JP4715790B2 - Driving support method and driving support device - Google Patents

Description

  The present invention relates to a driving support method and a driving support device.

Conventionally, there has been proposed a traffic signal recognition device (driving support device) that recognizes an image of a front traffic light, recognizes a red signal light, and controls the vehicle to travel (Patent Document 1). In Patent Document 1, in a traffic light in which an arrow signal lamp is attached to a three-color signal lamp, the image is recognized up to the arrow signal lamp and traveling control is performed. For example, when recognizing that a right turn possible signal light is lit, the driver is notified that a right turn is possible, and the vehicle is decelerated and travels to the right.
Japanese Patent Laid-Open No. 3-201100

  By the way, in the image recognition of the arrow signal lamp, it is determined whether or not the shape of the lit arrow is “right turn arrow”, “left turn arrow”, or “straight forward arrow” by pattern recognition. In other words, since it is necessary to recognize the image of the shape of the arrow projected on the arrow signal lamp and its direction, an expensive signal processing device that requires time and can be processed at high speed is required. In addition, since it is necessary to recognize the shape and its orientation, a high-definition camera is used as the camera used for image recognition, and a very expensive camera must be used. As a result, the system has become very expensive.

  An object of the present invention is to provide a driving support method and a driving support device that can determine various arrow signal lights at a low processing speed and perform appropriate driving support at a low cost without reducing accuracy.

  The invention according to claim 1 is a driving support method for supporting driving of a vehicle in a traffic signal with an arrow signal light, the installation position information of the traffic signal with an arrow signal light, the direction indicated by the arrow signal light, and the direction thereof The traffic light data including the type information related to the corresponding travel lane is read, the host vehicle position and the host vehicle travel lane in which the host vehicle is traveling are recognized, and the traffic signal of the traffic signal ahead of the host vehicle is based on the host vehicle position. Acquiring data, determining whether or not the red signal light of the traffic light is lit, determining whether or not the arrow signal light is lit when it is determined that the red signal light is lit; When it is determined that the arrow signal light is lit, it is determined whether or not the traveling lane corresponding to the direction indicated by the arrow signal light matches the own vehicle traveling lane, and the arrow When the traveling lane corresponding to the direction instructed by the issue lamp and the host vehicle travel lane is determined to match, to assist the operation of the vehicle in accordance with the type information.

The invention of claim 2 is a driving support device that supports driving of a vehicle in a traffic light with an arrow signal light, the installation position information of the traffic light with an arrow signal light, the direction indicated by the arrow signal light, and the direction thereof Traffic light data storage means for storing traffic signal data including type information relating to the corresponding travel lane, own vehicle position and travel lane detection means for detecting the own vehicle position and travel lane of the host vehicle, and a traffic signal for acquiring the traffic signal data Based on the data acquisition means, the photographing means for photographing the traffic signal ahead from the host vehicle, and the image data photographed by the photographing means, whether or not the red signal lamp and the arrow signal light of the traffic light located in front are lit. If it is determined that the lighting determination means and the red signal lamp and the arrow signal lamp are lit, it corresponds to the direction indicated by the arrow signal lamp If the travel lane corresponding to the direction indicated by the arrow signal light and the travel lane corresponding to the vehicle lane are determined to match, And support means for supporting driving of the vehicle according to the information.

  A third aspect of the present invention is the driving support device according to the third aspect, further comprising storage means for storing pattern data in which the red signal light is lit and pattern data in which the arrow signal light is lit, and the lighting determination means. Compares the image data with the pattern data to determine whether the red signal lamp and the arrow signal lamp are lit.

  According to a fourth aspect of the present invention, in the driving support apparatus according to the second or third aspect, the support means includes travel control means for driving and controlling the own vehicle driving means, and the support apparatus includes the red signal lamp and the red light When it is determined that the arrow signal lamp is lit, and it is determined that the traveling lane corresponding to the direction indicated by the arrow signal lamp matches the own vehicle traveling lane, the vehicle's driving means Control the vehicle speed.

  According to the invention of claim 1, the arrow signal lamp is lit at least when the red signal lamp is lit, and is not lit when the other blue signal lamp or yellow signal lamp is lit. When the red signal light is on and the arrow signal light is on, the travel lane corresponding to the direction indicated by the lighted arrow signal light and the direction of the arrow can be recognized from the type information. it can. Therefore, if the host vehicle traveling lane in which the host vehicle is traveling is known, it can be determined whether the arrow signal light is for the host vehicle.

  As a result, the host vehicle traveling in the direction indicated by the arrow signal light and corresponding to the direction of the direction can easily and quickly perform the image recognition of the arrow shape of the lit arrow signal light. Moreover, it can be discriminated at low cost.

  According to the driving support device of the second aspect, when the lighting determination unit determines that the red signal lamp and the arrow signal lamp are turned on, the support unit determines the own vehicle position and the own vehicle travel lane from the own vehicle position and the travel lane detection unit. And the type information of the traffic signal is acquired from the traffic signal data storage means based on the vehicle position and the vehicle lane. Based on the acquired type information, the support means determines whether or not the arrow signal lamp for the vehicle lane is lit.

And if a support means determines with the arrow signal light with respect to the own vehicle driving | running | working lane turning on, it will perform the driving assistance according to lighting of the arrow signal light.
According to the invention of claim 3, whether or not the red signal lamp and the arrow signal lamp are lit is determined by the image data and the lighting pattern without performing the image recognition for each arrow shape of the lit arrow signal lamp. Since only the data is compared, the determination can be made in a short time and at a low cost.

  According to the fourth aspect of the present invention, the vehicle speed of the vehicle is controlled by the travel control means, and the vehicle can safely travel at the intersection where the traffic light equipped with the arrow signal lamp is installed.

  DESCRIPTION OF EMBODIMENTS Hereinafter, an embodiment in which a driving support device of the present invention is embodied will be described with reference to FIGS. FIG. 1 is a block diagram illustrating a configuration of a driving support device mounted on a car (own vehicle).

The driving support apparatus 1 shown in FIG. 1 has various driving assistances such as a CPU 2 as a traffic signal data acquisition means for performing main control and a RAM 3 for temporarily storing calculation results of the CPU 2, a route guidance program, a traffic light detection support program, and the like. A ROM 4 for storing the program is provided.
Also. The driving support device 1 includes a GPS receiving unit 5 and a vehicle side sensor input interface (vehicle side sensor input I / F unit 6).

  The CPU 2 is connected to the GPS receiving unit 5 that constitutes the vehicle position and traveling lane detecting means together with the CPU 2, and calculates absolute coordinates based on the position detection signal input from the GPS receiving unit 5. Further, the CPU 2 receives the vehicle speed from the vehicle speed sensor 6a and the gyro 6b that constitute the vehicle position and travel lane detection means provided in the host vehicle C (see FIG. 5) via the vehicle side sensor input I / F unit 6. A pulse signal and a direction detection signal are input, and relative coordinates from the reference position are calculated by autonomous navigation. Then, the CPU 2 specifies the current position, that is, the own vehicle position together with the absolute coordinates based on the GPS receiver 5, and travels by the own vehicle C based on route data RD and map data MD described later. Specify the lane (vehicle lane). The XY coordinate system for vehicles is a coordinate system (road surface coordinates) for indicating the position of the host vehicle C on the road surface. The CPU 2 updates and stores the road surface coordinate value of the vehicle position at that time in a predetermined storage area of the RAM 3. Moreover, CPU2 is calculating the vehicle speed of the own vehicle C at that time based on the vehicle speed pulse signal from the vehicle speed sensor 6a.

  The vehicle-side sensor input I / F unit 6 is connected to a steering sensor 6c and an ignition switch 6d provided on the host vehicle C. The CPU 2 inputs a steering angle signal from the steering sensor 6c via the vehicle side sensor input I / F unit 6, and calculates the steering angle at that time.

  Further, the driving support device 1 includes a geographic data storage unit 7 in which route data RD and map data MD are stored. The route data RD is data for each region that divides the whole country into regions, and includes a header RDa, node data RDb, link data RDc, link cost RDd, and coordinate data RDe, as shown in FIG. . The header RDa has data for managing each route data RD. The node data RDb includes identification data of each node indicating an intersection, a road end point, and the like, identification data of adjacent nodes, and the like. The link data RDc constitutes a link string, and includes link records indicating connection nodes, data indicating traffic restrictions, and the like. The link cost RDd is a data group composed of a link ID assigned to each link record, a link length, the number of lanes (number of lanes), an average travel time, and the like. The coordinate data RDe indicates the absolute coordinates of each node.

  On the other hand, the map data MD is stored for each area obtained by dividing the map of the whole country, and is divided into each layer from a wide area map to a narrow area map. As shown in FIG. 3, each map data MD has a header MDa, road data MDb, and background data MDc. The header MDa indicates the hierarchy, area, etc. of the map data MD, and is management purpose data. The road data MDb is data indicating the shape and type of the road, and includes road attribute data MDd, link shape data MDe, and connection data MDf. The road attribute data MDd has a road name, a road direction, a road width, and the number of lanes. The connection data MDf is data representing the connection state between each link and each node.

  The link shape data MDe includes coordinate data MDg and shape interpolation data MDh. The coordinate data MDg indicates the coordinates of links and nodes. The shape interpolation data MDh is data relating to the shape interpolation point set in the middle of the link and set to indicate the curve shape of the road, and is data such as the coordinates of the shape interpolation point and the direction of the link. The background data MDc is drawing data for drawing roads, urban areas, rivers, and the like.

The geographic data storage unit 7 is a storage unit that constitutes a storage unit and a traffic light data storage unit, and stores traffic signal data SD. The traffic light data SD is provided for each traffic light SG installed at intersections CR (see FIG. 5) nationwide. As shown in FIG. 4, the header SDa, installation position coordinate data SDb as installation position information, and presence / absence information As the data SDc with the arrow signal lamp and the classification data SDd as the classification information. The header SDa is ID data indicating each traffic light SG. The installation position coordinate data SDb indicates the coordinates of the installation position of the traffic light SG. The arrow signal lamp-attached data SDc is data indicating whether an arrow signal lamp AL is attached to the traffic light SG.

The type data SDd is composed of attached arrow signal lamp number data SDe, target travel lane data SDf, and direction data SDg indicating the arrow direction.
The arrow signal light number data SDe is data indicating the number of attached arrow signal lights AL. For example, as shown in FIG. 6A, a traffic light SG composed of a blue signal lamp BL, a yellow signal lamp YL, and a red signal lamp RL has three arrow signal lamps AL (in FIG. 6A, a left turn arrow signal lamp AL1, a straight arrow signal lamp). If AL2 and a right turn arrow signal lamp AL3) are attached, the number of 3 is data.

  As shown in FIG. 6B, if the traffic light SG is provided with two arrow signal lights AL (left turn arrow signal light AL1 and straight arrow signal light AL2 in FIG. 6B), the number of the two Becomes the data.

Further, as shown in FIG. 6 (c), when the traffic light SG is provided with one arrow signal light AL (right turn arrow signal light AL3 in FIG. 6 (c)), the number of 1 is the data. Become.
The target travel lane data SDf is data indicating a travel lane (hereinafter referred to as a target travel lane) corresponding to the direction indicated by the attached arrow signal light AL.

  For example, as shown in FIG. 7, at an intersection CR, there are three travel lanes TL1, TL2, and TL3 on a road that is instructed to travel by a traffic light SG. The left travel lane TL1 is a travel lane that can go straight and turn right, the center travel lane TL2 is a travel lane that can go straight, and the right travel lane TL3 is a travel lane that can turn left and go straight. At this time, when the traffic light SG is provided with a right turn arrow signal lamp AL3 as an arrow signal lamp AL, the target travel lane data SDf is data on the right travel lane TL3.

  In FIG. 7, for example, assuming that the right travel lane TL3 and the central travel lane TL2 are travel lanes that can go straight and turn right, the target travel lane data SDf includes the central travel lane TL2 and the right travel lane TL3. It becomes data.

  The direction data SDg indicating the direction of the arrow is provided in association with the target travel lane data SDf, and indicates the direction of the arrow signal light AL, that is, “possible to turn left”, “possible to go straight”, “possible to turn right”, etc. It is data to index. For example, in the case of FIG. 6 (a), the left turn arrow signal lamp AL1 is “turnable left”, the straight arrow signal lamp AL2 is “ready”, and the right turn arrow signal lamp AL3 is “right turn”.

  In addition, the driving support device 1 includes an image processor 8 as an illumination determination unit and an external input / output interface (external input / output I / F unit 9). The CPU 2 is connected to a display DSP that is a touch panel via the image processor 8. The display DSP receives data indicating the destination via the external input / output I / F unit 9 by an input operation of the operation switch SW1 provided at a position adjacent to the display DSP. When the destination data is received, the CPU 2 searches for a recommended route connecting the destination and the vehicle position using the route data RD.

When the CPU 2 inputs ON from the ignition switch 6d via the vehicle-side sensor input I / F unit 6, the CPU 2 controls the image processor 8 to obtain the map data MD around the vehicle position of the vehicle C. Read. Then, the CPU 2 outputs a map screen P (road guidance image) based on the map data MD to the display DSP via the image processor 8. At this time, the image processor 8 superimposes and displays an index Po indicating the vehicle position on the road (the road R to the destination selected by searching) on the map screen P. At this time, when the road R has a plurality of travel lanes TL1, TL2, and TL3 as shown in FIG. 7, the CPU 2 identifies which travel lane the host vehicle C is traveling and sequentially stores it in the RAM 3. Update and remember.

  The driving support device 1 includes a voice processor 10 as a voice guidance unit together with the CPU 2. The CPU 2 is connected to the sound processor 10, and the speaker SP is connected to the sound processor 10. The voice processor 10 drives the speaker SP under the control of the CPU 2 to provide voice guidance for driving guidance based on the route guidance or the arrow signal lamp AL attached to the traffic light SG at the intersection CR from time to time. The voice data for the voice guidance is stored in advance in the storage unit of the voice processor 10.

  The driving support device 1 includes an image data input unit 11. The image data input unit 11 is connected to a front camera CA as a photographing unit. The CPU 2 is connected to the image data input unit 11 and always activates the front camera CA via the image data input unit 11. The front camera CA includes an optical mechanism including a wide-angle lens, a mirror, and the like, and a CCD image sensor (none of which are shown).

  As shown in FIG. 8, the front camera CA is attached to the front side of the roof where the support member that supports the rear mirror of the host vehicle C is fixed, and the optical axis is directed forward from the windshield of the host vehicle C. And imaging the imaging region Z1 that spreads forward. When the CPU 2 controls the image data input unit 11 to acquire the image data of the front image captured by the front camera CA as the front image data G1, the CPU 2 temporarily stores it in a VRAM (not shown) of the image processor 8.

  The image processor 8 corrects the forward image data G1 temporarily stored in the VRAM, and recognizes an image of the traffic light SG installed in the front based on the corrected forward image data G1. First, in the present embodiment, whether or not there is a traffic light SG is determined based on the detection of the horizontal edge and the vertical edge of the front image based on the detection of the horizontal edge and the vertical edge of the image reflected on the front image data G1. To determine whether the image is a traffic light SG.

When it is determined that the traffic light SG is reflected, the image processor 8 determines which one of the blue signal light BL, the yellow signal light YL, and the red signal light RL of the traffic light SG is lit. This determination is made in comparison with pattern data prepared in advance. That is, in this embodiment, as shown in FIG. 9A, the pattern PT1 in which the blue signal lamp BL is lit, as shown in FIG. 9B, the pattern PT2 in which the yellow signal lamp YL is lit, As shown in FIG. 9C, the comparison is made with three types of pattern data of the pattern PT3 in which the red signal lamp RL is lit. The pattern data of these three patterns PT1 to PT3 is stored in the geographic data storage unit 7 in advance.

Further, the CPU 2 determines whether or not the arrow signal lamp AL attached to the traffic light SG is lit. In this embodiment, this determination is performed when it is determined that the red signal lamp RL is lit. The determination is made by comparing with pattern data prepared in advance. That is, in the present embodiment, as shown in FIG. 9D, the pattern PT4 in which the three arrow signal lights AL are lit, and the two arrow signal lights AL are lit as shown in FIG. 9E. As shown in FIG. 9F, the pattern PT5 is compared with the three types of pattern data of the pattern PT6 in which one arrow signal lamp AL is lit. That is, in this embodiment, the arrow signal light AL
Instead of specifying the shape of the arrow, only the pattern matching of lighting of the arrow signal lamp AL is performed. The pattern data of these three patterns PT4 to PT6 are also stored in advance in the geographic data storage unit 7.

  When the image processor 8 determines that the red signal lamp RL is turned on and the arrow signal lamp AL is turned on, the CPU 2 determines whether or not the host vehicle C is traveling in the target travel lane of the arrow signal lamp AL. Yes.

  The driving support device 1 includes a vehicle input / output interface (vehicle input / output I / F unit 12). The vehicle input / output I / F unit 12 is connected to a vehicle electronic control device (vehicle ECU) 13 that constitutes a travel control means. The vehicle ECU 13 is a control device that controls a drive system related to the traveling of the host vehicle C, and is connected to the brake control device 14, the fuel injection amount control device 15, and the transmission control device 16 that also constitute the traveling control means. .

  The brake control device 14 drives and controls a brake device (not shown) as own vehicle driving means for applying a predetermined brake to the own vehicle C by adjusting the operation amount of the brake pedal. The fuel injection amount control device 15 adjusts the injection amount of the engine and drives and controls a fuel injection device (not shown) as own vehicle driving means for controlling the acceleration of the own vehicle C. The shift control device 16 controls a shift drive device (not shown) as own vehicle driving means for controlling the shift value of the transmission.

  When the vehicle ECU 13 receives a brake signal from the CPU 2 via the vehicle input / output I / F unit 12, the vehicle ECU 13 outputs the brake signal to the brake control device 14. The brake control device 14 drives and controls the brake device based on the brake signal and applies a braking force to the host vehicle C. Accordingly, the host vehicle C brakes with the braking force.

  Further, when the acceleration signal from the CPU 2 is input, the vehicle ECU 13 outputs the acceleration signal to the fuel injection amount control device 15. The fuel injection amount control device 15 calculates the fuel injection amount with respect to the input acceleration signal, controls the drive of the fuel injection device, and supplies the fuel injection amount to the engine of the host vehicle C. Accordingly, the host vehicle C accelerates and decelerates based on the fuel injection amount supplied to the engine.

  Further, when the vehicle ECU 13 receives a shift signal from the CPU 2, the vehicle ECU 13 outputs the shift signal to the shift control device 16. The shift control device 16 calculates a shift value for the input shift signal, drives the shift drive device, and shifts the transmission. Therefore, the host vehicle C can decelerate by shifting down the transmission and applying the engine brake.

Next, the traffic light detection support processing of the driving support device 1 of the present embodiment will be described according to the flowchart showing the processing procedure of the driving support device 1 shown in FIG.
Now, based on the ON operation of the ignition switch 6d by the driver, the CPU 2 enters the “signal detection support mode” and executes the signal detection support program shown in the flowchart of FIG.

  First, the CPU 2 obtains the own vehicle position of the own vehicle C based on the signals from the GPS receiver 5, the vehicle speed sensor 6a, and the gyro 6b (step S1). Further, the CPU 2 causes the front camera CA to perform an imaging operation via the image data input unit 11 and causes the image data input unit 11 to capture the front image data G1 (step S2).

In the present embodiment, it is assumed that a route guidance program that searches for a plurality of guidance routes to a destination and guides and displays one selected guidance route R is not executed. Accordingly, the CPU 2 maps the map screen P on which the index Po indicating the vehicle position is combined based on the calculated vehicle position.
Is displayed on the display DSP, and the guide route R to the destination is not displayed. Of course, you may run by running a route guidance program.

  Subsequently, the CPU 2 determines in advance the vehicle C traveling ahead based on the determined vehicle position and the traffic signal data SD, route data RD, and map data MD stored in the geographic data storage unit 7. It is determined whether or not there is an intersection CR ahead of the distance (100 meters in the present embodiment), and a traffic light SG with an arrow signal lamp AL is installed at the intersection CR (step S3).

  If it is determined that a traffic light SG with an intersection CR ahead and an arrow signal light AL is installed (YES in step S3), the CPU 2 reads the traffic light data SD related to the traffic light SG from the geographic data storage unit 7. Temporary storage in the RAM 3 (step S4). If there is no intersection CR ahead, no traffic light SG is installed even if there is an intersection CR, or no arrow signal light AL is attached to the traffic light SG (NO in step S3), the CPU 2 proceeds to step S11. Then, it is determined whether or not the ignition switch 6d has been turned off. If the ignition switch 6d has not been turned off, the process returns to step S1. That is, the vehicle travels while updating its own vehicle position until a traffic light SG with an arrow signal light AL is found.

  When the traffic signal data SD is acquired in step S4, the CPU 2 is traveling based on the vehicle position obtained in step S1 and the route data RD and map data MD stored in the geographic data storage unit 7. The own vehicle travel lane is specified and temporarily stored in the RAM 3 (step S5).

  Subsequently, the CPU 2 sequentially transfers the front image data G1 of the front image captured by the front camera CA to the image processor 8, and the signal lights BL of the front traffic light SG using the front image data G1 in the image processor 8. , YL, and RL and image recognition for determining whether or not the arrow signal lamp AL is lit are executed (step S6). If the image processor 8 determines that the red signal lamp RL is lit (YES in step S7), the CPU 2 moves to step S8, and the image processor 8 recognizes whether or not the arrow signal lamp AL is lit. Let them judge.

  When the image processor 8 recognizes that the arrow signal lamp AL is lit (YES in step S8), the CPU 2 detects the own vehicle travel lane acquired in step S5 and the traffic signal data SD (target travel lane data acquired in step S4). Compared with SDf), it is determined whether or not the vehicle traveling lane matches the target traveling lane of the arrow signal light AL determined to be lit (step S9).

  If it is determined that the host vehicle travel lane matches the target travel lane (YES in step S9), the CPU 2 reads the direction data SDg corresponding to the target travel lane, and from the speaker SP via the voice processor 10, Is announced (step S10).

  For example, when the host vehicle driving lane is the right turn driving lane TL3 and the target driving lane of the arrow signal lamp AL is the right turning driving lane TL3, the “check oncoming vehicle is confirmed based on the direction data SDg with respect to the target driving lane data SDf. Make a right turn while saying " Also, when the host vehicle travel lane is the left turn travel lane TL1 and the target travel lane of the arrow signal lamp AL is the left turn travel lane TL1, the voice guidance “Please turn left while confirming with the pedestrian” is provided. . Further, when the host vehicle travel lane is the straight travel lane TL2 and the target travel lane of the arrow signal lamp AL is the straight travel lane TL2, the voice guidance “Please go straight” is provided.

  Thereafter, it is determined whether or not the ignition switch 6d has been turned off (step S11). If the ignition switch 6d has not been turned off, the process returns to step S1 to perform support processing for the traffic light SG provided with a new arrow signal lamp AL.

  On the other hand, if it is determined that the host vehicle lane does not match the target vehicle lane (NO in step S9), the CPU 2 calculates the speed at which the host vehicle C can stop on the stop line at the intersection CR from the host vehicle position, and stops. Deceleration / stop control is executed as possible (step S12). More specifically, the CPU 2 outputs control signals (brake signal, acceleration signal, shift signal) for deceleration / stop control to the vehicle ECU 13 via the vehicle input / output I / F unit 12. Based on the control signals (brake signal, acceleration signal, and shift signal), the vehicle ECU 13 drives the brake device, the fuel injection device, and the shift drive via the brake control device 14, the fuel injection amount control device 15, and the shift control device 16. The device is driven and controlled, and the host vehicle C is decelerated and stopped so that it can be stopped at the stop line at the intersection CR.

  If it is determined in step S8 that the arrow signal lamp AL is not lit (NO in step S8), the CPU 2 determines that all the traffic lights SG in front of the vehicle are “stopped at the intersection CR” regardless of the travel lane. Move. Then, as described above, the CPU 2 calculates the speed at which the host vehicle C can stop on the stop line at the intersection CR from the host vehicle position, and executes deceleration / stop control so that the host vehicle C can stop (step S12).

  Furthermore, when the image processor 8 determines in step S7 that the blue signal lamp BL or the yellow signal lamp YL other than the red signal lamp RL is lit (NO in step S7), the CPU 2 moves to step S11, and the ignition switch 6d is turned on. It is determined whether or not it has been turned off. If it has not been turned off, the process returns to step S1 to perform support processing for the traffic light SG provided with a new arrow signal light AL.

Next, effects of the present embodiment configured as described above will be described below.
(1) In the present embodiment, the traffic signal data SD including the header SDa, the installation position coordinate data SDb, the arrow signal lamp-attached data SDc, and the type data SDd is stored in the geographic data storage unit 7 for the traffic signal SG installed at each intersection CR. I remembered it. The type data SDd is composed of number data SDe, target travel lane data SDf, and direction data SDg indicating an arrow direction.

  Accordingly, the traffic light SG to which the front arrow signal light AL is attached can be identified from the own vehicle position of the own vehicle C and the traffic light data SD (installation position coordinate data SDb and arrow signal light-attached data SDc). Further, when the traffic light SG to which the arrow signal lamp AL is attached is specified, the type of the arrow signal lamp AL of the traffic light SG can be known from the type data SDd (number data SDe, target travel lane data SDf, and direction data SDg).

  As a result, the image processor 8 compares the pattern data PT1 to PT6 with the image data G1 of the traffic light SG provided with the front arrow signal light AL photographed by the front camera CA, so that the image processor 8 turns on the red signal light RL and the arrow signal light AL. Can be determined by a very simple image recognition process, and the type of the arrow signal lamp AL attached to the traffic signal SG ahead can be determined. Therefore, the image processor 8 has a small load and can shorten the determination time.

(2) In the present embodiment, when the image processor 8 recognizes the lighting of the red signal lamp RL and the arrow signal lamp AL, the CPU 2 reads the traffic light data SD based on the own vehicle position of the own vehicle C. When it is determined that the arrow signal lamp AL is turned on, the CPU 2 determines that the arrow signal lamp AL is the own vehicle C based on the own vehicle traveling lane in which the own vehicle C is traveling and the target traveling lane data SDf of the type data SDd. Can be easily determined.

Since the direction data SDg indicating the direction of the arrow is provided in the type data SDd, it is possible to announce the travel according to the lit arrow signal lamp AL.
Further, when the own vehicle traveling lane does not coincide with the target traveling lane of the lit arrow signal light AL, the CPU 2 calculates a speed at which the own vehicle C can stop at the stop line of the intersection CR from the own vehicle position, Deceleration / stop control is executed so that it can be stopped. Therefore, even if the turn-off of the arrow signal light AL is missed, entry to the intersection CR can be prevented in advance.

In addition, you may change the said embodiment as follows.
In the above embodiment, in the traffic signal detection support process, when the arrow signal lamp AL is not attached to the traffic signal SG at the intersection CR, nothing is processed. When the red signal lamp RL is lit, when the vehicle speed of the host vehicle C is a high vehicle speed that is not appropriate as the vehicle speed entering the intersection CR, the CPU 2 passes through the vehicle input / output I / F unit 12. A control signal (brake signal, acceleration signal, shift signal) for deceleration control may be output to the vehicle ECU 13 to perform deceleration control of the host vehicle C.

  In the above embodiment, in the traffic signal detection support process, when the arrow signal lamp AL is not attached to the traffic signal SG at the intersection CR, nothing is processed. For example, the user may be alerted by voice guidance to the effect that “there is no arrow signal light AL. If you turn right or left, please drive carefully.”

  In the above embodiment, in the traffic light detection support process, when the blue signal lamp BL or the yellow signal lamp YL is lit, nothing is processed. This may be alerted by voice guidance that the blue signal lamp BL or the yellow signal lamp YL is lit.

  In the above embodiment, the front camera CA of the image pickup means is mounted on the front side of the roof where the support member that supports the rear mirror of the host vehicle C is fixed. You may implement this by attaching to the grill center position of the front end part of the own vehicle C, or the corner part of a front bumper. In short, any position can be used as long as the front traffic light SG can capture an image.

The block diagram explaining the structure of the driving assistance device of this embodiment. Explanatory drawing for demonstrating the data structure of path | route data. Explanatory drawing for demonstrating the data structure of map data. Explanatory drawing for demonstrating the data structure of traffic signal data. Explanatory drawing for demonstrating the traffic signal installed in the intersection. (A) is a diagram of a traffic signal with three types of arrow signal lights, (b) is a diagram of a traffic signal with two types of arrow signal lights, and (c) is a diagram of a traffic signal with one type of arrow signal lights. . Explanatory drawing for demonstrating the relationship between a driving | running lane and an arrow signal light. Explanatory drawing for demonstrating the imaging range of a front camera. It is explanatory drawing for demonstrating the lighting pattern of a signal lamp, (a) is a pattern in which a blue signal lamp is lit, (b) is a pattern in which a yellow signal lamp is lit, (c) is a red signal lamp being lit. (D) is a pattern in which three arrow signal lights are lit, (e) is a pattern in which two arrow signal lights are lit, and (f) is a pattern in which one arrow signal light is lit. Illustration to explain. The flowchart for demonstrating the assistance operation | movement in an intersection.

Explanation of symbols

  DESCRIPTION OF SYMBOLS 1 ... Driving assistance device, 1 ... CPU, 3 ... RAM, 4 ... ROM, 5 ... GPS receiving part, 6a ... Vehicle speed sensor, 6b ... Gyro, 6d ... Ignition switch, 7 ... Map data storage part, 8 ... Image processor, DESCRIPTION OF SYMBOLS 10 ... Voice processor, 13 ... Vehicle electronic control device (Vehicle ECU), 14 ... Brake control device, 15 ... Fuel injection amount control device, 16 ... Shift control device, AL, AL1, AL2, AL3 ... Arrow signal light, C ... own vehicle, CA ... front camera, CR ... intersection, BL ... blue signal light, YL ... yellow signal light, RL ... red signal light, TL1, TL2, TL3 ... travel lane, SG ... traffic light, G1 ... front image data, MD ... map Data, RD: Route data, SD: Traffic signal data, SDb ... Installation position coordinate data, SDe ... Type data, Df ... Target travel lane data, SDg ... Data, SP ... speaker.

Claims (4)

A driving support method for supporting driving of a vehicle in a traffic light with an arrow signal light,
Read the traffic signal data including the installation position information of the traffic light attached with the arrow signal light, the direction indicated by the arrow signal light and the type information relating to the traveling lane corresponding to the direction,
Recognize the vehicle position and the vehicle lane where the vehicle is traveling,
Obtaining the traffic signal data of the traffic signal ahead of the host vehicle based on the host vehicle position;
Determine whether the red light on the traffic light is lit,
When it is determined that the red signal light is lit, determine whether the arrow signal light is lit,
When it is determined that the arrow signal light is lit, it is determined whether or not the traveling lane corresponding to the direction indicated by the arrow signal light and the own vehicle traveling lane match.
A driving support method, wherein driving of a vehicle is supported according to the type information when it is determined that a traveling lane corresponding to a direction indicated by the arrow signal lamp matches the traveling lane of the host vehicle. A driving support device that supports driving of a vehicle in a traffic light with an arrow signal light,
Traffic signal data storage means for storing traffic signal data including installation position information of a traffic signal provided with an arrow signal lamp, a direction indicated by the arrow signal lamp, and type information relating to a traveling lane corresponding to the direction,
Own vehicle position and traveling lane detecting means for detecting the own vehicle position and traveling lane of the own vehicle;
Traffic light data obtaining means for obtaining the traffic light data;
Photographing means for photographing a traffic light ahead from the host vehicle;
Based on the image data photographed by the photographing means, lighting determination means for determining whether or not the red signal lamp and the arrow signal lamp of the traffic light located ahead are lit,
When it is determined that the red signal lamp and the arrow signal lamp are lit, it is determined whether or not the traveling lane corresponding to the direction indicated by the arrow signal lamp matches the own vehicle traveling lane, and the instruction of the arrow signal lamp is determined. A support means for supporting driving of the vehicle according to the type information when it is determined that the traveling lane corresponding to the direction to be matched and the own vehicle traveling lane match.
A driving support apparatus comprising: In the driving assistance device according to claim 2,
Storage means for storing pattern data in which the red signal lamp is lit and pattern data in which the arrow signal lamp is lit;
The lighting determination unit compares the image data with the pattern data to determine whether or not the red signal lamp and the arrow signal lamp are lit. In the driving assistance device according to claim 2 or 3,
The support means includes travel control means for driving and controlling the vehicle driving means,
The support device determines that the red signal light and the arrow signal light are lit, and when it is determined that the traveling lane corresponding to the direction indicated by the arrow signal light matches the own vehicle traveling lane, A driving support device that controls the vehicle speed of the host vehicle through the host vehicle driving means.

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