoid the influence to the driver by performing the providing information to the driver based on the low reliability information, decision relative low abundance of obstacle high level driving support such as support and operation support is performed, it is possible to avoid unnecessary information provision is performed.

On the other hand, when the inter-vehicle communication is established between one of the vehicle on the opposite lane from this state, the position coordinates detected by the position coordinates and the obstacle sensor 3 has acquired by inter-vehicle communication, and grasped by GPS, respectively based on the value obtained by converting the same X-Y coordinate system and the position coordinates of the vehicle, and the vehicle of the vehicle communication destination located in the vehicle periphery detected by inter-vehicle communication, and the obstacle detected by the obstacle sensor 3 determining whether the same object, when they are determined to be identical, multiple level "2", the sum of the reliability because it is "4" (step S13 in FIG. 6 step S11) , total reliability, the "3" from the map of FIG. 9. Therefore, support level is judged to be moderate, for vehicles inter-vehicle communication is detected at to and the obstacle sensor 3 established, further decision support is made with perception and recognition support is performed.

Thus, for example, as shown in FIG. 3, in a state where the vehicle at an intersection center is the right turn waiting, the driver of the subject vehicle brake pedal in spite of the vehicle on the opposite lane approaching the intersection is present released when you try to start switching to the accelerator pedal, the approaching vehicle is actuated alarm buzzer 22 when the arrival time TTC to reach the vehicle becomes equal to or lower than the threshold alarm is generated, the driver decision support is performed on the. Thus, the driver, it is possible to provide information traveling situation surrounding the vehicle by the information presentation unit 21, to determine the driver determines that can enter, according to the traveling speed and the degree of proximity or the like of the approaching vehicle , and accurately determine whether it is possible to enter, it is possible to notify the disabled of accurately right turn to the driver at the time of right turn.

Here, it can be regarded as if the obstacle only by the obstacle sensor 3 as described above is detected total reliability is relatively low, the presence rate of the obstacle is small. However, if its presence by the inter-vehicle communication as well as the obstacle sensor 3 is detected, the reliability of the detected information for the detected obstacle becomes higher, the detected obstacle by the obstacle sensor 3 , i.e., the probability that there is inter-vehicle communication destination of the vehicle can be predicted with higher as compared to when it is detected only by the obstacle sensor 3.

Therefore, if the probability of existence ratio of the thus reliability A is moderate inter-vehicle communication destination exists is medium, the range corresponding to the reliability, i.e., determines not only the perception and recognition support support is also performed, in accordance with the present rate, by performing advertisement within a range that does not perform providing unnecessary information, while avoiding an unnecessary information provision is carried out, is possible to provide higher-level information it can.

Then, further, with the infrastructure to perform the road side disposed a right turn driving support service, the road-vehicle communication is established, the obstacle sensor 3, the road-to-vehicle radio device 4 and the inter-vehicle three detection radios 5 If you are detecting the same object by means multi-level "3", the total reliability from being set as "1", the reliability of the information about the detected object is high, i.e., it affects the vehicle the as a high abundance of a vehicle on, in addition to the perceptual and cognitive support and decision support, so that the driving support is performed. Accordingly, as shown in FIG. 3, in a state where the vehicle at an intersection center is the right turn waiting, releases the brake pedal in spite of the vehicle on the opposite lane approaching the intersection is present switching on the accelerator pedal If you try to start, the approaching vehicle is actuated alarm buzzer 22 when the collision time to reach the vehicle becomes equal to or lower than the threshold value, the alarm is generated, the brake actuator 24 is actuated braking force is generated, the vehicle is controlled to remain stopped. Therefore, the driver, the information presentation unit 21, together with the information provided about the periphery of the vehicle is performed with respect to entrance permitted the determination on the driver's discretion whether can enter according to the traveling speed and the degree of proximity or the like of the approaching vehicle whether to accurately determine, in the case of right turn not, depending alarm notifies the improper right turn with respect to the driver, further, it is possible to stop the vehicle by the brake actuator 24, a higher-level operation it is possible to perform support.

That is, the obstacle sensor 3, for low confidence alone detection information of each detecting means of the road-to-vehicle radio device 4 and the inter-vehicle radio set 5, but also the relatively low existence ratio as an object is detected , when detects the same object by all these detection means, the presence rate of the detected object can be regarded as high.
Therefore, in this case the high prevalence of the detection object, perceptual and cognitive support, not only the decision support, by performing also the operation support, it is possible to perform high-level driving support from the driver , it is possible to perform a more effective driving assistance.

Thus, since the obstacle sensor 3, the road-to-vehicle radio device 4, the reliability in detection information alone respective detection means the inter-vehicle radio set 5 is low, the existence ratio of the detected object can not be regarded as high, alone it is difficult on the basis of the detection information of the detecting means performs high-level driving support, when detecting the same object at a plurality of detection means it can be regarded as the existence ratio is high. Therefore, the number and the detection means is detecting the same object, according to the type of detection means that detects the object, to determine the reliability i.e. abundance ratio of the detected object detection information, to the existence ratio depending was to perform driving support levels of support, it is so arranged perform driving support to the extent possible based on the presence ratio of the detected object, without affecting the driver by performing driving support, the presence it is possible to perform an accurate driving assistance in accordance with the rate.

At this time, as shown in the map of FIG. 9, the obstacle sensor 3, the road-to-vehicle radio device 4, among the detection means the inter-vehicle radio 5, the reliability of the detection means that detects an object, the same object by taking into account the number of detection means that detect, because they calculate the total reliability, taking into account the reliability of each detecting means, and a detection state for the same object, the total trust it is possible to set the degree.

In the above first embodiment, the reliability has been described and the case where the total reliability were set as shown in the map of FIG. 9, not limited to this, the obstacle sensor 3 mounted detection performance and, in accordance with the communication performance of the road-to-vehicle radio set 4 or the inter-vehicle radio device 5 may be set arbitrarily.
Further, in the first embodiment, the non as road-cooperative system, is not limited to this case has been described in which to perform the service for right-turning vehicle at an intersection, for example, in the T-junction, etc. the vehicle entering the priority road from the priority road, Crossing was performed to provide information starting assistance service, etc., be other services can be applied.

Further, in the first embodiment, as decision support, as alert decision support to the driver, has been described as being to issue a warning buzzer, not limited to this, for example, a steering It means and for vibrating the wheel, the means or the like for pulling the seat belt is provided, or by vibrating the steering wheel instead of issuing an alarm, or by pulling the seat belt may be or to call attention to the driver .

Similarly, the operation support, not limited to the means for stopping the vehicle by generating a braking force, for example, or an automatic brake means which is adapted to generate a braking force for collision mitigation brake responsiveness the brake preloading means to provide a brake preload to improve provided, instead of stopping the vehicle, may perform operation support by actuating them.

In the above embodiments, the obstacle sensor 3, by using the detection information of the three detection means of the road-to-vehicle radio device 4 and the inter-vehicle radio set 5 performs driving support accordingly sets the total reliability has been described as being so, it is not limited thereto and may be any two or more detection means. Also, other detection means as a detection means for detecting a nearby vehicle to be mounted, may be set the total reliability in accordance with the detection state of the four or more detection means. For example, as an obstacle sensor 3, in addition to the laser radar, when also mounted image pickup means such as a camera, a laser radar, imaging means, the detection of the four detection means of the road-to-vehicle radio device 4 and the inter-vehicle radio set 5 it is sufficient to perform driving support accordingly sets the total reliability depending on the situation.

Further, in the first embodiment, the inter-vehicle communication, the vehicle equipped with the vehicle-to-vehicle communication function only has been described as being like the position information and the traveling conditions to be exchanged by inter-vehicle communication, inter-vehicle communication holding in a vehicle equipped with a function, for the peripheral vehicle may be transmitted to information such as position information and the traveling conditions or the like.

Next, a second embodiment of the present invention.
The second embodiment, in the above first embodiment, since the processing procedure of the support level determination processing in step S6 in FIG. 4 is repeated, except different, details of the part description omitted to.
Figure 10 is a flow chart illustrating an example of a processing procedure of a support level determination process in the second embodiment.
This support level determination process in the second embodiment, as shown in FIG. 10, after performing coordinate transformation of the obstacle sensor data and the road-vehicle communication data, the process proceeds from step S12 to step S13a. Then, similarly to step S13 in FIG. 6 in the first embodiment the setting of multi-level and reliability, but this time, the reliability of the obstacle sensor 3 is set according to the road shape.

That is, for example, if data regarding the vehicle ahead road shape obtained from the navigation system 2, as shown in FIG. 11, a T-junction intersection, where the vehicle is located in the non-priority road, or the road-vehicle in cooperative system, if the service type obtained from the base point beacon was starting assistance Crossing, detection range of the obstacle sensor 3 mounted on the vehicle a is, if it is a range shown by hatching in FIG. 11 in the obstacle sensor 3, it is difficult to detect the presence of vehicles B and C approaching from the right side.

Therefore, have set up road shape that can accommodate the detection range of the obstacle sensor 3 in advance, it is determined based on the road shape information from the navigation system 2, change the reliability of obstacle sensor 3 according to the road shape to.
For example, the road shape ahead of the host vehicle is a T-junction, rather than other vehicles from the front, a road shape approaching from the lateral direction, if is possible to detect the approaching vehicle with the obstacle sensor 3 difficult, that is, when unreliable detection information in the obstacle sensor 3, the reliability of the obstacle sensor 3 is changed from "0" to "3". For example, previously set the reliability of obstacle sensor 3 in accordance with the advance road shape, as shown in FIG. 2, in the case of such an intersection that needs to detect a vehicle approaching from the front vehicle, the fault reliability of the object sensor 3 is set to "3", in the case of T-shaped path, the reliability of obstacle sensor 3 is set as "0". Then, subsequently, it performs the processing as in the first embodiment.

Thus, according to affect the road shape on the reliability of the detection information of the obstacle sensor 3, by changing the reliability of obstacle sensor 3, it is possible to set the total reliability more accurately, it is possible to perform accurate information provided in response to changes in the reliability due to the road shape.
In this second embodiment has been described with the case of changing the reliability of obstacle sensor 3 according to the road shape, not limited thereto.

For example, as shown in FIG. 12 (A), (B), in the intersection, a variety angle of the vehicle with respect to the opposite lane, the inclination degree for the opposite lane of the vehicle, the detection range of the obstacle sensor 3 it may be different. Therefore, based on the angle of the vehicle with respect to the opposite lane, an obstacle sensor 3 of the vehicle in response thereto to determine whether the vehicle on the opposite lane to a detectable circumstances, change the reliability of obstacle sensors 3 it may be.

Angle of the vehicle with respect to the opposing lane is calculated by the following procedure.
First, the equation of FIG. 8 by the formula (12) the same procedure as that described with reference to, straight line L1 connecting the node between the opposite lane side of the node N05 located node intersection center N04 and the next seek Y = Aroad · X + Broad.
Then, an equation Y = Avhcl · X + Bvhcl the straight line L2 representing the traveling direction of the vehicle by using the equation (5).

Since the slope is Aroad respect to the X-axis of the straight line L1, the angle θroad the X-axis can be expressed by tan ^-1 (Aroad). Further, since the inclination relative to the X axis of the straight line L2 is Avhcl, angle θvhcl the X axis because the tan ^-1 (Avhcl), the angle θvh the straight lines L1 and L2 is expressed by the following equation (15) be able to.
^{θvh = tan -1 (Aroad) -tan} -1 (Avhcl) ...... (15)

Angle θvh the straight lines L1 and L2, i.e., the value of the angle θvh for the opposite lane of the vehicle, as shown in FIG. 12 (A), the detection area of ​​the obstacle sensor 3 is the presence region of an oncoming vehicle possibility of removing occurs. Therefore, the angle θvh is, when the traveling direction of the host vehicle becomes larger than the detection angle θLR obstacle sensor 3 that originates, as when the large difference between the angle θvh the detection angle θLR lowering reliability configuration and by be a reliability of obstacle sensors 3 suitable for the running state of the vehicle.

Further, in the second embodiment has been described with the case of changing the reliability of obstacle sensor 3, inter-vehicle communication, it may be changed its reliability also for road-vehicle communication .
For example, if the inter-vehicle communication, since it is possible to expect that the vehicle equipped with the inter-vehicle communication function increases year by year, over time, i.e., according to an increase of a vehicle equipped with a vehicle-to-vehicle communication function, high reliability it may be made. Further, in usual running scene, it may be changed depending on encountering a degree of the vehicle equipped with the inter-vehicle communication function. In this case, for example, the vehicle is a predetermined distance (e.g., 1 [km]) the number of inter-vehicle communication destination of the vehicle performing the inter-vehicle communication between the running measure, when a large number of vehicles equipped with encountered vehicle communication function as it is sufficient to increase the reliability.

Further, for example, in the road-cooperative system, when the vehicle detection sensor 23 disposed in the traveling path side is constituted by a laser radar, and if the laser radar is used as an obstacle sensor 3, and the rain since a change in the detection accuracy of the laser radar in a sunny, depending on the weather, may be changed to reliability of the road-vehicle communication and obstacle sensor 3. In this case, for example, to detect the wiper signal of the vehicle, when the wiper is operating, as a rain detection accuracy of the laser radar may be reduced, the road-vehicle communication and obstacles the reliability of the sensor 3 may be configured to reduce the.
Further, for example, as an obstacle sensor 3, in the case of using the imaging means such as a camera, night, since the detection accuracy of the obstacle by the imaging means is reduced, the reliability of the night obstacle sensor 3 it may be configured to decrease.

Next, a third embodiment of the present invention.
In the third embodiment, in the above first embodiment, except that the processing procedure of the calculation processing of FIG. 4 are different, the details of the part description is similar omitted.
13, in the third embodiment, is a flowchart illustrating an example of a processing procedure of a process executed by the information providing controller 10.
As shown in FIG. 13, the process of step S5 from step S1 is a same as that of the first embodiment, the running state and the current position of the vehicle, the obstacle sensor 3, the road-vehicle communication, detection by the inter-vehicle communication read the information. Then, the process proceeds to step S5a.

In step S5a, it performs interpolation processing.
Here, as the other vehicle information obtained by the inter-vehicle communication, other high-precision speed, can also acquire operation information such as a brake pedal or an accelerator pedal of the driver.
Therefore, once, when interrupted then the established communication between people other vehicles and cars, based on the driver operation information and accurate travel speed information, to estimate the acceleration current traveling from the At the running speed by inferring the speed, it is possible to perform interpolation for a longer time other vehicle as compared with other detection means.

Therefore, inter-vehicle communication is established, if the subsequent inter-vehicle communication is interrupted, Hereafter, advance during the predetermined interpolation period Tivc set, the position information of the vehicle detected vehicle communication destination vehicle communication, travel speed information, etc. interpolate were obtained by interpolation, to perform the provided information using the position information or the like about the vehicle inter-vehicle communication destination, even in a state not established between the vehicle-to-vehicle communication, without lowering the multilevel by interpolating in the structure for maintaining the can improve the robustness of vehicle information providing device 100.

Specifically, the step S5a, it is determined whether the inter-vehicle communication has been normally performed is first detected information by the vehicle communication read in step S5, the information detected by the vehicle communication when normal communication is performed storing in a predetermined storage area. On the other hand, or when the stopped within a vehicle communication by any way, when the inter-vehicle communication is not performed normally, the detection information stored in the storage area when the normal communication is performed, i.e., Ya location based on the travel speed information, etc., by interpolating the position and the running speed of the vehicle inter-vehicle communication destination, which is set as information detected by this vehicle communication.

Further, to measure the elapsed time (interpolation time) from the interpolation start, when the threshold is exceeded the elapsed time from the interpolation start is preset, Hereafter, the interpolation processing is not performed, the vehicle of the vehicle communication destination is of the car-to-car communication performs the process as has been completed.
Then, Thus, if subjected to interpolation processing, and proceeds from step S5a in step S6, the detected detection information by obstacle sensor 3, the interpolation information interpolated by the detection information or the step S5a acquired by inter-vehicle communication, with approaching vehicle information acquired by the road-vehicle communication, thereafter it performs processing as in the first embodiment.

Here, a case has been described in which sets the interpolation time Tivc a predetermined time, for example, the operation amount of the brake pedal and the accelerator pedal obtained by inter-vehicle communication, also small acceleration obtained from the travel speed information Tokihodo, and traveling at a constant speed, since the easily predicted future state of the vehicle may be set as the interpolation time Tivc as when these values ​​are small becomes longer. By doing so, it is possible to perform a longer period high-level driving support, it is possible to improve the robustness.

Further, in the third embodiment has been described as being configured to perform interpolation only information about the vehicle inter-vehicle communication destination is not limited to this, also the road-to-vehicle communication and the obstacle sensor 3 , non-receiving state or from the receiving state, the like when it becomes the detection state to the non-detection state, may be interpolated position information in the same manner as above at a speed information. By doing so, it is possible to improve the robustness.

At this time, as compared to the information about the vehicle inter-vehicle communication destination, according to the obstacle sensor 3 and the road-vehicle communication, from the side of the information on the obstacle and the approaching vehicle to be less accuracy, the interpolation for these detection information time may be shorter than the interpolation time for the vehicle inter-vehicle communication destination. Thus, by long time interpolation is performed on the basis of relatively low accuracy information, it is possible to avoid that the driving support is performed according to this total reliability is determined on the basis of the less accurate information .

Also, inter-vehicle communication, road-to-vehicle communication, the influence of interpolation time for detection information of the obstacle sensor 3, as set to be longer than the smaller the driving support level is small, information was provided based on the interpolation information smaller the less likely to give, may be continued for a longer time information provided, even in this case it is possible to improve the robustness.
In the above embodiments it has been described with the case of acquiring the travel information of the vehicle inter-vehicle communication destination by inter-vehicle communication, and not necessarily limited to the case where to perform the direct communication with other vehicles , for example, relays information of the other vehicle in the relay means provided on the road side, or the like, may be to obtain information of the other vehicle via the relay unit.

Here, the obstacle sensor 3 corresponds to the autonomous detector, the road-to-vehicle radio 4 corresponds to the road-vehicle communication means, the inter-vehicle radio device 5 corresponds to the inter-vehicle communication means, road-to-vehicle radio device 4 and the inter-vehicle radio machine 5 corresponds to the peripheral vehicle information acquisition unit corresponds to the processing exists ratio calculating means in step S13 and step S14 in FIG. 6, the processing in step S15 in FIG. 6 corresponds to the assist level setting means, in FIG. 4 the process of step S7 corresponds to the driving support unit.

Further, in the process of step S7 in FIG. 4, by using the information presentation unit 21 process for providing information traveling condition around the vehicle of the vehicle corresponds to the perception and recognition support means, an obstacle or another vehicle on the vehicle while being somewhat close, it actuates the alarm buzzer 22 when the detection state of the brake fluid pressure sensor and an accelerator opening sensor of the vehicle driver is determined to depresses the accelerator pedal releases the brake pedal driver processing for issuing an alarm corresponds to decision support means with respect to a state in which an obstacle or another vehicle to the own vehicle is approaching a certain extent, to actuate the brake control unit 23, also control the driver releases the brake pedal and controls the brake actuator 24 so power is not released, the brake control process for such to stop the vehicle corresponds to the operation support unit.

Further, in the process of step S13a of FIG. 10, the reliability of obstacle sensor 3, processing set in accordance with the road shape corresponds to the detection performance estimating means and reliability setting means.
Further, in the process of step S5a in FIG. 13, when the inter-vehicle communication is successful, the process of storing the information detected by the inter-vehicle communication in a predetermined storage area corresponds to the peripheral vehicle information holding means, inter-vehicle communication If not successful, based on the detection information stored in the storage area, processing for interpolating the position and the running speed of the vehicle inter-vehicle communication destination corresponds to a running condition interpolation means.

It is a schematic diagram showing an example of a vehicle information providing apparatus 100 according to the first embodiment of the present invention. It is a schematic block diagram showing an example of infrastructure arranged on the road side. It is an example of the information provided content in perception and cognitive support. Is a flowchart illustrating an example of a processing procedure of a process executed by the information providing controller of FIG. It is an example of the road shape data obtained from the navigation system. Is a flowchart illustrating an example of a processing procedure of a support level determination process in FIG. Coordinate transformation method of the obstacle sensor data is an explanatory view for explaining the. Coordinate transformation method of the road-to-vehicle radio data is an explanatory view for explaining the. It is an example of a map for setting the total reliability. Is a flowchart illustrating an example of a processing procedure of a support level determination process in the second embodiment. Setting the reliability of the obstacle sensor is an explanatory view for explaining the. It is an explanatory view for explaining another method of setting the reliability of obstacle sensors. In the third embodiment, it is a flowchart illustrating an example of a processing procedure of a calculation process executed by the information providing controller.

DESCRIPTION OF SYMBOLS

1 vehicle state measurement unit 2 the navigation system 3 obstacle sensor 4 road-to-vehicle radio 5 inter-vehicle radio 10 information providing controller 21 information presentation unit 22 warning buzzer 23 brake control unit 24 the brake actuator 100 vehicle table information providing apparatus

Claims (11)

1. And autonomous detection means for detecting a running condition of the peripheral vehicle of the vehicle is mounted on the vehicle,
   The running situation surrounding the vehicle of the vehicle and the surrounding vehicle information acquiring means for acquiring from the outside through the communication means,
   Based on the running situation surrounding the vehicle acquired by the autonomous detection means and said peripheral vehicle information acquisition unit, a presence ratio calculating means for calculating the existence ratio of the peripheral vehicle,
   Depending on the presence ratio calculated in the existence ratio calculating means, and the support level setting means for setting a level of assistance in performing driving support against the vehicle driver,
   And a driving support means for performing a driving support according to the level of assistance that is set in the assist level setting means,
   The presence ratio calculation means, the number of means to know the existence ratio for one around the vehicle, the presence of the one around the vehicle out of the autonomous detection means and said peripheral vehicle information acquisition unit, the one calculated on the basis of the preset reliability against means to know the presence of the peripheral vehicle,
   The existence ratio is high as when the number of means to know the presence of the one around the vehicle is large, when and the number of means to know the presence of the one around the vehicle is equal, the the one vehicle information providing device, characterized in that the sum of confidence levels set in advance with respect means to know the presence of the peripheral vehicle is calculated so as higher is greater.
2. The support level setting means, claims, characterized in that the as prevalence around the vehicle calculated by the existence ratio calculating section become support level to perform more than sophisticated support is higher, setting the level of assistance 1 vehicle information providing device as claimed.
3. The driving support unit includes perception and recognition support means for supporting the perception and cognition of drivers, decision support means for supporting the driver of the judgment, and at least two or more of the operation support means for supporting the operation of the driver,
   The perception and recognition support means, decision support means, in the order of the operation support unit, vehicle information providing device according to claim 1 or claim 2, wherein that the support level is high.
4. At least one of the autonomous detector and the peripheral vehicle information acquisition unit, at the present time, the detection performance estimating means for estimating the detection performance of the peripheral vehicle,
   For at least one of the detection performance the autonomous detector was estimated detection performance estimating means and the peripheral vehicle information acquisition unit, set on the basis of the reliability, the detection performance was estimated by the detection performance estimating means vehicle information providing device according to any one of claims 3 and reliability setting means, further comprising a claim, wherein the.
5. The detection performance estimating means, the detectable range, the road shape of the traveling lane of the subject vehicle, the vehicle with respect to the front roadway direction, weather, detects at least one of the surrounding brightness of the autonomous detector the autonomous detector detection performance vehicle information providing device according to claim 4, wherein the estimating the on this basis.
6. The detection performance estimating means detects the encounter degree of information providers that offer information to the peripheral vehicle information acquisition unit, the detection performance of the peripheral vehicle information acquiring means as when the encounter degree is high is high vehicle information providing device according to claim 4 or claim 5, wherein the estimating.
7. It said peripheral vehicle information acquisition unit includes a road-vehicle communication means for acquiring approaching vehicle information including at least positional information detected by the installed vehicle detection means in the traveling path side, said peripheral vehicle performs inter-vehicle communication with the surrounding vehicle vehicle information providing device according to any one of claims 6 and the car-to-car communication means, for in that it comprises at least one of claims 1, wherein to acquire vehicle status information including at least positional information.
8. A peripheral vehicle information holding means for holding at least one of the running situation surrounding the vehicle acquired by the running condition and the peripheral vehicle information acquiring means around the vehicle detected by the autonomous detection means,
   When the detection or acquisition of the travel situation by the autonomous detection means or the peripheral vehicle information holding means holds a running condition of said peripheral vehicle becomes impossible in the surrounding vehicle information holding means, said peripheral vehicle information holding means Just before the detection or acquisition of the traveling condition of holding becomes impossible in the current driving situation around the vehicle based on the traveling situation surrounding the vehicle detected or acquired by the autonomous detection means or the peripheral vehicle information acquiring means during the preset interpolation time, interpolating, traveling condition interpolation to travel situation surrounding the vehicle detected or acquired by the autonomous detector or peripheral vehicle information acquiring means detecting or acquisition of this driving situation becomes impossible vehicle information providing device according to claim 1 to any one of claims 7, characterized in that it comprises a means.
9. It said peripheral vehicle information acquisition unit includes an interpolation time setting means for setting the interpolation time,
   The interpolation time setting means, the level of assistance vehicle information providing apparatus according to claim 8, characterized in that setting the interpolation time is the interpolation time to be longer as the time low.
10. And autonomous detection means for detecting a running condition of the peripheral vehicle of the vehicle is mounted on the vehicle,
    The running situation surrounding the vehicle of the vehicle and the surrounding vehicle information acquiring means for acquiring from the outside through the communication means,
    Based on the running situation surrounding the vehicle acquired by the autonomous detection means and said peripheral vehicle information acquisition unit, a presence ratio calculating means for calculating the existence ratio of the peripheral vehicle,
    Depending on the presence ratio calculated in the existence ratio calculating means, and the support level setting means for setting a level of assistance in performing driving support against the vehicle driver,
    And driving support means for performing a driving support according to the level of assistance that is set in the assist level setting means,
    A peripheral vehicle information holding means for holding at least one of the running situation surrounding the vehicle acquired by the running condition and the peripheral vehicle information acquiring means around the vehicle detected by the autonomous detection means,
    When the detection or acquisition of the travel situation by the autonomous detection means or the peripheral vehicle information holding means holds a running condition of said peripheral vehicle becomes impossible in the surrounding vehicle information holding means, said peripheral vehicle information holding means in just before the detection or acquisition of the traveling condition of holding becomes impossible, the current driving situation around the vehicle based on the traveling situation surrounding the vehicle detected or acquired by the autonomous detector or peripheral vehicle information acquisition unit, advance the set between the interpolated time interpolated, and the running condition interpolation means for the traveling situation surrounding the vehicle detected or acquired by the autonomous detector or peripheral vehicle information acquiring means detecting or acquisition of this driving situation becomes impossible , equipped with a,
    It said peripheral vehicle information acquisition unit includes an interpolation time setting means for setting the interpolation time,
    Setting the interpolation time unit, the level of assistance vehicle information providing device, wherein a set of the interpolation time as the interpolation time is lengthened as the case lower.
11. Said peripheral vehicle information acquisition unit, detected by the vehicle detecting means placed and inter-vehicle communication means for acquiring vehicle status information including at least positional information of the nearby vehicle performs vehicle-to-vehicle communication, the traveling path side with peripheral vehicle a road-vehicle communication means for acquiring approaching vehicle information including at least positional information comprises,
    The interpolation time setting means, the inter-vehicle communication acquisition interpolation time when performing the interpolation on the basis of the information by means performs said interpolation based on the detection information in the acquired information and the autonomous detector by the road-vehicle communication means vehicle information providing device according to claim 9 or claim 10, wherein the set to a longer time as compared to the interpolated time when.

Images