JP4483764B2 - Driving support system and program - Google Patents

Description

  The present invention relates to a technique for assisting driving of a vehicle driver, and more particularly to a technique for notifying a distance between vehicles in which a traffic light can be visually recognized or executing a distance control.

  When a vehicle is traveling on a road and the preceding vehicle is a truck or bus with a high vehicle height, it is assumed that the situation ahead of the preceding vehicle cannot be confirmed. Therefore, for example, a traffic light enters the blind spot at an intersection and the signal has already turned red when entering the intersection, or if the preceding vehicle suddenly brakes, it will abnormally approach the preceding vehicle. An inconvenience is considered.

In order to prevent such inconvenience, as one of the technologies for assisting the driving of the vehicle driver, when the state of the traffic signal existing ahead is the blind spot of the preceding vehicle, the information on the traffic signal is displayed as the following vehicle. Technology to inform is considered. For example, Patent Document 1 discloses a technique for transferring a camera image obtained by capturing forward information in a preceding vehicle to a succeeding vehicle. In Patent Document 2, a preceding vehicle receives a state from a traffic light, and the information is used. A technique for visually informing the following vehicle is disclosed.
JP 2003-6797 A Japanese Patent Application Laid-Open No. 2004-362064

  However, both of these conditions require that the preceding vehicle has a system for acquiring information and notifying the following vehicle. If the vehicle not equipped with the system is the preceding vehicle, the following vehicle is still a signal of the front signal. The state will not be visible.

  SUMMARY OF THE INVENTION Accordingly, an object of the present invention is to solve such problems and provide driving assistance that ensures the visibility of a traffic light only with the host vehicle without depending on other vehicles or infrastructure.

  The driving support system according to claim 1, which has been made in order to solve the above problem, specifies the current position of the host vehicle (1: similarly, the reference numerals of corresponding components in the embodiment are shown in parentheses). The position specifying means (21), the inter-vehicle distance detecting means (50) for detecting the inter-vehicle distance between the preceding vehicle (2) and the host vehicle (1), and the vehicle height (h2) of the preceding vehicle (2) are detected. This is a driving support system that includes vehicle height detection means (60), notification means (26, 27) for notifying the driver, and control means (29), and is used by being mounted on a vehicle. Then, the control means (29) executes the following control.

First, map data including data capable of specifying the position and height (h3) of the traffic light (3), and the current position specified by the current position specifying means (21) for specifying the current position of the host vehicle (1) Based on the above, the position of the traffic light (3) to be passed next by the own vehicle (1) is determined. Then, a position a predetermined distance before the position of the traffic light (3) is determined as a traffic light recognition position. Further, based on the detection result by the vehicle height detection means (60) for detecting the vehicle height (h2) of the preceding vehicle (2), it is determined whether or not the preceding vehicle (2) exists, and the preceding vehicle (2) exists. When doing so, the vehicle height (h2) of the preceding vehicle (2) is detected by the vehicle height detection means (60). Then, in consideration of the detected vehicle height (h2) of the preceding vehicle (2), the necessary inter-vehicle distance that is the shortest inter-vehicle distance at which the driver can visually recognize the next traffic signal (3) scheduled to pass at the traffic signal recognition position. (Ln) is calculated. And until reaching the traffic signal recognition position , the calculated inter-vehicle distance (Lr) detected by the inter-vehicle distance detecting means (50) for detecting the inter-vehicle distance between the preceding vehicle (2) and the host vehicle (1) is calculated. if it is less than (Ln) via a notification means (26, 27) have rows notifying the driver to prompt the securing of the required inter-vehicle distance (Ln), after reaching the traffic signal recognition position, the inter-vehicle distance ( If Lr) is less than the required inter-vehicle distance (Ln), the necessary inter-vehicle distance (Ln) has not been secured, so that a warning to alert the traffic signal is issued .

  In this way, in consideration of the vehicle height (h2) of the preceding vehicle (2), the inter-vehicle distance that can be confirmed by the traffic signal of the traffic signal (3) to be passed next must be calculated, and the inter-vehicle distance must be secured. For example, the driver is informed of ensuring. Therefore, if the notification is made before reaching the traffic signal recognition position, the driver who has seen the notification can drive to ensure the inter-vehicle distance. Therefore, according to the driving support system of the present invention, it is possible to perform driving support that ensures the visibility of the traffic light only by the own vehicle without depending on other vehicles or infrastructure.

Further, according to the driving support system of the present invention, regarding the notification control performed by the control means, the notification content is changed before and after reaching the traffic light recognition position . In other words, as described above, if the distance between the vehicles is still less than the necessary distance even after reaching the traffic light recognition position, it becomes difficult to secure the necessary distance after that. For example, the driver notifies the driver of the traffic signal by notifying the driver that the distance between the vehicles that can recognize the traffic signal is not secured.

  In addition, as a concrete structure of an alerting | reporting means (26, 27), you may provide the display means (26) which displays an image, and you may provide the audio | voice output means (27) which outputs an audio | voice. In addition, both the display unit and the audio output unit may be provided. In particular, after reaching the traffic signal recognition position, it is preferable to employ at least voice notification by voice output means.

  By the way, regarding the “predetermined distance for determining the traffic light recognition position”, for example, it is conceivable that the vehicle stoppable distance determined based on the vehicle speed is used as a reference. For example, when the vehicle is traveling at a speed of 60 km / h, a distance such as 60 m can be considered as a distance at which the vehicle can be stopped by applying a brake. For this reason, it is conceivable that the signal recognition position is 60 m before the vehicle stoppable distance from the traffic signal position (that is, the position where the vehicle should stop in the case of a red signal).

Further, the “required inter-vehicle distance” can be calculated by the following equation.
Required inter-vehicle distance (Ln) =
Traffic light recognition position distance (Ls) × {(preceding vehicle height (h2) −driver's eye height (h1)) / (signal height (h3) −driver ’s eye height (h1))}
However, when there is a road gradient, the required inter-vehicle distance (Ln) differs depending on the position of the traffic light, the position of the preceding vehicle, and the altitude (meaning how many meters above sea level) of the host vehicle. In particular, in the case of a steep uphill or downhill, it is better to apply some correction. Therefore, it is conceivable to make it as shown in claim 4 .

  As a premise, the map data includes altitude in addition to latitude and longitude as the position of the traffic signal, and the current position specifying means (21) can also specify the altitude in addition to latitude and longitude as the current position. Furthermore, it is necessary to have preceding vehicle height detection means for detecting the altitude of the position of the preceding vehicle whose vehicle height is detected by the vehicle height detection means (60).

  Under such a premise, the control means (29), when calculating the required inter-vehicle distance (Ln), the difference between the height of the traffic signal position and the current position specified by the current position specifying means (21), In addition, the calculation is performed in consideration of the difference between the altitude of the preceding vehicle detected by the preceding vehicle altitude detecting means and the altitude of the current position specified by the current position specifying means (21).

Moreover, even if it is made to run the program which functions as a control means in the driving assistance system in any one of Claims 1-4 like Claim 5 to the computer which a driving assistance system incorporates Good. In this case, for example, the program is recorded on a computer-readable recording medium such as a flexible disk, a magneto-optical disk, a CD-ROM, a hard disk, a ROM, and a RAM, and the program is stored in the computer as necessary. By loading and starting, the computer can function as guidance control means of the driving support system. Further, since the program can be distributed using a network or the like, it is easy to improve the function of the driving support system.

  Embodiments to which the present invention is applied will be described below with reference to the drawings. The embodiment of the present invention is not limited to the following embodiment, and can take various forms as long as they belong to the technical scope of the present invention.

[Description of Configuration of Navigation Device 1]
FIG. 1 is a block diagram showing a schematic configuration of an in-vehicle system in which a function of the driving support system of the present invention is incorporated. The in-vehicle system includes a navigation device 20, an inter-vehicle distance detection device 50, and a vehicle height detection device 60.

  The navigation device 20 is mounted on a vehicle, and includes a position detector 21 that detects the current position of the vehicle, an operation switch group 22 for inputting various instructions from a user, and various instructions in the same manner as the operation switch group 22. A remote control terminal (hereinafter referred to as a remote control) 23a that can be input and is separate from the navigation device 20, a remote control sensor 23b that inputs a signal from the remote control 23a, a packet communication network, etc. An external communication device 24 that communicates with a map, a map data input device 25 that inputs data from a map storage medium in which map data, audio data, and the like are recorded, a display unit 26 that displays a map and various types of information, A voice output unit 27 for outputting various kinds of guide voices, a microphone 28 for outputting an electrical signal based on a voice uttered by a user, An in-vehicle LAN communication unit 30 for exchanging various information with other devices via the internal LAN 40, the above-described position detector 21, operation switch group 22, remote control sensor 23b, external communication device 24, map data input device 25, microphone 28 includes a control unit 29 that executes various processes in response to inputs from the control unit 28 and controls the external communication device 24, the display unit 26, the audio output unit 27, and the in-vehicle LAN communication unit 30.

  The position detector 21 receives a radio wave from a GPS (Global Positioning System) artificial satellite via a GPS antenna (not shown) and outputs a received signal, and a magnitude of rotational motion applied to the vehicle. A gyroscope 21b for detecting the distance and a distance sensor 21c for detecting a distance traveled from the longitudinal acceleration or the like of the vehicle are provided. And the control part 29 calculates the position, direction, speed, etc. of a vehicle based on the output signal from these sensors 21a-21c. Although there are various methods for obtaining the current position based on the output signal from the GPS receiver 21a, either a single positioning method or a relative positioning method may be used.

  The operation switch group 22 includes a touch panel configured integrally with the display surface of the display unit 26, mechanical key switches provided around the display unit 26, and the like. The touch panel and the display unit 26 are laminated and integrated. There are various types of touch panels such as a pressure-sensitive method, an electromagnetic induction method, a capacitance method, or a combination of these methods. It may be used.

The external communication device 24 acquires accident information, traffic jam information, and the like from the VICS information center via an optical beacon or a radio beacon installed on the roadside.
The map data input device 25 is a device for inputting various data stored in a map data storage medium (not shown) (for example, a hard disk or a DVD-ROM). Map data storage media include map data (node data, link data, cost data, background data, road data, name data, mark data, intersection data, facility data, etc.), guidance voice data, voice recognition data Etc. are stored. As for the traffic light, its existence position (latitude / longitude / altitude) and height (h3) are recorded.

  The display unit 26 is a color display device such as a liquid crystal display, an organic EL display, or a CRT, and any of them may be used. The display screen of the display unit 26 includes a mark indicating the current location identified from the current position of the vehicle detected by the position detector 21 and the map data input from the map data input device 25, a guidance route to the destination, and a name. Additional data such as landmarks and various facility marks can be displayed in an overlapping manner. Also, facility guides can be displayed.

The voice output unit 27 can output facility guides and various guidance voices input from the map data input device 25.
The microphone 28 outputs an electric signal (voice signal) based on the inputted voice to the control unit 29 when the user inputs (speaks) voice. The user can operate the navigation device 20 by inputting various sounds to the microphone 28.

  The in-vehicle LAN communication unit 30 communicates with various devices connected to the in-vehicle LAN 40 via the in-vehicle LAN 40, such as an inter-vehicle distance detection device 50, a vehicle height detection device 60, or an engine ECU (not shown).

  The control unit 29 is configured around a well-known microcomputer including a CPU, ROM, RAM, SRAM, I / O, and a bus line connecting these components, and is based on a program stored in the ROM and RAM. Various processes. For example, the current position of the vehicle is calculated as a set of coordinates and traveling directions based on each detection signal from the position detector 21, and a map or the like near the current position read via the map data input device 25 is displayed on the display unit 26. The optimal route from the current position to the destination is calculated based on the processing to be performed, the map data stored in the map data input device 25, and the destination set according to the operation of the operation switch group 22 or the remote controller 23a. A route calculation process, a route guidance process for guiding the route by displaying the calculated route on the display unit 26 or outputting it as a voice to the voice output unit 27, and the like are executed.

  The control unit 29 is also configured to execute voice recognition processing. Of course, the processing unit related to speech recognition and the processing unit related to navigation can be configured separately, but here, a configuration capable of executing speech recognition processing is constructed in the control unit 29.

The navigation device 20 is connected to the inter-vehicle distance detection device 50 and the vehicle height detection device 60 via the in-vehicle LAN 40.
The inter-vehicle distance detection device 50 is for detecting the distance between the preceding vehicle and the host vehicle. A radio wave is transmitted from a radar disposed in front of the vehicle to an obstacle positioned in front of the vehicle, and a reflected wave (exactly any radio wave) from the obstacle positioned in front of the vehicle is received. Based on the reception result, the distance between the host vehicle and the preceding vehicle is detected. In addition, since it is a well-known technique about the identification method of a preceding vehicle and the detection of the distance between vehicles, detailed description is abbreviate | omitted.

  The vehicle height detection device 60 is for detecting the height (vehicle height) of the preceding vehicle. For example, a method of detecting the vehicle height by analyzing an image captured by a camera installed in front of the vehicle (for example, the front grille or the back of the rearview mirror) or detecting the vehicle height using a radar can be considered. In addition, since it is a well-known technique about the method of detecting the height of a preceding vehicle, detailed description is abbreviate | omitted.

[Operation explanation for driving support]
Next, among the processes executed by the control unit 29, a process for notifying the driver and assisting driving so as to secure a vehicle-to-vehicle distance where the traffic light can be visually confirmed will be described with reference to the flowchart of FIG.

(Description of driving support processing)
First, the course is predicted based on the current position of the host vehicle, and the traffic signal 3 that passes next is determined (S10). This course prediction changes depending on whether or not a route to the destination is set. Specifically, when a guide route to the destination is set, the traffic light 3 that passes next on the guide route is applicable. Further, when the guide route is not set, for example, a traffic signal that passes next when the host vehicle travels along a road corresponds. Therefore, the traffic signal 3 that passes next is determined based on the data of the guide route and the map data.

  When the traffic signal 3 to be passed next is determined in S10, the position (latitude / longitude / altitude) of the traffic signal 3 from the map data stored in the map data input device 25 is next determined for the target traffic signal 3. The height h3 is acquired (S20).

Next, the traffic light recognition position distance Ls is obtained (S30). The traffic light recognition position distance Ls will be described with reference to FIG.
The traffic light recognition position distance Ls is a distance from the position of the traffic light 3 to the traffic light recognition position, and may be determined with reference to a vehicle stoppable distance determined based on the vehicle speed, for example. For example, when the vehicle is traveling at a speed of 60 km / h, a distance of, for example, 60 m can be considered as a distance at which the vehicle can be stopped by applying a brake. For this reason, it is conceivable that the signal recognition position is 60 m before the vehicle stoppable distance from the traffic signal position (that is, the position where the vehicle should stop in the case of a red signal). At this traffic light recognition position, the driver of the own vehicle recognizes the state of the target traffic light 3 and sufficiently judges the situation until reaching the vehicle stop position such as an intersection where the traffic light 3 is installed. It is possible to perform a simple driving operation. Therefore, the distance between the traffic signal recognition position and the traffic signal 3 is defined as a traffic signal recognition position distance Ls. Of course, the vehicle stopping distance varies depending on the vehicle type. Therefore, the vehicle stoppable distance is determined by the vehicle type, and the control unit 29 may store the vehicle stoppable distance.

  Next, it is judged whether the preceding vehicle 2 exists using the vehicle height detection apparatus 60 (S40). As described above, the vehicle height detection device 60 detects the vehicle height by analyzing an image captured by a camera installed in front of the vehicle (such as the back of the room mirror). In the image analysis, it is determined whether or not the preceding vehicle 2 exists.

When the preceding vehicle 2 does not exist (S40: NO), the process proceeds to S110 without executing the processes of S50 to S100.
On the other hand, when the preceding vehicle 2 exists (S40: YES), the vehicle height h2 of the preceding vehicle 2 is acquired from the vehicle height detection device 60 (S50). Regarding the vehicle height h2, there is no particular problem even if the highest portion of the preceding vehicle 2 is simply considered as the vehicle height.

In subsequent S60, using the height h3 of the traffic light 3 obtained in S20 and the vehicle h2 of the preceding vehicle 2 obtained in S50, and the traffic light recognition position distance Ls calculated in S30, the vehicle 1 is set at the traffic light recognition position. The required inter-vehicle distance Ln, which is the inter-vehicle distance necessary for the driver to ensure the traffic signal 3 within the field of view when the vehicle reaches the vehicle, is calculated according to the following formula (S60).

Necessary inter-vehicle distance Ln = signal recognition position distance Ls ×
{(Preceding vehicle height h2−driver's eye height h1) / (signal height h3−driver ’s eye height h1)}

Here, the driver's eye level height h1 is determined by the seat surface height of the vehicle and the driver's seat height, but in the present embodiment, those set as parameters for each vehicle are used. For example, the seat height is set to a default value for each vehicle type, and the seat height is set to an average driver's seat height as a default value, which is stored in the control unit 29. However, it may be adjusted later if necessary.

  Subsequently, it is determined whether or not it is time to notify the driver of the inter-vehicle distance (S70). Whether or not it is the notification timing may be determined according to the amount of movement necessary to secure the necessary inter-vehicle distance Ln and the distance to the traffic light 3.

  In order to ensure the necessary inter-vehicle distance Ln before reaching the traffic signal recognition position, it is necessary to notify the driver as close as possible to ensure that (the necessary inter-vehicle distance Ln−the current inter-vehicle distance). It can be considered that this position is obtained, for example, by a moving distance depending on the vehicle speed. For example, if the required inter-vehicle distance is 70 m and the current inter-vehicle distance is 20 m while traveling at a speed of 60 km / h, it is necessary to secure another inter-vehicle distance of 50 m. If the preceding vehicle continues to travel at 60 km / h and the host vehicle decelerates to 40 km / h in order to secure the inter-vehicle distance, it is necessary to travel about 100 m (about 9 seconds) as a necessary movement amount for securing the inter-vehicle distance of 50 m. . In this case, with reference to the position of the traffic light recognition position distance Ls + required movement amount (about 100 m) from the traffic light, the driver may be notified at the timing of reaching, for example, 300 m before the driver can sufficiently grasp the situation.

If it is not a timing that requires notification (S70: NO), the process returns to S40, and if it is a timing that requires notification (S70: YES), the process proceeds to S80.
In S80, the actual inter-vehicle distance Lr obtained by the inter-vehicle distance detection device 50 is compared with the necessary inter-vehicle distance Ln calculated in S60. If the necessary inter-vehicle distance Ln cannot be secured (S80: NO), the driver is notified (S90). This notification is performed by character display or the like via the display unit 26 or by voice via the audio output unit 27.

  The notification content may be changed before and after the host vehicle 1 reaches the traffic light recognition position. This will be described with reference to FIG. For example, as shown by a solid line on the right side in FIG. 4, if the actual inter-vehicle distance Lr with the preceding vehicle 2 is shorter than the necessary inter-vehicle distance Ln before the host vehicle 1 reaches the traffic signal recognition position, the necessary inter-vehicle distance Ln is secured. A notification that prompts For example, a notification such as “There is not enough distance to recognize the traffic light. Please leave the distance between vehicles.”

  On the other hand, if the actual inter-vehicle distance Lr with the preceding vehicle 2 is shorter than the necessary inter-vehicle distance Ln after the host vehicle 1 reaches the traffic signal recognition position, for example, as indicated by a broken line on the left side in FIG. Notification to call attention to. In other words, if the actual inter-vehicle distance Lr is less than the necessary inter-vehicle distance Ln even after reaching the traffic signal recognition position, it becomes difficult to secure the necessary inter-vehicle distance Ln thereafter, so the main point of notification is the attention to the traffic signal 3. Transition to arousal. For example, a notification such as “the distance between vehicles capable of recognizing the traffic light is not secured. Be careful of the traffic light” is given to the driver to alert the traffic light 3.

  In the case where notification is made by displaying characters or the like via the display unit 26, an affirmative determination is made in S80, that is, if the necessary inter-vehicle distance Ln can be secured, or an affirmative determination is made in S110, that is, the signal 3 is passed. It may continue to be displayed until

  On the other hand, when the necessary inter-vehicle distance Ln can be secured (S80: YES), the process proceeds to S100, and when the notification is made by the character display or the like via the display unit 26, the display is displayed. to erase. And it is judged whether the own vehicle 1 passed the traffic signal 3 (S110), and when not passing (S110: NO), it transfers to S40. On the other hand, if the vehicle is passing the traffic light 3 (S110: YES), the process proceeds to S120, and if the notification is made by character display or the like via the display unit 26, the display is deleted. Thereafter, the process returns to S10.

(Description of notification pattern)
Then, when the driving support process shown in the flowchart of FIG. 2 is executed, some patterns will be described as to what kind of situation is actually notified.

  (A) Although partially described above with reference to FIG. 4, it will be described again. The pattern shown in FIG. 4 assumes a pattern in which the actual inter-vehicle distance Lr between the host vehicle 1 and the preceding vehicle 2 is shorter than the necessary inter-vehicle distance Ln.

  As shown by the solid line on the right side in FIG. 4, if the actual inter-vehicle distance Lr with the preceding vehicle 2 is shorter than the necessary inter-vehicle distance Ln before the host vehicle 1 reaches the traffic signal recognition position, the necessary inter-vehicle distance Ln is secured. Prompt notification. For example, a notification such as “There is not enough distance to recognize the traffic light. Please leave the distance between vehicles.”

  On the other hand, if the actual inter-vehicle distance Lr with the preceding vehicle 2 is shorter than the necessary inter-vehicle distance Ln after the host vehicle 1 reaches the traffic signal recognition position, for example, as indicated by a broken line on the left side in FIG. Notification to call attention to. In other words, if the actual inter-vehicle distance Lr is less than the necessary inter-vehicle distance Ln even after reaching the traffic signal recognition position, it becomes difficult to secure the necessary inter-vehicle distance Ln thereafter, so the main point of notification is the attention to the traffic signal 3. Transition to arousal. For example, a notification such as “the distance between vehicles capable of recognizing the traffic light is not secured. Be careful of the traffic light” is given to the driver to alert the traffic light 3.

  (B) The pattern shown in FIG. 5 assumes a pattern in which the actual inter-vehicle distance Lr between the host vehicle 1 and the preceding vehicle 2 is longer than the necessary inter-vehicle distance Ln. In this case, no particular notification is given. That is, as indicated by a solid line on the right side in FIG. 5, there is no need for notification because the actual inter-vehicle distance Lr with the preceding vehicle 2 is longer than the necessary inter-vehicle distance Ln before the host vehicle 1 reaches the traffic light recognition position. . On the other hand, as indicated by a broken line on the left side in FIG. 5, after the host vehicle 1 reaches the traffic signal recognition position, the actual inter-vehicle distance Lr with the preceding vehicle 2 is longer than the necessary inter-vehicle distance Ln, so that notification is also necessary. Absent.

Although it is not necessary to notify the driver to ensure the inter-vehicle distance, the necessary inter-vehicle distance Ln may be displayed on the screen of the display unit 26 as reference information, for example.
(C) The pattern shown in FIG. 6 assumes a pattern in which the preceding vehicle 2 does not exist. In this case, a negative determination is made in S40 of FIG. 2, and the process proceeds to S110 without executing the processes of S50 to S100. Therefore, no notification is given.

[Effects of the driving support system of the embodiment]
The configuration and operation of the driving support system of the present embodiment have been described above. However, according to the driving support system of the present embodiment, the traffic signal 3 scheduled to pass next is confirmed in consideration of the vehicle height h2 of the preceding vehicle 2. A necessary inter-vehicle distance Ln, which is a possible inter-vehicle distance, is calculated. If the necessary inter-vehicle distance Ln cannot be secured, a notification is made to prompt the driver to secure the necessary inter-vehicle distance Ln. Therefore, if the notification is made before reaching the traffic signal recognition position, the driver who has seen the notification can drive to ensure the inter-vehicle distance. Therefore, according to the driving support system of the present invention, it is possible to perform driving support that ensures the visibility of the traffic light only by the own vehicle without depending on other vehicles or infrastructure.

  If the actual inter-vehicle distance Lr is less than the necessary inter-vehicle distance Ln even after the host vehicle 1 reaches the traffic signal recognition position, “The inter-vehicle distance capable of recognizing the traffic signal has not been secured. Please notify me. " As a result, it has been found that a driver who has been alerted to the inter-vehicle distance until then must pay attention to the traffic light 3, which is more effective.

[Other Embodiments]
Hereinafter, other embodiments will be described.
(A) In the above-described embodiment, by notifying the driver, it is expected that the driver will drive to ensure the necessary inter-vehicle distance Ln according to the notification. In contrast, the driving support system may automatically control the inter-vehicle distance instead of relying on the driver to secure the necessary inter-vehicle distance Ln.

  In this case, as indicated by a broken line in FIG. 1, the engine ECU 70 and the brake ECU 80 are connected to the in-vehicle LAN 40, and the control unit 29 of the navigation device 20 issues a command to the engine ECU 70 and the brake ECU 80 to Can be accelerated or decelerated. In that case, instead of “notify the driver” in S90 of FIG. 2, a process of “control the distance until the required distance Ln is reached” may be executed. Note that S100 and S120 in FIG. 2 are not necessary when the distance control is performed in this way.

  However, both “vehicle distance control” and “notify the driver” may be executed. That is, in S90 of FIG. 2, it is preferable to automatically control the distance and also notify the driver. The notification content in this case indicates that “inter-vehicle distance control is being executed”. That is, when controlling the engine ECU 70 and the brake ECU 80 so as to ensure the necessary inter-vehicle distance Ln, the host vehicle 1 is specifically decelerated. If the host vehicle 1 decelerates without any notification, the driver may feel suspicious. Therefore, if it is notified that the inter-vehicle distance control is to be executed, the driver can grasp that the host vehicle 1 has decelerated based on the result of the appropriate inter-vehicle distance control, and the possibility of feeling suspicious can be avoided. In addition, when performing distance control in this way, S100 and S120 of FIG. 2 should just be left as it is.

(B) In the above-described embodiment, the required inter-vehicle distance Ln in S60 of FIG. 2 is calculated based on the following equation.

Necessary inter-vehicle distance Ln = signal recognition position distance Ls ×
{(Preceding vehicle height h2−driver's eye height h1) / (signal height h3−driver ’s eye height h1)}

This is based on the assumption that the vehicle is running on a substantially flat road as shown in FIG. However, as shown in FIGS. 3B and 3C, when there is a road gradient, the required inter-vehicle distance (Ln) varies depending on the position of the traffic light 3, the position of the preceding vehicle 2, and the altitude of the position of the host vehicle 1. . For example, in the case of a steep downhill, it is easy to visually recognize far away, so that it is possible to visually recognize the traffic signal 3 even closer to the preceding vehicle 2 than when traveling on a flat road. On the other hand, in the case of a steep uphill, it is difficult to see far away. Therefore, as compared with the case of traveling on a flat road, the traffic light 3 ahead of the preceding vehicle 2 can be changed if it is not further away from the preceding vehicle 2. The situation is not visible.

Therefore, if the necessary inter-vehicle distance Ln corresponding to the difference due to the road gradient is calculated, the difference between the altitude of the position of the traffic signal 3 and the altitude of the position of the host vehicle 1 is set as the traffic signal height correction value h31. The required inter-vehicle distance Ln may be calculated by taking the difference between the altitude at the position of the preceding vehicle 2 and the altitude at the position of the host vehicle 1 as a preceding vehicle vehicle height correction value h21. Specifically, it may be calculated based on the following formula.

Necessary inter-vehicle distance Ln = signal recognition position distance Ls ×
{(Preceding vehicle vehicle height h2 + preceding vehicle vehicle height correction value h21−driver's eye height h1) / (signal device height h3 + signal device height correction value h31−driver's eye height h1)}

In the case of an uphill as shown in FIG. 3B, the preceding vehicle vehicle height correction value h21 and the traffic light height correction value h31 are positive values, and as shown in FIG. In this case, the preceding vehicle vehicle height correction value h21 and the traffic signal height correction value h31 are negative values.

  (C) In the above-described embodiment, the driver's eye height h1 is determined by the seat height of the vehicle and the driver's seat height, and the seat height of the average driver is set as a default value. However, for example, if it is desired to deal with a difference in sitting height due to a difference in the physique of the driver, for example, an in-vehicle monitoring camera may be provided, and the height of the driver's line of sight may be read from the captured image to calculate the sitting height.

It is a schematic block diagram of a driving assistance system. It is a flowchart for demonstrating a driving assistance process. It is explanatory drawing, such as required inter-vehicle distance Ln and traffic signal recognition position distance Ls. It is explanatory drawing of the example of an alerting | reporting pattern for driving assistance. It is explanatory drawing of the example of an alerting | reporting pattern for driving assistance. It is explanatory drawing of the example of an alerting | reporting pattern for driving assistance.

Explanation of symbols

  DESCRIPTION OF SYMBOLS 1 ... Navigation apparatus, 21 ... Position detector, 21a ... GPS receiver, 21b ... Gyroscope, 21c ... Distance sensor, 22 ... Operation switch group, 23a ... Remote control, 23b ... Remote control sensor, 24 ... External communication device, 25 ... Map data input device, 26 ... display unit, 27 ... voice output unit, 28 ... microphone, 29 ... control unit, 30 ... in-vehicle LAN communication unit, 40 ... in-vehicle LAN, 50 ... inter-vehicle distance detection device, 60 ... inter-vehicle distance detection device , 60 ... Vehicle height detection device, 70 ... Engine ECU, 80 ... Brake ECU.

Claims (5)

Current position specifying means for specifying the current position of the host vehicle;
An inter-vehicle distance detecting means for detecting an inter-vehicle distance between the preceding vehicle and the host vehicle;
Vehicle height detecting means for detecting the vehicle height of the preceding vehicle;
An informing means for informing the driver;
A driving support system that is used by being mounted on a vehicle.
The control means includes
Based on the map data including data that can specify the position and height of the traffic light and the current position specified by the current position specifying means, the position of the traffic signal that the host vehicle is scheduled to pass next is determined,
The position in front of the predetermined distance from the position of the traffic light is determined as the traffic light recognition position,
Determining whether a preceding vehicle exists based on a detection result by the vehicle height detection means;
If there is a preceding vehicle, the vehicle height detecting means detects the vehicle height of the preceding vehicle,
In consideration of the vehicle height of the detected preceding vehicle, the required inter-vehicle distance, which is the shortest inter-vehicle distance at which the driver can visually recognize the next traffic signal scheduled to pass at the traffic signal recognition position, is calculated.
Until reaching the traffic signal recognition position, have rows notification prompting the securing of the inter-vehicle distance detecting means and the necessary inter-vehicle distance through the notification means is less than the required distance between vehicles following distance is the calculated detected by the After reaching the traffic signal recognition position, if the inter-vehicle distance is less than the necessary inter-vehicle distance, the necessary inter-vehicle distance is not secured, and thus a driving support system is provided to alert the traffic signal . The driving support system according to claim 1,
The required inter-vehicle distance is calculated by the following equation:
Necessary inter-vehicle distance = traffic light recognition position distance Ls x
{(Preceding vehicle height h2−driver's eye height h1) / (signal height h3−driver ’s eye height h1)} In the driving support system according to claim 1 or 2 ,
The predetermined distance for determining the traffic signal recognition position is determined based on a vehicle stoppable distance determined based on a vehicle speed. The driving support system according to claim 2 ,
The map data includes altitude in addition to latitude and longitude as the position of the traffic light,
The current position specifying means can specify the altitude in addition to the latitude and longitude as the current position,
Further, the vehicle height detecting means includes a preceding vehicle height detecting means for detecting the height of the position of the preceding vehicle whose vehicle height is detected by the vehicle height detecting means,
The control means includes
When calculating the necessary inter-vehicle distance, the difference between the altitude of the traffic signal position and the altitude of the current position specified by the current position specifying means, the altitude of the preceding vehicle detected by the preceding vehicle altitude detecting means, and the current A driving support system characterized in that the calculation is performed taking into account the difference from the altitude of the current position specified by the position specifying means. The program for functioning a computer as the said control means in the driving assistance system in any one of Claims 1-4 .

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