JP4650899B2 - In-vehicle system providing safety support information - Google Patents

Description

  The present invention relates to a safety support information provision vehicle-mounted system which is mounted on a vehicle and provides information for assisting safety to a driver of the vehicle.

In general, VICS (Road Traffic Information Communication System) has been put into practical use as an apparatus for providing information to vehicles from external (roadside) infrastructure facilities, and various types of information including traffic jam information and the like are provided.
Further, in recent years, not only traffic jam information but also the presence of a stop vehicle at an invisible curve or the like is detected by a sensor installed on the roadside, and roadside-to-vehicle communication is used to change the communication device in the vehicle from the roadside communication device. Techniques for providing safety support information have been proposed, and demonstration experiments have been conducted.

  On the other hand, a vehicle-to-vehicle communication device capable of direct communication between vehicles without requiring infrastructure facilities is mounted on the vehicle, and vehicle information such as vehicle position information, traveling direction, speed, etc. obtained by GPS and the like are mutually exchanged. A technology for providing information for safety support when there is a high possibility that the vehicle position of the host vehicle and the vehicle position of another vehicle will approach in the future has also been proposed and experimented.

In any of the above services, in order to ensure time for the driver of the vehicle to recognize and determine the information, at least a few seconds before the collision occurs, the possibility of a future collision is determined, and the information is sent to the driver. Need to provide.
It is also necessary to avoid providing wrong information even in various road conditions.

As a conventional safety support information provision vehicle-mounted system, one applied to a vehicle collision avoidance control device has been proposed (for example, see Patent Document 1).
The conventional system described in Patent Document 1 predicts a vehicle position several seconds ahead of the host vehicle based on position measurement sensors such as GPS and sensor information such as a steering wheel angle or an accelerator opening, and transmits the predicted vehicle position to other vehicles. It is configured to obtain the predicted vehicle position of the other vehicle through inter-vehicle communication, calculate the collision probability between the host vehicle and the other vehicle, and provide information to the driver of the vehicle when the collision probability is high. .
Further, a conventional system that also transmits past vehicle position information has been proposed (for example, see Patent Document 2).

11 and 12 are explanatory diagrams showing an example of service provision by the conventional safety support information provision vehicle-mounted system described in Patent Documents 1 and 2, and FIG. 11 shows an example of service provision at an intersection of a planar structure, FIG. 12 shows an example of service provision at a three-dimensional structure intersection (three-dimensional intersection).
In each figure, the traveling directions of the vehicle (own vehicle) 10 and the other vehicle 20 are indicated by arrows.

In FIG. 11, a vehicle 10 is going to enter an intersection by traveling on a non-priority road 14 having a narrow road width, and another vehicle 20 is going to enter an intersection by traveling on a priority road 24 having a wide road width.
On the other hand, in FIG. 12, the vehicle 10 is traveling on the road 13 on the lower stage of the three-dimensional intersection, and the other vehicle 20 is traveling on the road 23 on the upper stage of the three-dimensional intersection.

  At the intersection of the planar structure as shown in FIG. 11, the approaching state of the other vehicle 20 on the priority road 24 side is transmitted to the vehicle 10 on the non-priority road 14 side by inter-vehicle communication, and when the collision probability is high, the vehicle 10 This warning device provides the driver with caution information such as “approach to the right vehicle”.

  However, in the case of the conventional system, since the predicted vehicle positions of the vehicle 10 and the other vehicle 20 are only predicted and communicated in a plane, as shown in FIG. 12, in a three-dimensional intersection (a situation where no physical collision occurs) However, it may be determined that the collision probability is high, and erroneous safety support information (caution information such as “right vehicle approach”) may be provided to the driver.

JP 2000-276696 A JP 2006-182207 A

  In the conventional safety support information provision vehicle-mounted system, the predicted vehicle positions of the vehicle 10 and the other vehicle 20 are predicted in a plane, and only safety support information is provided based on the position prediction between the vehicles. However, there is a problem in that it is erroneously determined that the collision probability is high even though there is no possibility of a collision, and wrong safety support information is provided to the driver.

  In addition, in order to realize a safety support information providing system with few errors, matching processing is performed on the road of the map information having the information of the three-dimensional intersection with the position information of a plurality of times obtained by continuous communication from other vehicles. It may be possible to specify that the traveling road of the own vehicle and the traveling road of the other vehicle are a three-dimensional intersection, but since the map information is built in the car navigation device, all of the surroundings of the own vehicle obtained by communication In order to perform matching processing and determination for another vehicle, it is necessary to greatly enhance the arithmetic processing performance of the car navigation device, and there is a problem that the conventional car navigation device cannot cope with it.

  In addition, vehicle information (acceleration performance, driver's habit when driving, route being guided by the car navigation device, commuting route that is always used, etc.) for improving the prediction accuracy of the future position of other vehicles is obtained on the own vehicle side Since this is not possible, there is a problem that the future position of the other vehicle cannot be predicted with high accuracy.

  The present invention uses the predicted vehicle position based on the road map information as communication information, thereby preventing erroneous determinations such as at a three-dimensional intersection, and greatly improving the performance of the car navigation device simply by adding a determination device and a communication device. An object is to obtain an inexpensive in-vehicle system for providing safety support information without having to do so.

A safety support information provision vehicle-mounted system according to the present invention is a safety support information provision vehicle-mounted system that is mounted on a vehicle and provides safety support information. The vehicle navigation system includes road map information and a vehicle based on the road map information. A vehicle position prediction device that predicts a future vehicle position and obtains a predicted vehicle position; and a communication device that performs mutual communication of predicted vehicle position information between the vehicle and other vehicles located around the vehicle; A determination device that compares a predicted vehicle position of a vehicle with a predicted vehicle position of another vehicle obtained through mutual communication, and a display reproduction device that provides safety support information based on a determination result of the determination device, and road map information is It includes crossing information, overpass information, to correspond to the predicted vehicle position information for each time the vehicle and the other vehicle, includes a hierarchy information in the height direction of the crossing, the display-playback instrumentation , When the predicted vehicle position of the vehicle and the other vehicle is close at a future time, there is provided a safety support information.

  According to the present invention, by using the predicted vehicle position based on the road map information as communication information, erroneous determination at a three-dimensional intersection or the like can be prevented, and only by adding a determination device and a communication device, A safety support information vehicle-mounted system can be constructed at low cost without significantly changing the performance.

Embodiment 1 FIG.
Hereinafter, the first embodiment of the present invention will be described in detail with reference to the drawings.
FIG. 1 is a block diagram showing the overall configuration of a safety support information provision vehicle-mounted system according to Embodiment 1 of the present invention.
In FIG. 1, a car navigation device 100 mounted on a vehicle includes a GPS antenna 101, a GPS position measurement device 102a, a self-supporting position measurement device 102b, a gyro sensor 103, a vehicle speed pulse input device 104, and a hard disk recording device 105. Road map information 106, travel history information 111 and driving characteristic information 112 recorded in the hard disk recording device 105, navigation route search device 107, map / route display generation device 108, display reproduction device 109, vehicle A position prediction device 110 and an in-vehicle network 113 are provided.

In the vehicle position prediction device 110, as vehicle device information (detection information of various sensors) via the in-vehicle network 113, the winker information 114, the brake information 115, the accelerator opening information 116, the gear position information 117, the steering wheel angle information 118, etc. Is entered.
The vehicle device information may be directly input individually without going through the in-vehicle network 113.

The display reproduction device 109 displays various input information such as route information from the map / route display generation device 108 and external traffic information from the determination device 119 mounted on the vehicle.
Further, the position prediction information (predicted vehicle position) obtained by the vehicle position prediction device 110 is input to the determination device 119.
The determination device 119 is connected to the communication device 120 and the antenna 121 for inter-vehicle communication.

The GPS position measuring device 102a measures the vehicle position of the host vehicle based on the input signal from the GPS antenna 101.
The self-supporting position measuring device 102b also detects the detection signal from the gyro sensor 103, the vehicle speed pulse input from the vehicle speed sensor (not shown) via the vehicle speed pulse input device 104, and the road map information in the hard disk recording device 105. 106, the vehicle position of the own vehicle is measured independently.

The car navigation apparatus 100 has a hybrid position measurement function of a vehicle position measurement function based on the GPS position measurement apparatus 102a and a vehicle position measurement function based on the self-supporting position measurement apparatus 102b. Even if the GPS signal cannot be received, the vehicle position of the host vehicle can be accurately specified on the map by map matching based on the road map information 106.
In this case, the road map information 106 is recorded in the hard disk recording device 105. However, any type of recording device may be used as long as it is a large capacity storage device such as a DVD-ROM or a CD-ROM optical disk. Of course, for example, a semiconductor memory may be used as the recording device.

  The navigation route search device 107 is based on vehicle position information from the GPS position measurement device 102a and the self-supporting position measurement device 102b and information in the hard disk recording device 105 at the time of destination setting at the start of driving by a vehicle driver. Search for the driving route of the vehicle.

The map / route display generation device 108 displays a road map and a navigation route of the vehicle based on the vehicle position information and the road map information 106.
The display reproduction device 109 is based on the map and route information from the map / route display generation device 108 and the input information from the determination device 119 (determination result regarding possibility of collision described later, external traffic information, etc.). Display the vehicle position and external traffic information.
The above apparatuses 102a, 102b, 104, and 107 to 109 relate to a general car navigation function.

  The vehicle position prediction device 110 often passes through the current vehicle position information of the own vehicle from the GPS position measurement device 102a and the independent position measurement device 102b, road map information 106 including height information such as a solid intersection, and commuting. The travel history information 111 for recording the travel route, the driving characteristic information 112 for learning the driver's driving habit such as acceleration / deceleration, and the navigation route from the navigation route search device 107 are input, and according to the navigation route during the navigation operation. To predict the predicted vehicle position of the vehicle.

In order to improve the prediction accuracy of the predicted vehicle position, the vehicle position prediction device 110 includes the winker information 114, the brake information 115, the accelerator opening information 116, the gear position information 117, and the steering wheel angle information 118 as described above. Vehicle equipment information such as is entered.
The above functions by the vehicle position prediction device 110 can be realized relatively easily by extending the vehicle position measurement technology of the host vehicle using the current map matching technology in the car navigation device 100.

Hereinafter, the predicted vehicle position (including road height hierarchy information) predicted by the vehicle position prediction device 110 is input to the determination device 119.
The communication device 120 transmits the predicted vehicle position of the own vehicle input to the determination device 119 from the antenna 121 and inputs the predicted vehicle position of the other vehicle received via the antenna 121 to the determination device 119.

The determination device 119 compares the predicted vehicle position of the other vehicle with the predicted vehicle position of the host vehicle, calculates the collision possibility (collision probability) between the vehicles, and if it is determined that the collision possibility is high The safety support information is displayed on the display / playback device 109 a few seconds before the time when it is determined that there is a possibility of a collision, and the driver is warned.
In FIG. 1, the display / playback device 109 is configured in the car navigation device 100, but may be configured separately from the car navigation device 100.

On the other hand, the determination device 119 and the communication device 120 are configured separately from the car navigation device 100, have an additional function that the conventional car navigation device does not have, and require new hardware and software.
Thus, by separating the determination device 119 and the communication device 120 from the car navigation device 100, the only additional function to the conventional car navigation device is the vehicle position prediction device 110 that can be easily realized by software. The safety assistance information provision vehicle-mounted system according to the first embodiment of the present invention can be easily realized without significantly improving the performance of the existing car navigation device (incurring cost increase).
In addition, it is possible to easily cope with upgrade of a safety support information providing vehicle-mounted system that will be developed in the future (including change of communication method and determination logic) only by additionally changing the determination device 119 and the communication device 120. .

Next, the operation according to the first embodiment of the present invention shown in FIG. 1 will be described.
First, the current vehicle position map matching function, which is an existing technology, will be briefly described.
The map matching function compares the position information calculated by the GPS position measurement device 102a with the road map information (position information on the road map) 106, and when the GPS position coordinates do not exist on the road of the map, This function corrects the position on a nearby road and indicates the vehicle position of the host vehicle on the road.

  As a result, even if GPS position information cannot be obtained due to a tunnel or a three-dimensional intersection, it is assumed that the host vehicle is traveling on the road based on the gyro sensor 103 and the distance obtained by integrating the vehicle speed pulse. The vehicle position of the host vehicle can be calculated autonomously.

  In conventional car navigation devices, there are delay times for GPS position calculation and map matching calculation, and if the vehicle position of the calculated vehicle is simply displayed on the map, it is slightly less than the current vehicle position. Since the position of the previous time will be displayed, a simple vehicle position prediction process is performed in which the actual predicted vehicle position is obtained from the vehicle speed of the host vehicle and the calculation delay time and displayed as the current vehicle position. Yes.

On the other hand, in the vehicle position prediction apparatus 110 according to the first embodiment of the present invention, the conventional technique is extended to predict a vehicle position several seconds ahead.
The characteristic operation according to the first embodiment of the present invention will be described below with reference to FIGS.
FIG. 2 is a flowchart showing a vehicle position prediction process according to the first embodiment of the present invention, and FIG. 3 is an explanatory diagram schematically showing the vehicle position predicted based on the road map information 106.
In FIG. 2, first, the current vehicle position of the host vehicle is measured (step S10), and the current traveling road that is map-matched is estimated (step S11).

Subsequently, a predicted moving distance after a few seconds predicted from the current vehicle speed and acceleration of the host vehicle is calculated (step S12).
At this time, information (brake information 115, accelerator opening information 116, gear position information 117, vehicle weight, steering wheel angle information 118, etc.) necessary for estimating the vehicle behavior in more detail is obtained from the in-vehicle network 113. In such a case, the predicted moving distance is calculated using these pieces of information.

Next, based on the road map information 106, it is determined whether or not there is a branch such as an intersection while moving from the road currently being map matched to the predicted movement distance obtained in step S12 (step S13). ).
If it is determined in step S13 that there is no branch (that is, NO), a point that has been moved by the predicted moving distance on the currently matched map road is set as the predicted vehicle position (step S18).

At this time, even if there is a branch such as an intersection on the plane, if it is found on the road map that there is no physical intersection such as a three-dimensional intersection, a process without a branch (step Go to S18).
In this case, the vehicle position prediction apparatus 110 always obtains the hierarchy information of the road height recorded in advance in the road map information 106 in the hard disk recording device 105, and the road height hierarchy together with the predicted vehicle position. The information is also transmitted to the determination device 119.

  For example, as shown in FIG. 3, when the shape of the road 13A on which the host vehicle 10 is traveling is curved at a right angle to the left, the host vehicle is only determined from the current direction and speed of the host vehicle 10 as in the conventional system. Assuming that 10 vehicle positions are predicted, a vehicle position that cannot occur on an actual road, such as the predicted vehicle position 12 (see the dotted frame), is predicted. According to the first embodiment of the present invention, FIG. 3, the vehicle position can be predicted according to the shape of the road 13 </ b> A.

In addition, in accordance with the calculation of the predicted vehicle position 11, the road information on the road that has been subjected to the map matching is handled at the same time, and both the predicted vehicle position 11 and the road information are processed by inter-vehicle communication using the communication device 120 and the antenna 121. It transmits to the other vehicle 20.
Further, in the host vehicle 10, the predicted vehicle position 21 of the other vehicle 20 is received by inter-vehicle communication using the communication device 120 and the antenna 121.

Returning to FIG. 2, the operation of the vehicle position prediction device 110 will be described.
If it is determined in step S13 described above that there is a branch such as an intersection during the travel from the currently map-matched road to the predicted travel distance (that is, YES), the vehicle position predicting device 110 determines the branch. The predicted vehicle position is calculated in consideration of the possibility of changing the road at points.

Specifically, when a branch is actually possible at an intersection or the like, following step S13, a branch road is estimated as follows.
First, with reference to the turn signal information 114, it is determined whether or not the turn signal is operating when the host vehicle is close to or entering the intersection (step S14).

  If it is determined in step S14 that the winker is operating (that is, YES), it is predicted that the winker will turn right or left in the indicated direction, or merge or branch. The combined road is selected, the vehicle position is predicted on the road in the blinker operation direction, and the predicted vehicle position is matched (step S16).

On the other hand, if it is determined in step S14 that the winker is not operating (that is, NO), it is subsequently determined whether or not there is a right / left turn in route guidance by the function of the car navigation device 100 (step S15). .
In step S15, if it is determined that there is a left / right turn in the route guidance (that is, YES), a road corresponding to the route guidance is selected, a vehicle position is predicted on the road in the route guidance direction, and the predicted vehicle position is determined. Matching is performed (step S17).

On the other hand, if it is determined in step S15 that there is no right or left turn (that is, NO) in the route guidance, the process proceeds to a process without branching (step S18).
Although not shown in FIG. 2, if the operation of the winker is different from the route guidance when the host vehicle enters the intersection, the route guidance is regarded as ignored by the driver, and the winker information 114 The vehicle position is estimated with priority on the direction.

After the vehicle position and road prediction processing at the branch (steps S16 to S18) is completed, the predicted road lane width is obtained based on the road map information 106 (step S19), and then the predicted road Is calculated based on the road map information 106 (step S20).
Note that the height of the road predicted in step S20 does not have to be obtained as an absolute value in units of meters, and may be a value that can be used to understand the hierarchical structure (such as underground, ground, elevated 1, elevated 2).

According to the above steps S10 to S20, the vehicle position can be predicted when the vehicle is running, but the vehicle is stopped in the right turn waiting state or the temporary stop state. The predicted vehicle position is calculated with the position kept at the stop position.
However, in an actual service, it is necessary to determine whether or not there is a possibility of a collision when a vehicle in a stopped state starts. Therefore, under the following conditions (see steps S21 to S27), virtually The vehicle position when the vehicle starts is predicted.

  First, the vehicle position prediction device 110 may be used when a stop is requested at an intersection where red light information or temporary stop information can be obtained by communication, or at intersection information recorded in advance on a map, Whether or not the traveling road of the host vehicle is on the non-priority side is determined based on information such as the traveling road width of the own vehicle and the road width of the branch road recorded in advance (step S21).

Although not shown in FIG. 2, the vehicle position prediction device 110 considers stopping at an intersection when it is clear from the brake information 115 that the vehicle is decelerating (for example, the brake is stepped on). To predict the vehicle position.
In addition, even at an intersection that requires a stop or temporary stop due to a red light, if the brake is not stepped on or if the acceleration of deceleration is weak, a vehicle position that does not consider stopping is predicted.

If it is determined in step S21 that the traveling road of the host vehicle is on the priority side (that is, NO), it is a traveling road that does not require a temporary stop, so the predicted vehicle position already predicted is used as it is (step S28). The processing routine of 2 is finished.
On the other hand, if it is determined in step S21 that the traveling road of the host vehicle is the non-priority side (that is, YES), it is subsequently determined whether or not the host vehicle is temporarily stopped (step S22).

  If it is determined in step S22 that the host vehicle is traveling (that is, NO), the process proceeds to step S28, where the predicted vehicle position already predicted is used as it is, and the processing routine of FIG.

On the other hand, if it is determined in step S22 that the host vehicle is stopped at an intersection or the like (that is, YES), first, the predicted vehicle position when the future moving distance is zero is determined as the first predicted vehicle position. As the current vehicle position (step S23).
Subsequently, assuming that the vehicle is accelerated by releasing the brake from the stopped state, the predicted vehicle position when accelerating at the normal acceleration obtained by the learning function is obtained as the second predicted vehicle position (step S24).

Further, when the host vehicle is temporarily stopped, the vehicle position prediction device 110 predicts each of two types (first and second) of predicted vehicle positions based on the subsequent brake information 115 as follows. Output with probability.
First, it is determined from the brake information 115 whether or not the brake is depressed (step S25). If it is determined that the brake is depressed (that is, YES), the first predicted vehicle position is set. The first prediction probability is set to be large (step S26), and the processing routine of FIG.

  On the other hand, if it is determined in step S25 that the brake is not depressed (that is, NO), it is predicted that the brake will be released and the vehicle will start acceleration, and a second predicted vehicle position is set for setting the second predicted vehicle position. A large prediction probability is set (step S27), and the processing routine of FIG.

In step S27, the prediction probability of the second predicted vehicle position when it is predicted to shift to start acceleration only by releasing the brake is increased, so that information can be provided at an earlier stage.
That is, another vehicle that has received the predicted vehicle position transmitted via the communication device 120 and the antenna 121 can determine the possibility of collision based on the second predicted vehicle position.
If the gear position information 117 indicates a neutral position, or if the vehicle cannot start immediately such as when the parking brake is applied, the execution of step S27 is prohibited.

  Although not shown in FIG. 2, an intersection (a right or left turn is predicted) that is a branch target of a road that is route-guided by learning of the travel history information 111 such as a road that is not route-guided or a daily commute route. The third predicted vehicle position on the branch road predicted from the learning of the travel history information 111 and the fourth predicted vehicle position on the straight road Then, the third and fourth predicted vehicle positions may be assigned the third and fourth predicted probabilities, respectively, and two pieces of information may be output to increase safety.

As described above, the vehicle position prediction device 110 calculates the predicted vehicle position during travel, but in the state immediately after starting, the position of the host vehicle is often not located on a road such as a parking lot. Since it is predicted, when the predicted vehicle position is matched on the road, there is a problem that the predicted vehicle position shifts.
Therefore, a travel path determination device (not shown) that determines that the vehicle is traveling on a road that is not recorded in the road map information 106 is provided, a moving state at a low speed after starting, a state where GPS cannot be received, When it is determined that it is clear that the vehicle is not traveling on the road, such as an entrance state to the parking lot (which can be understood from communication such as payment), the vehicle position prediction device 110 displays the predicted vehicle position on the road. Stops the matching calculation process.

FIG. 4 is an explanatory view showing a state where the parking lot passage and the public road are adjacent to each other.
In FIG. 4, a vehicle that enters the premises from the entrance IN of the parking lot (see the broken line arrow), a vehicle that exits on the public road from the exit OUT of the parking lot (see the broken line arrow), and the own vehicle 15 that runs on the premises of the parking lot The host vehicle 15 ′ (broken line) that is erroneously recognized as traveling on a public road and the other vehicle 16 (see solid line arrow) exiting from the non-priority road to the public road are shown.

Normally, private roads other than public roads and roads in parking lots are not recorded in the road map information 106. Therefore, when the predicted vehicle position is matched based on the road map information 106, the own vehicle 15 running on the parking lot premises However, it is erroneously determined that the vehicle is traveling in the position of the vehicle 15 ′ on the public road even though the vehicle is not traveling on the public road.
Accordingly, there is a possibility that the predicted vehicle position is erroneously calculated and erroneous information is provided, for example, the possibility of collision with the other vehicle 16 is high.

Therefore, if it is possible to determine the entrance status to the parking lot by communication, the matching of the predicted vehicle position in the road map information 106 is stopped at the entrance to the parking lot, and parking by the communication used for settlement at the time of entry. By determining the participation from the parking lot and restarting the matching of the predicted vehicle position in the road map information 106, an erroneous calculation of the predicted vehicle position can be avoided.
In addition, as another miscalculation avoidance process, for example, when the vehicle is traveling at a certain speed or more and the condition that the position measurement result by GPS is continuously present on the public road is satisfied, the matching is performed. You may make it resume.
With the above processing, the future predicted vehicle position can be accurately determined in various road shapes such as curves, three-dimensional intersections, intersections, merges, and branches, and whatever the driver driving characteristics and vehicle acceleration performance are. Can be sought.

Next, operations of the display reproduction device 109 and the determination device 119 according to the first embodiment of the present invention will be described with reference to FIGS.
5-7 is explanatory drawing which shows the input information to the determination apparatus 119, FIG. 5 is the position prediction information acquired by communication from another vehicle, FIG. 6 is the position prediction information of the own vehicle, FIG. Etc.) are shown.
FIG. 8 is a flowchart showing a determination process based on the predicted vehicle position.
FIGS. 9 and 10 are explanatory diagrams schematically showing the comparison processing of the predicted vehicle position. FIG. 9 shows a state at an intersection and FIG. 10 shows a state at a three-dimensional intersection.

  As shown in FIGS. 5 to 7, the determination device 119 includes position prediction information (predicted vehicle position) 200 of other vehicles received by the communication device 120 and the antenna 121, and position prediction information (predicted vehicle position) of the host vehicle. 201 and roadside information 203 (signal information distributed from the roadside, intersection structure, provided service type information) received from a device (signal etc.) installed on the roadside are input.

To the position prediction information 201 of the host vehicle, road side information 202 (intersection structure in the host vehicle, provided service type information) such as an intersection where the host vehicle will enter will be attached.
The roadside information 203 may include content 204 that is distributed from the roadside and displayed on the display / playback device 109.

5 to 7, the predicted vehicle position 200 (see FIG. 5) of the other vehicle includes a vehicle ID that can identify the other vehicle, predicted vehicle position information (predicted calculation time, predicted time, predicted vehicle of the other vehicle. Latitude, longitude indicating a position, traveling direction, traveling speed, probability distribution of predicted vehicle position of other vehicle, and the like, and road width and road height direction while other vehicle is traveling.
Furthermore, in the case of a road in which a link number indicating a specific section of the road used in traffic jam information or the like is set, the link number is also included in the predicted vehicle position 200.

The predicted vehicle position 201 (see FIG. 6) of the own vehicle includes the same information as in the case of other vehicles in FIG. 5, and roadside information used only by the determination device 119 in addition to the predicted vehicle position 201 transmitted by communication. 202 (intersection structure and provided service type information, etc.) is added.
In addition, when roadside information 203 (see FIG. 7) by communication is provided from a traffic light or the like, content 204 to be displayed on the display / playback device is received while receiving information such as traffic signal information, intersection structure, and provided service type. May be received.

Next, the determination process of the determination device 119 based on the predicted vehicle position will be described with reference to FIGS.
In FIG. 8, first, in order to adjust the predicted time, whether or not there is a deviation (delay caused by communication from the other vehicle) between the predicted time from the other vehicle (reception information) and the predicted time of the host vehicle. Is determined (step S30).

If it is determined in step S30 that there is a deviation in the predicted time (ie, YES), the information on the other vehicle (predicted vehicle position) is corrected by the deviation in the predicted time in accordance with the predicted time of the host vehicle (step S30). S31).
At this time, the latitude and longitude of the other vehicle are recalculated using the difference between the predicted time of the other vehicle and the predicted time of the host vehicle and the traveling direction and speed of the other vehicle.

Subsequently, it is determined whether or not the difference between the predicted times of the host vehicle and the other vehicle is larger than a predetermined value (step S32), and if it is determined that the deviation of the predicted time is larger than the predetermined value (that is, YES). The probability distribution corresponding to the region of the predicted vehicle position is expanded (step S33).
Subsequently, it is determined whether or not all of the obtained information on the other vehicle has been corrected (the predicted time from the other vehicle is combined with the predicted time of the own vehicle) (step S34), and all corrections of the other vehicle are completed. If it is determined that it has not been performed (that is, NO), the process returns to step S30 and the above processing is repeatedly executed.

If it is determined in step S30 that there is no deviation in the predicted time (that is, NO), the process proceeds to the correction completion determination process (step S34) without executing the processes in steps S31 to S33.
If it is determined in step S32 that the difference in predicted time is equal to or less than the predetermined value (that is, NO), the process proceeds to the correction completion determination process (step S34) for the other vehicle without executing the process in step S33.

  On the other hand, if it is determined in step S34 that all corrections for other vehicles have been completed (that is, YES), then whether or not the predicted vehicle position of the own vehicle and the predicted vehicle position of the other vehicle are substantially equal is determined. If it is determined (step S35) and it is determined that the predicted vehicle positions of the own vehicle and the other vehicle are different (ie, NO), it is considered that there is no possibility of collision, and therefore the processing routine of FIG. 8 is immediately terminated. .

  On the other hand, if it is determined in step S35 that the predicted vehicle positions of the own vehicle and the other vehicle are substantially equal (that is, YES), then the height of the traveling road of the own vehicle and the height of the traveling road of the other vehicle are subsequently determined. Are determined to be different (step S36), and if it is determined that the heights of the traveling roads of the host vehicle and the other vehicle are different (that is, YES), it is considered that there is no possibility of collision at a three-dimensional intersection or the like. Therefore, the processing routine in FIG. 8 is immediately terminated.

  On the other hand, if it is determined in step S36 that the traveling roads of the host vehicle and the other vehicle have the same height (that is, YES), the approach direction and approach speed of the other vehicle with respect to the host vehicle are calculated (step S37). Then, it is determined whether or not the host vehicle is on the non-priority side (step S38).

If it is determined in step S38 that the vehicle is on the non-priority side (that is, YES), non-priority information is set (step S39), and specific service information (safety support service type information) is stored in the road map information 106. It is determined whether or not there is (step S40).
On the other hand, if it is determined in step S38 that the host vehicle is the priority side (that is, NO), the process proceeds to the specific service information determination process (step S40) without executing step S39.

9 and 10 are explanatory diagrams schematically showing comparison processing (steps S35 to S39) of each distribution (latitude, longitude, traveling direction, probability distribution) of the host vehicle and the other vehicle. FIG. FIG. 9 shows the state at the intersection (FIG. 9), and FIG. 10 shows the state at the intersection of the three-dimensional structure (three-dimensional intersection).
9 and 10, the same components as those described above (see FIGS. 11 and 12) are denoted by the same reference numerals as those described above, and detailed description thereof is omitted.

In FIG. 9, the distributions of the predicted vehicle position 11 of the own vehicle (see the solid oval frame) and the predicted vehicle position 21 of the other vehicle (see the dotted oval frame) overlap and the own vehicle 10 travels. The height levels of the non-priority road 14 and the priority road 24 on which another vehicle travels are the same.
Therefore, in the case of FIG. 9, the determination device 119 determines that the possibility of collision between the host vehicle 10 and the other vehicle 20 is high, and the approach direction and approach of the other vehicle 20 that can be a collision target to the host vehicle 10. The speed is calculated and output, and the overlapping state of the predicted vehicle positions 11 and 21 is output as the possibility of collision.

In addition, the determination device 119 compares the widths of the non-priority road 14 and the priority road 24 and outputs information indicating that the width of the non-priority road 14 on which the host vehicle 10 travels is narrow and non-priority.
Further, as described in the processing of the vehicle position prediction device 110 (see FIG. 2), for example, the host vehicle 10 is temporarily stopped, and the first predicted vehicle position (current position when stopped) is the other vehicle 20. Even when the distribution of the predicted vehicle position 21 does not overlap, the determination device 119 calculates the possibility of collision using the second predicted vehicle position that assumes a start after the temporary stop.

On the other hand, in FIG. 10, although the predicted vehicle position 11 of the own vehicle 10 and the predicted vehicle position 21 of the other vehicle 20 overlap on a plane, the hierarchy of the road height of the road 13 on which the own vehicle 10 travels and the other vehicle The level of the road height of the road 23 on which the vehicle 20 runs does not match.
Therefore, in the case of FIG. 10, the determination device 119 determines that there is no target object that may collide with the host vehicle 10 and does not output a determination result indicating the possibility of collision.

The display / playback device 109 displays the approach direction, approach speed, collision possibility, non-priority information, etc. of the other vehicle 20 input from the determination device 119. Can't understand.
Therefore, the determination device 119 needs to determine what the driver should be aware of, prepare easy-to-understand content, and display it on the display / playback device 109.

Therefore, returning to FIG. 8, the determination device 119 determines the presence or absence of specific service information (step S40).
At this time, under conditions such as when it is clear what kind of service is provided by communication from traffic lights at intersections, or when information specifying the provision of a specific service is preset in the road map information 106 If it is determined in step S40 that there is specific service information (that is, YES), the determination device 119 prepares content corresponding to the specific service expression method (step S41).

Specifically, for example, when the specific service is an information providing service for a vehicle waiting for a right turn, when another signal approaches from the front when the signal is “blue”, content such as “straight car is present” is displayed. prepare.
In addition, when contents are sent simultaneously by communication, priority is given to the use of the sent contents. Thereby, it is possible to prevent the driver from being confused by providing double information provided by determination based on communication between vehicles and information provided from roadside devices (such as traffic lights). .

  On the other hand, there are no specific service information in step S40 under conditions such as an intersection where there is no communication service or information specifying the provision of a specific service is not set in the road map information 106 in advance (step S40). That is, if it is determined as NO), the determination device 119 provides the content determined from the approach direction of the other vehicle, the non-priority information, and the like (step S42).

Specifically, for example, when the traveling road of the own vehicle is a non-priority side and another vehicle is approaching from the right, the content of “right vehicle approach” is prepared even if the collision probability is low.
In addition, the second predicted vehicle position of the other vehicle is the collision probability with the own vehicle, such as when the brake of the other vehicle is released in a situation where the own vehicle is the priority side and the other vehicle is temporarily stopped from the left. In the case of indicating that is high, the content of “left vehicle jumping out” is prepared.
When the other vehicle is temporarily stopped and the brake is stepped on, the content is not particularly prepared when the second predicted vehicle position of the other vehicle has a low collision probability with the own vehicle.

  Finally, the determination device 119 provides safety support information to the driver by sending the prepared content to the display / playback device 109 of the car navigation device 100 and playing it back for a predetermined time (step S43). The processing routine ends.

  As described above, the safety support information provision vehicle-mounted system according to Embodiment 1 of the present invention is mounted between a car navigation device 100 that is mounted on a vehicle and includes road map information, and another vehicle that is positioned around the vehicle. Vehicle position prediction for predicting the predicted vehicle position by predicting future travel positions of the vehicle and other vehicles based on the communication device 120 for performing mutual communication (communication of predicted vehicle positions) and the road map information 106 Device 110, a determination device 119 that compares the predicted vehicle position of the vehicle with the predicted vehicle position of another vehicle, and a display reproduction device 109 that provides safety support information based on the determination result of determination device 119. 109 provides safety support information (required content) to the driver when the predicted vehicle positions of the vehicle and other vehicles at a future time are close.

The vehicle position prediction device 110 is built in the car navigation device 100, and the determination device 119 and the communication device 120 are separated from the car navigation device 100.
In addition to road information used in a normal car navigation apparatus, road intersection information is added to the road map information 106, and the road intersection information corresponds to predicted vehicle positions of the vehicle and other vehicles. In relation to the time information and latitude / longitude information, the hierarchy information in the height direction of the three-dimensional intersection is included.

The vehicle position prediction device 110 adds three-dimensional information to the two-dimensional predicted vehicle position and transmits it.
Further, the vehicle position prediction apparatus 110 adds road height information to the predicted vehicle position of the host vehicle, inputs the road height information to the determination apparatus 119, and transmits it to another vehicle via the communication apparatus 120 and the antenna 121.
Thereby, the determination device 119 on the receiving side compares the predicted vehicle position and height information of the host vehicle and other vehicles to determine the possibility of collision.

The road map information 106 includes lane width information, and the lane width information is related to time information and latitude / longitude information corresponding to predicted vehicle positions of the vehicle and other vehicles.
Thereby, the determination apparatus 119 determines priority / non-priority of each traveling lane of the vehicle and the other vehicle based on the lane width information.

  Further, the road map information 106 includes intersection information and restriction information including temporary stop or speed restriction, and the vehicle position prediction device 110 is configured to assume a plurality of predicted vehicle positions based on the intersection information. The prediction probability information is given to the plurality of predicted vehicle positions, and the communication device 120 communicates the plurality of predicted vehicle positions together with the prediction probability information.

In addition, planned route information that is being guided by the car navigation device 100 is input to the vehicle position prediction device 110.
In addition, a hard disk recording device 105 (storage device) that holds the past travel history information 111 of the vehicle is provided, and the past travel history information 111 is input to the vehicle position prediction device 110.

The road map information 106 includes specific service information (safety support service type information), and the determination device 119 determines an effective provided service at a local point according to the specific service information.
Further, the vehicle position prediction device 110 receives at least one of vehicle blinker information 114, accelerator opening information, brake information, gear position information, and weight information, so that a more reliable predicted vehicle position can be obtained. Calculate.

In addition, a travel path determination device that determines that the vehicle is traveling on a road that is not recorded in the road map information 106 is provided, and the vehicle position prediction device is traveling on a road that is not recorded in the road map information. If it is determined, the prediction process based on the road map information 106 by the vehicle position prediction device 110 is stopped.
At this time, the travel path determination device determines the travel path of the vehicle based on communication information used for settlement when entering and leaving the parking lot.

Therefore, according to the first embodiment of the present invention, by using the predicted vehicle position based on the road map information 106 as communication information, it is possible to prevent erroneous determination of the possibility of collision at a three-dimensional intersection or the like.
Further, since it is not necessary to perform map matching calculation on the predicted vehicle positions of a plurality of other vehicles based on the road map information 106, the calculation amount of the vehicle position prediction device 110 can be greatly reduced.

  Further, without using information (such as road map information 106) that the car navigation device 100 has, it is possible to determine the possibility of collision based only on the predicted vehicle position including information on the height direction such as a three-dimensional intersection. Therefore, the determination device 119 can be configured separately from the car navigation device 100, and the performance of the existing car navigation device can be greatly improved only by adding the determination device 119 and the communication device 120 outside the car navigation device 100. A safety support information vehicle-mounted system can be constructed at low cost without any change.

Further, since the vehicle position prediction device 110 only needs to obtain the predicted vehicle position of only the own vehicle, the position measurement result of the GPS position measurement device 102a and the road map information 106 are used by using the map matching function of a normal car navigation device. Since it is easy to correct the deviation and the road can be easily determined, it is possible to obtain the road attributes such as the solid intersection and the road width added to the road map information 106 without making a mistake.
In addition, since the acceleration performance of the vehicle is known in advance, the predicted vehicle position considering the acceleration can be easily calculated from the accelerator opening information 116.
Furthermore, the driving characteristic information 112 can be used to learn the driver's driving habits and improve the prediction accuracy, while referring to route guidance during navigation operations, routes that have been taken multiple times such as commuting, etc. The course can be accurately predicted even at a branch.

It is a block diagram which shows the whole structure of the safety assistance information provision vehicle-mounted system which concerns on Embodiment 1 of this invention. It is a flowchart which shows the vehicle position prediction process by Embodiment 1 of this invention. It is explanatory drawing which shows the estimated vehicle position calculated | required based on road map information by Embodiment 1 of this invention. It is explanatory drawing which shows the adjacent information of the parking lot channel | path and public road to which Embodiment 1 of this invention is applied. It is explanatory drawing which shows the information structure of the prediction vehicle position of the other vehicle in Embodiment 1 of this invention. It is explanatory drawing which shows the information structure of the prediction vehicle position of the own vehicle in Embodiment 1 of this invention. It is explanatory drawing which shows the specific structure of the roadside information in Embodiment 1 of this invention. It is a flowchart which shows the collision possibility determination process by Embodiment 1 of this invention. It is explanatory drawing which shows the judgment process of the collision possibility in the intersection by Embodiment 1 of this invention. It is explanatory drawing which shows the determination process of the collision possibility in the three-dimensional intersection by Embodiment 1 of this invention. It is explanatory drawing which shows the safety assistance service in the intersection by the conventional safety assistance information provision vehicle-mounted system. It is explanatory drawing which shows the safety assistance service in the three-dimensional intersection by the conventional safety assistance information provision vehicle-mounted system.

Explanation of symbols

10 own vehicle, 11 predicted vehicle position of own vehicle, 13 traveling road of own vehicle (three-dimensional intersection road with no possibility of collision), 13A traveling road of own vehicle (left-turn road without possibility of collision), 14 Traveling road (intersection road where collision may occur), own vehicle in 15 parking lot, 15 'own vehicle incorrectly matched on public road, 16, 20 other vehicle, 21 predicted vehicle position (prediction area) of other vehicle , 23 Driving road of other vehicles (roads without collision possibility), 24 Driving road of other vehicles (roads of intersection with possibility of collision), 100 Car navigation device, 101 GPS antenna, 102a GPS position measurement device, 102b Independent Position measurement device, 105 hard disk recording device, 106 road map information, 107 navigation route search device, 108 map / route display generation Device, 109 display reproduction device, 110 vehicle position prediction device, 111 travel history information, 112 driving characteristic information, 113 in-vehicle network, 114 winker information, 115 brake information, 116 accelerator opening information, 117 gear position information, 118 steering wheel angle information 119 Determination device, 120 communication device, 121 antenna, 200 position prediction information of other vehicle, 201 position prediction information of own vehicle, 203 roadside information.

Claims (14)

A safety support information provision vehicle-mounted system that provides safety support information mounted on a vehicle,
A car navigation device including road map information;
Based on the road map information, a vehicle position prediction device that predicts a future traveling position of the vehicle and obtains a predicted vehicle position;
A communication device for performing mutual communication of predicted vehicle position information between the vehicle and other vehicles located around the vehicle;
A determination device that compares the predicted vehicle position of the vehicle with the predicted vehicle position of the other vehicle obtained through the mutual communication;
A display reproduction device that provides the safety support information based on a determination result of the determination device;
With
The road map information includes solid intersection information,
The three-dimensional intersection information includes hierarchical information in the height direction of the three-dimensional intersection so as to correspond to the predicted vehicle position information for each time of the vehicle and the other vehicle,
The display / playback apparatus provides the safety support information when the predicted vehicle positions of the vehicle and the other vehicle at a future time are close to each other.   The safety support information provision vehicle-mounted system according to claim 1, wherein the vehicle position prediction device is built in the car navigation device.   The safety support information provision vehicle-mounted system according to claim 1, wherein the communication device and the determination device are separated from the car navigation device. The safety support information provision vehicle-mounted system according to any one of claims 1 to 3 , wherein the road map information includes lane width information. 5. The safety support information provision vehicle-mounted system according to claim 4 , wherein the lane width information corresponds to predicted vehicle position information for each time of the vehicle and the other vehicle. 6. The safety support information provision according to claim 4 , wherein the determination device determines priority / non-priority of each lane of the vehicle and the other vehicle based on the lane width information. In-vehicle system. The safety support information provision vehicle-mounted system according to any one of claims 1 to 6 , wherein the road map information includes intersection information and restriction information including temporary stop or speed restriction. When a plurality of predicted vehicle positions are assumed based on the intersection information, the vehicle position prediction device gives prediction probability information to the plurality of predicted vehicle positions,
The safety communication information provision vehicle-mounted system according to claim 7 , wherein the communication device communicates the plurality of predicted vehicle positions together with the prediction probability information. The on-vehicle safety support information provision vehicle according to any one of claims 1 to 8, wherein the vehicle position prediction device is input with planned route information being guided by the car navigation device. system. A storage device for holding past travel history information of the vehicle;
The in-vehicle system for providing safety support information according to any one of claims 1 to 9 , wherein the past travel history information is input to a vehicle position prediction device. The road map information includes safety support service type information,
The safety support information provision vehicle-mounted system according to any one of claims 1 to 10 , wherein the determination device determines an effective provision service at a local point. Wherein the vehicle position predicting device, turn signal information of the vehicle, the accelerator opening information, brake information, claims 1 to 11 in which at least one information of the gear position information and the weight information is characterized in that it is input The safety support information provision vehicle-mounted system according to any one of the preceding items. A travel path determination device that determines that the vehicle is traveling on a road that is not recorded in the road map information;
The vehicle position prediction apparatus stops the prediction process based on the road map information when it is determined that the vehicle is traveling on a road not recorded in the road map information. The safety support information provision vehicle-mounted system of any one of Claim 12 to Claim 12 . The safety support information provision vehicle-mounted system according to claim 13 , wherein the travel route determination device determines the travel route of the vehicle based on communication information used for settlement when entering and leaving a parking lot.

Images