JP4797603B2 - Driving assistance device - Google Patents

Description

  The present invention relates to an in-vehicle driving support device that presents information about an approaching vehicle approaching an intersection where the host vehicle is about to pass in a direction intersecting with the host vehicle.

Conventionally, vehicle guidance that calculates the arrival time to the intersection using a speed sensor installed at the edge of the road and displays whether the vehicle can turn right by comparing it with the time required for the vehicle to turn right A system is known (see, for example, Patent Document 1).
JP 2002-279597 A

  However, in the conventional system described above, a sensor or the like must be installed at the end of the road, resulting in a heavy equipment burden. Further, when the vehicle goes straight and starts to pass through the intersection, the driver may desire information on a vehicle approaching the intersection from the left and right, for example, but this is not taken into consideration. In complex traffic, there are various types of vehicles (motorcycles, cars, trucks, buses, etc.) that approach the intersection, and the driver may want to know this. Not done.

  The present invention is for solving such problems, and provides an in-vehicle driving support device capable of effectively supporting driving by presenting information on a vehicle approaching an intersection to a driver. The main purpose is to do.

  In order to achieve the above object, the first aspect of the present invention is an in-vehicle driving support that presents to a driver information regarding an approaching vehicle approaching the intersection where the own vehicle is about to pass in a direction crossing the own vehicle. The apparatus is a driving state detection unit that detects a traveling state of an approaching vehicle, an imaging unit that images an approaching vehicle, information based on the traveling state of the approaching vehicle detected by the traveling state detection unit, and an image captured by the imaging unit. Presenting means for presenting to the driver together with the image of the approaching vehicle.

  According to the first aspect of the present invention, since the information based on the traveling state of the approaching vehicle and the image are presented together, the driver can grasp the type of the vehicle approaching the intersection, and driving effectively. Can provide support. Moreover, since it is a vehicle-mounted device, there is no need to install infrastructure on the road.

  In the first aspect of the present invention, the presenting means may be means for presenting information related to the approaching vehicle to the driver when the host vehicle is stopped. The presenting means may be means for presenting information related to the approaching vehicle to the driver when the vehicle speed of the host vehicle is equal to or lower than a predetermined speed. In this way, when the information regarding the approaching vehicle is not presented to the driver, the presenting means can be used for another system / device provided in the vehicle. That is, since it can be shared with the presenting means provided in other systems and devices, the equipment burden can be reduced. Here, “when the vehicle speed of the host vehicle is equal to or lower than the predetermined speed” includes when the vehicle is stopped.

  In the first aspect of the present invention, the traveling state detection means is preferably a radar device that detects the distance and speed of the approaching vehicle to the host vehicle as the traveling state of the approaching vehicle. Specific examples of this radar device include millimeter wave radar, laser radar, ultrasonic radar, and the like.

  In the first aspect of the present invention, it is preferable that the arrival time estimation unit further estimates an arrival time until the approaching vehicle reaches the intersection based on the traveling state of the approaching vehicle detected by the traveling state detection unit. The presenting means is means for presenting to the driver the arrival time of the approaching vehicle estimated by the arrival time estimation means and the image of the approaching vehicle imaged by the imaging means. It has been experimentally obtained that the decision as to whether or not to start when going straight or turning left and right depends to some extent on the arrival time of the vehicle approaching the intersection. Therefore, driving assistance can be performed more effectively by estimating the arrival time and displaying it to the driver.

  In one aspect of the present invention, when the arrival time of the approaching vehicle estimated by the arrival time estimation means is less than a predetermined time, warning means for warning the driver may be further provided.

  In the first aspect of the present invention, for example, the traveling state detection means is a means that is attached to the front portion of the vehicle and detects the traveling state of the approaching vehicle in the left-right direction of the vehicle, and the imaging means is located at the front portion of the vehicle. It is means for imaging the approaching vehicle in the left and right direction of the vehicle, and the presenting means is means for presenting information on the approaching vehicle in the left and right direction of the vehicle to the driver.

  In the first aspect of the present invention, for example, the traveling state detection means is a means that is attached to the front portion of the vehicle and detects the traveling state of the approaching vehicle substantially in front of the vehicle, and the imaging means is the front portion of the vehicle. The presenting means is means for presenting information about the approaching vehicle substantially in front of the vehicle to the driver.

  In the first aspect of the present invention, preferably, the presenting means drives the information regarding the approaching vehicle substantially in front of the vehicle, and the presenting means drives the information regarding the approaching vehicle in the left-right direction of the vehicle to the driver. And switching means for switching between the first mode and the second mode. In this case, the switching means is more preferably means for automatically switching between the first mode and the second mode based on the traveling state of the host vehicle.

  According to a second aspect of the present invention, there is provided an in-vehicle driving support device for presenting information on an approaching vehicle approaching an intersection where the own vehicle is about to pass in a direction intersecting with the own vehicle to the driver. Based on the distance and speed to the intersection of the approaching vehicle detected by the traveling state detection means, the arrival time until the approaching vehicle reaches the intersection is estimated based on the traveling state detection means for detecting the distance and speed to the intersection And arrival time estimation means, and at least the arrival time of the approaching vehicle estimated by the arrival time estimation means is presented to the driver.

  According to the second aspect of the present invention, since the arrival time is estimated and displayed to the driver, driving assistance can be performed effectively.

  ADVANTAGE OF THE INVENTION According to this invention, the vehicle-mounted driving assistance apparatus which can perform driving assistance effectively can be provided by showing a driver | operator the information regarding the vehicle which approaches an intersection.

  Hereinafter, the best mode for carrying out the present invention will be described with reference to the accompanying drawings.

  FIG. 1 is a diagram illustrating an example of the overall configuration of a driving support apparatus 1 according to an embodiment of the present invention. The driving support device 1 includes, for example, radar devices 10a, 10b, and 10c, cameras 20a and 20b, a display 30, and an electronic control unit (hereinafter referred to as ECU: Electronic Control Unit) 40 as main components. Prepare.

  The radar devices 10a, 10b, and 10c are millimeter wave radars that can detect the relative distance and speed of a moving body within a range of, for example, a distance of about 100 [m] and an angle of about 60 to 90 degrees. The radar devices 10a and 10b are respectively disposed at the left and right ends of a bumper, a front grill, and the like at the front end of the vehicle body, and detect the relative distance and speed of a moving body existing in the left and right direction at the front end of the vehicle. The radar device 10c is disposed at the center of a bumper, a front grill, and the like at the front end of the vehicle body, and detects the relative distance and speed of a moving body that exists substantially in front of the vehicle. Note that the radar devices 10a, 10b, and 10c may be shared with a radar device for detecting side obstacles and front obstacles used in a pre-crash safety (PCS) system or the like.

  The camera 20a is disposed, for example, in a central portion such as a bumper or a front grill at the front end of the vehicle body, and can capture a wide angle range (for example, about 200 degrees) using a fisheye lens with the front direction of the vehicle as the center. It is a camera. The camera 20b is, for example, a camera that is attached to the rear surface of a rearview mirror in a vehicle interior and captures an image in front of the vehicle. The cameras 20a and 20b are cameras using an image sensor such as a CCD or a CMOS, for example. The camera 20a may be shared with a wide-angle camera or the like used for a blind corner monitor, and the camera 20b may be shared with a front road imaging camera used for LKA (lane keeping assist) control.

  Detection values detected by the radar devices 10a, 10b, and 10c and image data from the cameras 20a and 20b are input to the ECU 40 as needed by communication.

  The display 30 is, for example, a liquid crystal display screen that is also used as an operation input as a touch panel and is provided with speakers capable of voice guidance. In the present embodiment, the display 30 is shared with the display of the navigation system. Therefore, when the vehicle speed is equal to or lower than the predetermined speed, a display for executing the function of the driving support device 1 is performed. However, when the vehicle speed exceeds the predetermined speed, it is used as a part of a normal navigation system. In addition, the display content at the time of performing the function of the driving assistance device 1 is transmitted from ECU40.

  ECU40 is a computer centering on CPU, for example. The ECU 40 includes a storage medium such as a RAM, and stores detection values detected by the radar apparatuses 10a, 10b, and 10c for a predetermined time. The ECU 40 is connected to a vehicle LAN (Local Area Network) together with other ECUs included in the vehicle, and performs bidirectional data communication based on, for example, a CAN (Controller Area Network) protocol. Thereby, for example, the ECU 40 obtains data such as the vehicle speed, the steering angle, and the operation state of the winker from the driving ECU or the like, or obtains data such as the current position of the host vehicle from the ECU for the navigation system. It is possible to do.

  Next, functions of the driving support device 1 according to an embodiment of the present invention will be described. As described above, the driving support device 1 displays information on approaching vehicles approaching the intersection on the display 30 shared with the navigation system when the vehicle stops.

  By the way, scenes where the driver wants information on approaching vehicles when passing through an intersection are as follows: (1) A scene in which the vehicle stops before the intersection (including when traveling at a predetermined speed or less before and after stopping) and goes straight ahead. (2) Stop at the intersection (same as above) and turn right (in the case of right-hand traffic in foreign countries, etc., turn left. This switching may be set when the vehicle or device is exported, etc.). A scene can be considered. Therefore, the driving support device 1 switches the contents of information displayed on the display 30 for these two scenes.

  First, (1) the contents displayed in a scene where the vehicle will stop (same as above) in front of an intersection and go straight ahead will be described. In this scene, information on vehicles approaching the intersection from the left-right direction of the host vehicle is desired. Therefore, the ECU 40 determines the display content of the display 30 based on the detection values from the radar devices 10a and 10b and the image data from the camera 20a. Specifically, based on the relative distance and speed of the approaching vehicle from the radar devices 10a and 10b to the subject vehicle, each approaching vehicle (referred to as the leading vehicle among vehicles approaching from the left and right) reaches the intersection. The arrival time is estimated, and the distance, speed, and arrival time are displayed together with an image of each approaching vehicle. FIG. 2 shows how the radar devices 10a and 10b and the camera 20a function in this scene, and FIG. 3 shows an example of the display screen of the display 30 in this scene.

  Here, the estimation of the arrival time may be performed on the assumption that the current speed is easily maintained, and even if the subsequent acceleration / deceleration that can be estimated based on the speed history up to now is taken into account. Good. In addition, regarding the point where the range to be imaged by the camera 20a is separated to the left and right of the vehicle, the ECU 40 may ignore the image data in the central portion (the vehicle front direction), and mask the lens portion of the camera 20a. May be performed. Further, two cameras may be provided.

  Next, (2) the contents displayed at the scene of stopping at the intersection (same as above) and starting to turn right will be described. In this scene, information on a vehicle approaching the intersection from substantially in front of the host vehicle is desired. Therefore, the ECU 40 determines the display content of the display 30 based on the detection value from the radar device 10c and the image data from the camera 20b. Specifically, based on the relative distance and speed of the approaching vehicle from the radar device 10c to the host vehicle, the arrival time until the leading approaching vehicle reaches the intersection is estimated, along with an image of the leading approaching vehicle, Display distance, speed, and arrival time. FIG. 4 shows how the radar device 10c and the camera 20b function in this scene, and FIG. 5 shows an example of the display screen of the display 30 in this scene.

  Thus, since the information of each approaching vehicle is displayed together with the image, it is possible to grasp the type of approaching vehicle (motorcycle, automobile, truck, bus, etc.) and whether or not the driver should start. It is possible to effectively support making the judgment. In addition, a result that this determination depends to some extent on the arrival time has been obtained by experiments, and it is considered that the determination can be more effectively supported by displaying the arrival time.

  In particular, when a fisheye lens is used for the camera 20a, it is difficult to grasp the sense of distance from each approaching vehicle due to image distortion only by displaying the image of the camera 20a. Even in such a case, the user can grasp the sense of distance from each approaching vehicle by relying on additional information such as the arrival time.

  FIG. 6 shows an example of a processing flow executed in the ECU 40 in order to execute such a function. This flow is repeatedly executed by the CPU of the ECU 40 while, for example, the vehicle shift position is a travel position (not the P position or the N position).

  First, the ECU 40 determines whether or not the vehicle speed of the host vehicle is equal to or lower than a predetermined speed (S100). This determination can be made, for example, by acquiring vehicle speed data from the driving ECU. Further, the predetermined speed can be set to, for example, 1 [km / h] to 35 [km / h], preferably 5 [km / h] to 20 [km / h].

  When it is determined that the vehicle speed of the host vehicle exceeds the predetermined speed, an instruction signal is transmitted to the display 30 so as to display as a function of the navigation system (S110), and one routine of this flow is terminated.

  If it is determined that the vehicle speed of the host vehicle is equal to or lower than the predetermined speed, it is next determined whether the vehicle is going to go straight ahead before the intersection or right turn at the intersection ( S120). This determination can be made with reference to any of the steering angle obtained from the other ECU, the operating state of the winker, and the current position of the host vehicle, or in combination. For example, if the turn signal indicates the right and the current position of the host vehicle is within an intersection, it may be determined that the scene is about to start a right turn.

  When it is determined that the scene is going straight ahead, as described above, the display content of the display 30 is determined based on the detection values from the radar devices 10a and 10b and the image data from the camera 20a (S130). ), One routine of this flow is terminated.

  When it is determined that the scene is about to start a right turn, as described above, the display content of the display 30 is determined based on the detection value from the radar device 10c and the image data from the camera 20b (S140), One routine of this flow is completed.

  In addition to these displays, when the arrival time is less than a predetermined time, a function for displaying a warning to that effect and notifying the driver by voice may be added.

  As mentioned above, although the best mode for carrying out the present invention has been described using one embodiment, the present invention is not limited to such one embodiment, and within the scope not departing from the gist of the present invention, Various modifications and substitutions can be made to the above-described embodiment.

  For example, in the driving support device 1 of the present embodiment, the arrival time is calculated based on the relative distance and the speed, and these are all displayed on the display 30, but any one of them may be displayed. Further, other information may be added and displayed.

  Further, the information on the approaching vehicle is displayed when the vehicle speed of the host vehicle is equal to or lower than the predetermined speed. However, the information on the approaching vehicle may be displayed only when the host vehicle is stopped.

  In addition, the display 30 is shared with the navigation system, but a dedicated display may be provided or may be shared with other systems and devices. When a dedicated display is provided, information on approaching vehicles exemplified in the embodiment may be displayed at all times. Furthermore, the switching of the functions of other systems and devices such as the navigation system is not limited to the automatic one exemplified in the embodiment, and for example, a switching switch may be provided.

  Similarly, the switching of the display content of the display 30 based on the determination of whether the vehicle is going straight ahead or turning right at the intersection is not limited to the automatic one, and a changeover switch may be provided. Furthermore, both may be displayed simultaneously. That is, all the information regarding the approaching vehicle in the left-right direction of the vehicle and the approaching vehicle in front of the vehicle may be displayed at the same time.

  Further, only approaching vehicles in either the left-right direction or the substantially forward direction may be detected and information may be displayed.

  Moreover, although the millimeter wave radar was illustrated as a specific aspect of the radar apparatuses 10a, 10b, and 10c, a laser radar, an ultrasonic radar, or the like may be used. Furthermore, as a device for detecting the distance and speed of an approaching vehicle (corresponding to the traveling state detecting means according to claim 1), other types of equipment such as a stereo camera may be used.

  The ECU 40 may be integrated with a control device included in another system / device such as an ECU for a pre-crash safety (PCS) system or an ECU for a navigation system.

  The present invention can be used for at least a driving support device mounted on a vehicle. The appearance, weight, size, running performance, etc. of the vehicle to be mounted are not limited.

1 is a diagram illustrating an example of an overall configuration of a driving support apparatus 1 according to an embodiment of the present invention. It is a figure which shows a mode that the radar apparatuses 10a and 10b and the camera 20a function in the scene which stops before an intersection and is going to start straight ahead. It is a figure which shows an example of the display screen of the display 30 in the scene which stops before an intersection and is going to start straight ahead. It is a figure which shows a mode that the radar apparatus 10c and the camera 20b function in the scene which stops within an intersection and is going to start right turn. It is a figure which shows an example of the display screen of the display 30 in the scene which stops within an intersection and is going to start right turn. It is a figure which shows an example of the processing flow performed in ECU40.

Explanation of symbols

1 Driving support device 10a, 10b, 10c Radar device 20a, 20b Camera 30 Display 40 ECU

Claims (4)

An in-vehicle driving support device that presents to a driver information on an approaching vehicle that approaches the intersection where the own vehicle is about to pass in a direction intersecting with the own vehicle,
First traveling state detection means for detecting a traveling state of the approaching vehicle substantially in front of the vehicle;
Second traveling state detection means for detecting the traveling state of the approaching vehicle in the left-right direction of the vehicle;
First imaging means for imaging substantially in front of the vehicle;
A second imaging means capable of imaging a wide angle range with respect to the front direction of the vehicle as compared to the first imaging means;
Steering angle and / or whether the vehicle is going to start straight ahead before the intersection or the right turn at the intersection when the host vehicle is stopped or the vehicle speed is less than the predetermined speed Information based on the traveling state of the approaching vehicle detected by the second traveling state detection means when it is determined based on the operating state of the blinker and it is determined that the scene is going to start straight ahead before the intersection; The image of the approaching vehicle picked up by the second image pickup means is also presented to the driver, and when it is determined that the scene is about to start a right turn in front of the intersection, it is detected by the first driving state detection means. It has been an image of the approaching vehicle captured by the information and the first imaging means based on the traveling state of the approaching vehicle together to present to the driver And control means for switching the presentation content of the shows means,
A driving support apparatus comprising: The driving support device according to claim 1,
The traveling state detection means is a radar device that detects the distance and speed to the host vehicle in the approaching vehicle as the traveling state of the approaching vehicle.
Driving assistance device. The driving support device according to claim 1 or 2,
An arrival time estimating means for estimating an arrival time until the approaching vehicle reaches an intersection based on the running state of the approaching vehicle detected by the running state detection means;
The presenting means is means for presenting to the driver the arrival time of the approaching vehicle estimated by the arrival time estimation means and the image of the approaching vehicle imaged by the imaging means.
Driving assistance device. The driving support device according to claim 3,
If the arrival time of the approaching vehicle estimated by the arrival time estimation means is less than a predetermined time, the apparatus further comprises warning means for warning the driver.
Driving assistance device.

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