JP4570478B2 - Danger information communication system, danger information transmission device, danger information reception device, and danger information notification method - Google Patents

Description

  The present invention relates to a danger information communication system, a danger information transmission device, a danger information reception device, and a danger information notification method, and more particularly to a danger information communication system, a danger information transmission device, and danger information for notifying a danger when a vehicle travels. The present invention relates to a receiving apparatus and a danger information notification method.

  Conventionally, for example, as shown in FIG. 8, when the host vehicle 100 and the other vehicle 200 are traveling so as to approach the opposite lanes on the road 300, the host vehicle between the host vehicle 100 and the other vehicle 200. There may be an obstacle 400 such as a person on the same lane as 100. In such a case, when the driver of the host vehicle 100 confirms the obstacle 400, the driver of the host vehicle 100 avoids the obstacle 400 by changing the lane to the opposite lane. In addition, when the other vehicle 200 is in the vicinity of the obstacle 400 when trying to change the lane of the own vehicle 100, there is a high possibility that the own vehicle 100 that has changed the lane will collide with the other vehicle 200. The driver of the host vehicle 100 avoids the obstacle 400 by slowing or stopping the host vehicle 100.

  However, when the other vehicle 200 and the obstacle 400 are present in the blind spot 600 generated by the wall 500 such as a building or terrain when viewed from the own vehicle 100, the driver of the own vehicle 100 confirms the obstacle 400. Will be delayed. Therefore, depending on the traveling speed of the host vehicle 100 and the distance between the host vehicle 100 and the obstacle 400, the driver of the host vehicle 100 cannot slow down or stop the host vehicle 100 in order to avoid the obstacle 400. In addition, when the other vehicle 200 is close to the obstacle 400, it is impossible to change the lane of the own vehicle 100, which causes a very dangerous state.

By the way, the positional information of other objects (obstacles) other than the own vehicle is acquired by communication from an external device, and the possibility of contact between the own vehicle and the other object based on the positional relationship between the own vehicle and the other object. There is known a technique for determining and notifying (for example, Patent Document 1).
JP 2002-342899 A

  However, according to the technique described in Patent Document 1, it is possible to determine and notify the possibility of contact with other objects other than the host vehicle, but avoid other objects that the host vehicle may contact. In such a case, it is impossible to determine and notify the possibility of contact with another object. Therefore, when the own vehicle 100 changes the lane and avoids the obstacle 400 as described above, it cannot be notified that the own vehicle 100 may come into contact with the other vehicle 200, which is very dangerous. There was a problem of falling into a state.

  The present invention has been made to solve such a problem, and when the host vehicle is traveling, it is extremely dangerous to contact other vehicles when the host vehicle tries to avoid an obstacle. It aims to be able to prevent falling into a bad state.

  In order to solve the above-described problem, in the danger information communication system according to the present invention, the danger information transmission device causes the first vehicle to fail based on the detected position of the obstacle, the position, direction, and speed of the first vehicle. A dangerous area including an area overlapping with an object and a surrounding area, and a time zone in which the first vehicle is in the dangerous area are generated and transmitted as dangerous information. The danger information receiving device receives the transmitted danger information, and detects a time zone in which the second vehicle is in the danger area based on the received danger information, the detected position, orientation, and speed of the second vehicle. The warning information is output when the time zone in which the first vehicle is in the dangerous area matches the time zone in which the second vehicle is in the dangerous area.

  According to the present invention configured as described above, information indicating that there is a risk of contact with the first vehicle (oncoming vehicle) when the second vehicle changes lanes to avoid an obstacle is the second information. Because it is presented in the vehicle, the driver of the second vehicle can be made aware in advance that it is dangerous to avoid obstacles by changing lanes, and it will fall into a very dangerous state Can be prevented. Therefore, an accident can be prevented.

  Hereinafter, an embodiment of the present invention will be described with reference to the drawings. FIG. 1 is a block diagram illustrating a configuration example of a danger information communication system according to the present embodiment. FIG. 2 is a diagram illustrating a positional relationship between the first vehicle 10, the second vehicle 20, and the obstacle 60 on a curve. As shown in FIG. 1, the danger information communication system according to the present embodiment includes a danger information transmitting apparatus 1 and a danger information receiving apparatus 11. Further, in the danger information communication system according to the present embodiment, the danger information transmission device 1 is mounted on the first vehicle 10 shown in FIG. 2, and the danger information reception device 11 is mounted on the second vehicle 20. Yes.

  In FIG. 2, the first vehicle 10 and the second vehicle 20 are traveling in opposite lanes on a curved road 30. Further, the danger information transmitting device 1 mounted on the first vehicle 10 can detect an obstacle 60 (for example, a person), and the danger information receiving device 11 mounted on the second vehicle 20 is generated by the wall 40. The obstacle 60 cannot be detected by the blind spot 50. The obstacle 60 is running in the same lane as the second vehicle 20 toward the second vehicle 20.

  In FIG. 1, the danger information transmitting apparatus 1 includes an obstacle detection unit 2, a first host vehicle state detection unit 3, a first control unit 4, and a transmission unit 5. The danger information receiving apparatus 11 includes a second host vehicle state detecting unit 12, a receiving unit 13, a second control unit 14, and a warning unit 15.

  The obstacle detection unit 2 detects the distance and direction from the first vehicle 10 to the obstacle 60 using a radar (not shown) and outputs the detected obstacle position information. Here, the obstacle position information is information indicating the relative position of the obstacle 60 as viewed from the position of the first vehicle 10. As the radar, an infrared laser radar or a millimeter wave radar is used. The obstacle 60 may be detected by using a stereo camera or the like instead of the radar, or the radar and the stereo camera may be used in combination.

  The infrared laser radar emits a pulse of the infrared laser, and obtains the distance from the infrared emission position to the obstacle 60 by the time until the infrared laser is reflected from the obstacle 60. Further, the infrared laser radar obtains the direction of the obstacle 60 based on the pulse emission direction.

  Further, the millimeter wave radar is more advantageous than the infrared laser radar under bad conditions such as rain, fog, and nighttime. The distance from the radio wave emission position to the obstacle 60 is obtained. Also, the millimeter wave radar obtains the direction of the obstacle 60 from the direction of emission of the radio wave.

  In addition, the stereo camera obtains the distance and direction to the obstacle 60 by recognizing a stereoscopic image of images taken by two cameras installed at the same height on the left and right.

  The first host vehicle state detection unit 3 measures the current position, direction, and speed of the first vehicle 10. The first host vehicle state detection unit 3 includes a self-contained navigation sensor, a GPS (Global Positioning System) receiver, a position calculation CPU (Central Processing Unit), and the like. The self-contained navigation sensor outputs a single pulse for every predetermined travel distance to detect a moving distance of the first vehicle 10 and a vibration to detect a rotation angle (moving direction) of the vehicle. And an angular velocity sensor (relative orientation sensor) such as a gyro. The self-contained navigation sensor calculates the relative position and direction of the first vehicle 10 based on outputs from the vehicle speed sensor and the angular speed sensor.

  The position calculation CPU calculates the absolute own vehicle position (estimated vehicle position) and own vehicle direction based on the relative position and direction data of the first vehicle 10 output from the self-contained navigation sensor. The GPS receiver receives radio waves transmitted from a plurality of GPS satellites with a GPS antenna, performs a three-dimensional positioning process or a two-dimensional positioning process, and calculates the absolute position and direction of the first vehicle 10. (The own vehicle direction is calculated based on the current vehicle position at the present time and the own vehicle position before one sampling time ΔT).

  The first control unit 4 inputs the current position and direction of the first vehicle 10 detected by the first host vehicle state detection unit 3 as current position information and direction information. Also, the obstacle position information output from the obstacle detection unit 2 is input. Therefore, the first control unit 4 is based on the current position information of the first vehicle 10 obtained by the first host vehicle situation detection unit 3 and the obstacle position information obtained by the obstacle detection unit 2. The absolute position of the obstacle 60 is calculated. Moreover, the 1st control part 4 inputs the speed of the 1st vehicle 10 detected by the vehicle speed sensor 3a mounted in the 1st own vehicle position detection part 3 as speed information.

  Then, the first control unit 4 overlaps the first vehicle 10 and the obstacle 60 according to the current position information, the direction information, the speed information, and the absolute position information of the obstacle 60 of the first vehicle 10. The danger information is generated by calculating the danger area including the area and the surrounding area and the time zone in which the first vehicle 10 is in the danger area. Here, the state where the first vehicle 10 and the obstacle 60 overlap each other means a state where the first vehicle 10 and the obstacle 60 are arranged on the road 30. The danger information includes at least position information indicating the position of the dangerous area and information indicating a time zone in which the first vehicle 10 is in the dangerous area.

  The transmission unit 5 transmits the danger information generated by the first control unit 4 to the second vehicle 20. The receiving unit 13 mounted on the danger information receiving device 11 receives the danger information transmitted from the danger information transmitting device 1. Communication between the transmission unit 5 and the reception unit 13 is performed by inter-vehicle communication using a terrestrial antenna (not shown). Here, the inter-vehicle communication using the terrestrial antenna is performed using communication means such as a so-called wireless LAN (Local Area Network), Bluetooth, a specific power-saving radio. Note that road-to-vehicle communication in which a relay device is installed on the road 30 and communication is performed via the relay device may be used.

  The second host vehicle state detection unit 12 detects the current position, direction, and speed of the second vehicle 20 and outputs the current position information, direction information, and speed information of the second vehicle 20. Here, since the configuration of the second host vehicle situation detection unit 12 is the same as that of the first host vehicle situation detection unit 3 mounted in the danger information transmitting device 1, the description thereof is omitted.

  The second control unit 14 inputs the danger information received by the reception unit 13, and inputs the current position information and direction information of the second vehicle 20 detected by the second host vehicle state detection unit 12. Further, the second control unit 14 inputs speed information of the second vehicle 20 detected by the vehicle speed sensor 12a mounted on the second host vehicle state detection unit 12.

  In addition, the second control unit 14 detects a time zone in which the second vehicle 20 is in the danger area obtained from the danger information, based on the current position information, the direction information, and the speed information of the second vehicle 20. Then, the second control unit 14 checks whether or not the time zone in which the first vehicle 10 is in the dangerous area matches the time zone in which the second vehicle 20 is in the dangerous area. When the second control unit 14 determines that the time zone in which the first vehicle 10 is in the dangerous area matches the time zone in which the second vehicle 20 is in the dangerous area, the second control unit 14 , Generate and output warning information. Here, “matching time zones” includes not only the case where time zones completely match, but also the case where some time zones overlap. The warning information indicates that there is a risk of contact with the first vehicle when the second vehicle 20 changes lanes and avoids the obstacle 60.

  The warning unit 15 receives the warning information generated by the second control unit 14 and outputs a warning sound or a warning image in the second vehicle 20. Here, the warning unit 15 generates a warning sound for performing a warning based on the warning information and outputs it by a speaker (not shown), or generates a warning image for performing a warning based on the warning information. Or output by a display device (not shown).

  It is dangerous for the driver of the second vehicle 20 to change the lane in order to avoid the obstacle 60 in the blind spot 50 before actually checking the obstacle 60 in the blind spot 50 by checking the warning sound or warning image. It can be recognized that there is. Therefore, when the obstacle 60 can be confirmed, the second vehicle 20 can be gradually slowed down or stopped and the obstacle 60 can be avoided, and a collision with the first vehicle 10 can also be avoided.

  If the warning is not issued, the driver of the second vehicle 20 may change the lane of the second vehicle 20 when the obstacle 60 can be confirmed to avoid the obstacle 60. Further, the driver of the second vehicle 20 may avoid the obstacle 60 by slowing down or stopping the second vehicle 20.

  FIG. 3 is a diagram illustrating an example of a dangerous area in a curve. FIG. 4 is a conceptual diagram schematically showing an example of a dangerous area in a curve in a straight line. 3 and 4, the point O is a position where the obstacle detection unit 2 mounted on the first vehicle 10 detects the obstacle 60. Point A is a limit position where the second vehicle 20 that has traveled by changing lanes cannot safely return to the original lane when the tip of the first vehicle 10 reaches this point. Further, the point B is a limit position where the second vehicle 20 cannot travel with a safe lane change unless the rear end of the first vehicle 10 has advanced beyond this point.

  The point X is the position of the obstacle 60 when the first vehicle 10 detects the obstacle 60. The point Xa is the position of the obstacle 60 when the tip of the first vehicle 10 reaches the point A. The point Xb is the position of the obstacle 60 when the rear end of the first vehicle 10 passes the point B.

Here, as shown in FIG. 4, the velocity of the obstacle 60 is slow enough to be sufficiently negligible in comparison with the velocity V ₂ of the speed V ₁ and the second vehicle 20 of the first vehicle 10, the first vehicle The point Xa of the obstacle 60 when the tip of 10 reaches the point A and the point Xb of the obstacle 60 when the rear end of the first vehicle 10 passes the point B are set to the same position as the point X. Further, the difference in length between the inner lane and the outer lane of the road 30 on the curve can be ignored. Here, the dangerous area is an area between point A and point B.

  For example, as shown in FIG. 4B, when the second vehicle 20 changes to the lane before passing the first vehicle 10 to avoid the obstacle 60 and return to the original lane, Vehicle 20 must return to the original lane before the tip of the first vehicle 10 reaches point A. When the front end of the first vehicle 10 cannot return to the original lane before reaching the point A, there is a high risk that the first vehicle 10 and the second vehicle 20 come into contact with each other. Here, the first distance AX between the point A and the point X that is the position of the obstacle 60 is a distance at which the second vehicle 20 does not contact the obstacle 60 and does not contact the first vehicle 10.

Note that the first distance AX may be a fixed value or a variable value. When the first distance AX is a variable value, the first distance AX may be a value that is m times the length L ₂ of the second vehicle 20. Here, when obtaining the first distance AX in the first vehicle 10 and using the length L2 of the _second vehicle, the first vehicle 10 receives the second distance by a receiving unit (not shown) or the like. The length L ₂ of the second vehicle 20 may be received from the vehicle 20. The length L2 of the _second vehicle 20 may be a fixed value stored in a database (not shown) or the like of the danger information transmitting device 1 mounted on the first vehicle 10.

Further, m is a value that represents the safety factor to be considered based on the speed V ₂ of the first speed V ₁ and the second vehicle 20 of the vehicle 10. The safety factor is a probability indicating the possibility that the first vehicle 10 and the second vehicle 20 do not contact each other, and the value of m may be a fixed value or a variable value. Further, if the value of m is variable value, m becomes a smaller number if one or both of the velocity V ₂ of the first speed V ₁ and the second vehicle 20 of the vehicle 10 is low, fast In some cases it will be a large number. It is also possible to have the table information to determine the value of m by the rate V ₂ of the speed V ₁ and the second vehicle 20 of the first vehicle 10. Here, when the value of m is obtained by the first vehicle 10, when the speed V2 of the _second vehicle is used, the first vehicle 10 is separated from the second vehicle 20 by a receiving unit (not shown) or the like. The speed V ₂ of the second vehicle 20 may be received.

  Further, as shown in FIG. 4C, in order to avoid the obstacle 60 by changing the lane after the second vehicle 20 passes the first vehicle 10, the second vehicle 20 is The lane cannot be changed unless the rear end of the first vehicle 10 has passed the point B. If the lane change is performed before the rear end of the first vehicle 10 finishes passing through the point B, the risk that the first vehicle 10 and the second vehicle 20 come into contact with each other increases. . Here, the second distance BX between the point B and the point X that is the position of the obstacle 60 is a distance at which the second vehicle 20 can avoid the obstacle 60 without contacting the first vehicle 10.

Note that the second distance BX may be a fixed value or a variable value. In addition, when the second distance BX is a variable value, the second distance BX may be a value that is n times the length L ₂ of the second vehicle 20. Here, when in the first vehicle 10 obtains the second distance BX, when using the length L ₂ of the second vehicle, the first vehicle 10, the second due to the reception section (not shown) The length L ₂ of the second vehicle 20 may be received from the vehicle 20. The length L2 of the _second vehicle 20 may be a fixed value stored in a database (not shown) or the like of the danger information transmitting device 1 mounted on the first vehicle 10.

  The value of m for obtaining the distance BX may be a fixed value or a variable value like the value of n. Also, m = n may be set.

The first control unit 4 of the danger information transmitting device 1 mounted on the first vehicle 10 inputs the distance OX and the direction to the obstacle 60 detected by the obstacle detection unit 2 as obstacle position information, The current position information, the direction information, and the speed information V1 of the _first vehicle 10 detected by the first own vehicle state detection unit 3 are input.

Further, the first control unit 4 calculates a time Ta until the leading end of the first vehicle 10 reaches the point A and a time Tb until the rear end of the first vehicle 10 passes the point B. The time Ta until the tip of the first vehicle 10 reaches the point A is defined as OA from the point O to the point A, and OX from the point O to the point X.
Ta = OA / V ₁ = (OX−AX) / V ₁
It becomes.

Further, the time Tb until the rear end of the first vehicle 10 passes through the point B is L ₁ as the length of the first vehicle 10 and OB as the distance from the point O to the point B.
Tb = (OB + L ₁ ) / V ₁ = (OX + BX + L ₁ ) / V ₁
It becomes.

  The first control unit 4 obtains the distance OA from the first vehicle 10 to the point A by subtracting the first distance AX from the distance OX from the first vehicle 10 to the obstacle 60. Then, based on the obtained distance OA from the first vehicle 10 to the point A, the current position information and the direction information of the first vehicle 10, the position information of the point A is acquired.

  Further, the first control unit 4 obtains the distance OB from the first vehicle 10 to the point B by adding the second distance BX to the distance OX from the first vehicle 10 to the obstacle 60. Then, based on the obtained distance OB from the first vehicle 10 to the point B, and the current position information and orientation information of the first vehicle 10, the position information of the point B is acquired.

  And the 1st control part 4 produces | generates the danger information containing the positional information on A point, the positional information on B point, time Ta, and time Tb.

  Next, the operation of the danger information communication system and the danger information notification method according to this embodiment will be described. FIG. 5 is a flowchart showing the operation of the danger information communication system and the danger information notification method according to this embodiment. In FIG. 5, first, the obstacle detection unit 2 of the danger information transmission device 1 mounted on the first vehicle 10 detects an obstacle 60 around the first vehicle 10 and outputs obstacle position information. (Step S1). In addition, the first host vehicle state detection unit 3 detects the current position, direction, and speed of the first vehicle 10 (step S2).

  Then, the first control unit 4 is based on the position information of the obstacle 60 detected in step S1, and the current position information, direction information, and speed information of the first vehicle 10 detected in step S2. Position information of boundary points A and B in the dangerous area including the area where the first vehicle 10 and the obstacle 60 overlap and the surrounding area, and the time zone in which the first vehicle 10 is in the dangerous area. Information Ta and Tb to be expressed are calculated, and danger information including these information is generated (step S3). The first control unit 4 outputs the generated danger information to the transmission unit 5, and the transmission unit 5 transmits the danger information (step S4).

  On the other hand, the second control unit 14 mounted on the second vehicle 20 checks whether or not the receiving unit 13 has received danger information (step S5). When the second control unit 14 determines that the receiving unit 13 does not receive the danger information (NO in step S5), the process of step S5 is repeated. On the other hand, when the second control unit 14 determines that the reception unit 13 has received the danger information (YES in step S5), the second host vehicle state detection unit 12 The current position, direction, and speed are detected (step S6).

  Based on the current position information, direction information, and speed information of the second vehicle 20, the second control unit 14 calculates a time zone in which the second vehicle 20 is in the danger area obtained from the danger information (step S7). ). Specifically, a time Tb ′ from the current position of the second vehicle 20 to the point B and a time Ta ′ from the current position to the point A are calculated.

  Further, the second control unit 14 determines whether or not the time zones Ta to Tb in which the first vehicle 10 is in the dangerous area and the time zones Tb ′ to Ta ′ in which the second vehicle 20 is in the dangerous area coincide with each other. (Step S8). If the second control unit 14 determines that the time zones do not match (NO in step S8), the second control unit 14 returns to the process in step S5.

  On the other hand, when the second control unit 14 determines that the time zones coincide (YES in step S8), the second control unit 14 generates warning information and outputs the warning information to the warning unit 15. The warning unit 15 outputs warning information into the second vehicle 20 (step S9). Then, the process returns to step S5. Here, when the warning information is output in the second vehicle 20, the driver of the second vehicle 20 changes the lane while avoiding the obstacle 60 when the obstacle 60 is confirmed. It can be recognized that there is a risk of contact with the first vehicle 10 that is an oncoming vehicle. In response to this, the driver of the second vehicle 20 can slow down the speed of the second vehicle 20 or stop the second vehicle 20.

  As described above in detail, in the present embodiment, in the first vehicle 10, the dangerous area and the time zone in which the first vehicle 10 is in the dangerous area are calculated and transmitted to the second vehicle 20 as dangerous information. . When the second vehicle 20 determines whether or not the second vehicle 20 is in the dangerous area in the same time zone as the first vehicle 10 and determines that the second vehicle 20 is in the dangerous area in the same time zone. Warning information is output. Thus, warning information indicating that there is a risk of contact with the first vehicle 10 if the driver of the second vehicle 20 confirms the obstacle 60 and avoids it by changing lanes can be presented in advance. Therefore, the driver of the second vehicle 20 appropriately determines whether the obstacle 60 should be avoided by changing the lane of the second vehicle 20 or whether the obstacle 60 should be avoided by slowing down or stopping of the second vehicle 20. Thus, it is possible to prevent a very dangerous state. Therefore, an accident can be prevented.

  In the above-described embodiment, it is checked whether or not the road 30 on which the first vehicle 10 is traveling is in a dangerous state having a blind spot 50. Only when the road 30 is in a dangerous state, danger information is generated and transmitted. You may make it do. In this way, the situation where the first vehicle 10 is traveling on a clear road and the driver of the second vehicle 20 can sufficiently check the situation of the first vehicle 10 and the obstacle 60. Then, since no warning is given to the second vehicle 20, the driver of the second vehicle 20 does not feel bothered.

  Specifically, as shown in FIG. 6, a map data storage unit 6 is provided in the danger information transmitting apparatus 1. The map data storage unit 6 stores map data read from a map data storage medium (not shown) such as a DVD-ROM (Digital Versatile Disk Read Only Memory) or a CD-ROM (Compact Disk Read Only Memory). The first control unit 4 determines the first vehicle from the map data stored in the map data storage unit 6 based on the current position information of the first vehicle 10 output from the first host vehicle state detection unit 3. Read out map data around 10 areas.

  The first control unit 4 verifies the situation of the road 30 on which the first vehicle 10 is traveling based on the current position information of the first vehicle 10 and the map data around the first vehicle 10. Then, it is determined whether or not the road 30 on which the first vehicle 10 is traveling satisfies a predetermined dangerous condition, and when the dangerous condition is satisfied, a dangerous area and a time zone are calculated. Here, the dangerous condition is a condition in which the road 30 has a shape such as a curve, and a blind spot 50 is generated by the wall 40 or the like.

  The verification as to whether or not the dangerous condition is satisfied is not limited to the method using the current position information of the first vehicle 10 and the map data around the first vehicle 10. For example, it is assumed that the first vehicle 10 exists on a road 30 having a shape such as a curve based on the travel locus of the first vehicle 10, and the road 30 on which the first vehicle 10 is traveling corresponds to the dangerous condition. It may be determined whether or not to do so. Further, the road 30 on which the first vehicle 10 is traveling corresponds to the dangerous condition by detecting the presence of a wall 40 or the like around the first vehicle 10 by a radar or the like mounted on the first vehicle 10. It may be determined whether or not.

  Moreover, in this embodiment, whenever the 2nd vehicle 20 receives danger information from the 1st vehicle 10, the time slot | zone when the 1st vehicle 10 is in a danger area, and the 2nd vehicle 20 are in a danger area. It is checked whether or not the time zone matches, and the warning information is generated according to the result. However, the present invention is not limited to this. For example, when the second vehicle 20 receives the danger information, the second control unit 14 checks whether or not the second vehicle 20 reaches the dangerous area. It may not be generated. Here, the case where the second vehicle 20 does not reach the dangerous area refers to, for example, the case where the second vehicle 20 is traveling in the same direction as the first vehicle 10 in the same direction, or the presence of the dangerous area. When traveling on a road different from the road, the road travels from a branch point on the way to the dangerous area to another road. Whether or not to proceed to another road can be determined based on information on a guidance route set in a navigation device (not shown) or information on a blinker.

  In the above-described embodiment, the danger information transmitting device 1 includes the first host vehicle situation detecting unit 3 and the danger information receiving device 11 includes the second host vehicle situation detecting unit 12. However, the present invention is not limited thereto. Not. For example, the danger information transmitting device 1 may acquire the current position information, the direction information, and the speed information of the first vehicle 10 from a navigation device or the like provided separately. You may make it acquire the present position information, direction information, and speed information of the 2nd vehicle 20 from the navigation apparatus etc. which were provided.

  In the above-described embodiment, the obstacle 60 moves in the same lane as the second vehicle 20 toward the second vehicle 20, but is not limited to this. For example, the obstacle 60 may exist in the same lane as the first vehicle 10, may move in the same direction as the second vehicle 20, or may stop.

Further, in the embodiment described above, the speed of the obstacle 60 is ignored because sufficiently slower than the speed V ₂ of the speed V ₁ and the second vehicle 20 of the first vehicle 10 is not limited to this . For example, when the speed of the obstacle 60 increases, it takes longer for the first vehicle 10 to pass the obstacle 60 than when the obstacle 60 is stopped. The dangerous area including the area overlapping with the object 60 and the surrounding area becomes larger. Therefore, the size of the dangerous area may be changed according to the speed of the obstacle 60. Here, in order to obtain the speed of the obstacle 60, for example, the following processing is performed. First, the distance between the first vehicle 10 and the obstacle 60 that has changed due to the movement is obtained. Dividing the obtained distance by the time difference before and after the movement gives the speed difference between the two. And the speed of the obstacle 60 is obtained by calculating the difference between the speed V1 of the first vehicle 10 and the speed difference between the two. Here, it is assumed that the first vehicle 10 and the obstacle 60 are moving in the same direction or in the opposite direction.

  In the above-described embodiment, the first vehicle 10 and the obstacle 60 are present in the blind spot 50 as viewed from the second vehicle 20, but the present invention is not limited to this. For example, as shown in FIG. 7, the first vehicle 10, the second vehicle 20, and the obstacle 60 may be on a straight road 30.

  In the above-described embodiment, the danger information transmitting device 1 is mounted on the first vehicle 10 and the danger information receiving device 11 is mounted on the second vehicle 20, but the present invention is not limited to this. For example, the danger information receiving device 11 may be mounted on the first vehicle 10 and the danger information transmitting device 11 may be mounted on the second vehicle 20, or the first vehicle 10 and the second vehicle 20 may be dangerous. The information transmitting device 1 and the danger information receiving device 11 may be mounted. Thereby, the danger by the 2nd vehicle 20 performing a lane change also to the 1st vehicle 10 which does not avoid the obstruction 60 can be shown.

  Further, in the above-described embodiment, it is verified whether or not the time zones Ta to Tb in which the first vehicle 10 is in the dangerous area and the time zones Tb ′ to Ta ′ in which the second vehicle 20 is in the dangerous area match. However, it is not limited to this. For example, when the second vehicle 20 receives the danger information from the first vehicle 10, the second vehicle 20 calculates a region of a position after the time Ta to Tb from the current position at that time. You may make it verify whether it corresponds with a dangerous area (at least one part area | region overlaps).

  In the above-described embodiment, the warning information is output when the time zone in which the first vehicle 10 is in the dangerous area matches the time zone in which the second vehicle 20 is in the dangerous area. It is not limited to this. For example, whether or not warning information is output may be determined according to the degree of danger, or the content of warning information (for example, the content of a message by voice or image) may be changed according to the degree of danger. Also good. Here, when the time zone in which the first vehicle 10 is in the danger zone and the time zone in which the second vehicle 20 is in the danger zone completely match, the degree of danger is increased and warning information is output. Like that. On the other hand, when the time zone in which the first vehicle 10 is in the danger zone and the time zone in which the second vehicle 20 is in the danger zone only partially match, the degree of danger is lowered and warning information is not output. Like that.

  In addition, this embodiment mentioned above is only what showed the example in the implementation in implementing this invention, and, as for this, the technical scope of this invention should not be interpreted limitedly. In other words, the present invention can be implemented in various forms without departing from the spirit or main features thereof.

  INDUSTRIAL APPLICABILITY The present invention is useful for a warning device that notifies a danger when a vehicle travels while avoiding an obstacle.

It is a block diagram which shows the structural example of the danger information communication system by this embodiment. It is a figure which shows the positional relationship of the 1st vehicle in a curve, a 2nd vehicle, and an obstruction. It is a figure which shows the example of the dangerous area in a curve. It is a conceptual diagram which shows the example of the dangerous area in a curve. It is a flowchart which shows the operation | movement of the danger information communication system by this embodiment, and the danger information notification method. It is a block diagram which shows the modification of the danger information communication system by this embodiment. It is a figure which shows the other example of the positional relationship and danger area | region of a 1st vehicle, a 2nd vehicle, and an obstruction. It is a figure which shows the state of the blind spot of the own vehicle in a curve.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Danger information transmitter 2 Obstacle detection part 3,12 Own vehicle position detection part 3a, 12a Vehicle speed sensor 4,14 Control part 5 Transmission part 11 Danger information receiver 13 Reception part 15 Warning part 10 1st vehicle 20 2nd Vehicle 30 road 40 wall 50 blind spot 60 obstacle

Claims (4)

A first vehicle status detection unit for detecting a position, a direction, and a speed of the first vehicle; an obstacle detection unit for detecting an obstacle around the first vehicle; and the first vehicle status detection A region where the first vehicle overlaps the obstacle based on the position, direction, speed of the first vehicle detected by the unit, and positional information of the obstacle detected by the obstacle detection unit, and A dangerous area including a surrounding area, a first control unit that generates, as dangerous information, a time zone in which the first vehicle is in the dangerous area, and the dangerous information generated by the first control unit. A danger information transmitting device comprising:
Detected by a second own vehicle situation detection unit that detects the position, direction, and speed of the second vehicle, a reception unit that receives danger information transmitted by the transmission unit, and the second own vehicle situation detection unit The second vehicle detects a time zone in which the second vehicle is in the dangerous area based on the position, orientation, speed, and danger information received by the receiving unit, and the first vehicle A second control unit that generates warning information when a time zone in the dangerous area matches a time zone in which the second vehicle is in the dangerous area, and a warning generated by the second control unit A danger information receiving device comprising a warning unit for outputting information;
A danger information communication system comprising: The first control unit determines whether the first vehicle is based on the position of the first vehicle detected by the first host vehicle state detection unit and map data around the first vehicle. 2. The danger according to claim 1, wherein it is determined whether or not a dangerous condition that the vehicle exists on a road having a blind spot is satisfied, and the risk information is generated when it is determined that the dangerous condition is satisfied. Information communication system. Reception that receives an obstacle and a danger area that includes an area where the first vehicle that detected the obstacle overlaps and an area around the obstacle, and danger information that indicates a time zone in which the first vehicle is in the danger area And
A host vehicle status detection unit for detecting the position, direction, and speed of the second vehicle;
Based on the position, direction and speed of the second vehicle detected by the host vehicle status detection unit and the danger information received by the reception unit, the time zone in which the second vehicle is in the danger region is detected. A control unit that generates warning information when a time zone in which the first vehicle is in the dangerous area matches a time zone in which the second vehicle is in the dangerous area;
A warning unit for outputting warning information generated by the control unit;
A danger information receiving device. A first step of detecting obstacles around the first vehicle;
A second step of detecting the position, orientation and speed of the first vehicle;
Based on the position information of the obstacle detected in the first step and the position, direction and speed of the first vehicle detected in the second step, the first vehicle is A third step of generating, as danger information, a dangerous area including an area overlapping with the obstacle and a surrounding area, and a time zone in which the first vehicle is in the dangerous area;
A fourth step of transmitting the danger information generated in the third step from the first vehicle to the second vehicle;
A fifth step of receiving at the second vehicle the danger information transmitted in the fourth step;
A sixth step of detecting the position, orientation and speed of the second vehicle;
The time required for the second vehicle to reach the danger area based on the position, direction, and speed of the second vehicle detected in the sixth step and the danger information received in the fifth step. A seventh step of detecting a band;
An eighth step of determining whether or not a time zone in which the first vehicle is in the danger zone and a time zone in which the second vehicle is in the danger zone;
A ninth step of generating warning information when the control unit determines that the time zones match in the eighth step;
A tenth step of outputting the warning information generated in the ninth step;
A danger information notification method characterized by comprising:

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