JP4840193B2 - Information provision judgment device - Google Patents

Description

  The present invention relates to an information provision determination apparatus for quickly and accurately providing information to a vehicle for the purpose of preventing a collision accident that occurs at an intersection. The present invention also relates to an electronic intersection system that provides information promptly and accurately to vehicles entering an intersection.

  At the intersection, a collision accident or a contact accident has occurred because it is difficult to grasp the oncoming vehicle due to the shape of the road, the shadow of the oncoming vehicle, or the speed of the oncoming vehicle is faster than the speed determined by the driver. To solve such problems, predict the collision between a right turn vehicle and an oncoming vehicle, and if there is a high possibility of a collision accident, provide information to the driver, issue a warning at the right turn zone, or turn on a right turn vehicle. There has been an information provision determination device that prevents an accident by forcibly stopping the system (for example, see Patent Document 1).

JP 2001-126199 A (page 3-6, FIG. 1)

  In the conventional information provision determination device, a mobile object having a risk of collision is predicted from the relative position between the mobile objects and the state of the mobile object, and warning information about the mobile object is provided. In the conventional technology, for example, the same warning information is repeatedly provided for a moving object in which the driver of the vehicle is already visible, such as in a traffic jam, or a danger recognized by the driver. It was a factor that increased the burden.

The present invention, such a problem has been made to solve the, aims at providing information providing determination equipment capable of providing only a warning information necessary for the mobile.

The information provision determination device according to the present invention provides behavior information before entering the intersection of the first moving body entering the intersection, signal information of the intersection, intersection information, warning information, and timing for distributing the warning information. Information output determination means for determining whether or not to send a warning regarding the first moving body to the second moving body entering the intersection based on the specified distribution control information and time information, and the information output determination According to the determination result of the means, it has a communication area that covers at least a part near the intersection , and includes an information output means for outputting the warning to the communication means that communicates with the second mobile body entering the communication area , In the case of the first moving body group in which there are a plurality of the first moving bodies that enter the intersection along the first direction, the information output determination means includes the inter-vehicle distances of the first moving body group, 1 moving body There by using the inter-vehicle distance is determined to be congested, the Second mobile, is characterized in determining whether to send a warning for each of the first mobile unit.

According to the information providing judgment equipment of the present invention, it is possible to provide only warning information necessary for the mobile.

Embodiment 1 FIG.
FIG. 1 is a diagram schematically showing a configuration of an electronic intersection system according to Embodiment 1 of the present invention, and shows a system for providing information to a right turn vehicle (a vehicle turning right or waiting for a right turn) at an intersection. In addition, in the following figures, what attached | subjected the code | symbol same as FIG. 1 is the same or it corresponds.
The information provision determination apparatus 1 includes a DSRC (Dedicated Short Range Communication) roadside device (narrow band wireless communication means) 2a, a vehicle sensing device (such as an ultrasonic sensing device) 3a, signal control devices 4a and 4b, and right-turn vehicle detection. A device (camera or the like) 5 a is connected to the center 10.
The DSRC roadside device 2a performs dedicated narrow area wireless communication with an in-vehicle device installed in a vehicle that enters the DSRC communication area 2a-1 in a range that covers at least a part near the intersection 7. The data is encoded in a predetermined format and wirelessly transmitted to the right turn vehicle 9a in the communication area 2a-1.
The vehicle sensing device 3a acquires behavior information of the vehicle 9b (first moving body) that enters the intersection 7 along the first direction 6a. Specifically, the presence / absence of a vehicle in the vehicle detection range 3a-1 that is several meters to several tens of meters away from the stop line of the lane along the first direction 6a, and the vehicle if there is a vehicle The behavior information 9b is detected, and the result is notified to the information provision determination device 1.
The signal control devices 4a and 4b control the display of signals, and notify the information providing determination device 1 of the displayed signal information such as blue, red, yellow, and right / left turn arrows.
The right turn vehicle detection device 5a detects a vehicle 9a (second moving body) that enters the intersection 7 along the second direction 6b. Specifically, the presence of a right turn vehicle existing in the right turn vehicle detection area 5a-1 at a distance of several tens of meters to several hundreds of meters is acquired, and the result is notified to the information provision determination device 1.
The center 10 has intersection information at the intersection, warning information, distribution control information that defines the timing for distributing the warning information, and the like, and inputs these information to the information provision determination device 1.

  In the following, the vicinity of the intersection refers to FIG. 1 as a whole, the range from the center of the intersection to a radius of about 200 m that does not reach the adjacent intersection, and the inside of the intersection is the range from the stop line of the lane entering the intersection to the inside And “outside the intersection” means a range between the vicinity of the intersection and the inside of the intersection.

FIG. 2 is a block diagram showing the configuration of the electronic intersection system according to Embodiment 1 of the present invention.
The information provision determination apparatus 1 includes an information output unit 101, a moving body behavior information acquisition unit 102, a signal information input unit 103, a time information acquisition unit 104, an information storage unit 105, an information output determination unit 106, an intersection An information input unit 107 and a distribution control information input unit 108 are provided.
In addition, the mobile body behavior information acquisition means 100 which acquires the behavior information of the 1st mobile body 9b and the 2nd mobile body 9a with the mobile body behavior information acquisition part 102, the vehicle sensing apparatus 3a, and the right turn vehicle detection apparatus 5a is signal information. A signal information acquisition unit 200 that acquires signal information of an intersection by the input unit 103 and the signal control devices 4a and 4b is provided by the information storage unit 105, the intersection information input unit 107, the distribution control information input unit 108, and the center 10. The information holding means 300 that holds intersection control information at an intersection, warning information, and distribution control information that defines the timing at which the warning information is distributed is configured.

  The moving body behavior information acquisition unit 102 is a vehicle 9b (first movement) that enters the intersection 7 along the first direction 6a within the vehicle detection range 3a-1 of the vehicle detection device 3a from the vehicle detection device 3a. Body) behavior information (detection time, detection position, velocity information, etc.) is periodically acquired, and the type of device that acquired the behavior information and the acquired time are associated with each other as shown in Table 1, for example. It memorize | stores in 105.

Moreover, the mobile body behavior information acquisition part 102 acquires periodically presence of the vehicle 9a (2nd mobile body) which exists in the right turn vehicle detection area 5a-1 from the right turn vehicle detection apparatus 5a, and the behavior information ( For example, the presence / absence of a right turn vehicle, speed, etc.) is acquired. Further, the acquired behavior information is stored in the information storage unit 105.
In addition, regarding acquisition of behavior information (for example, the presence or absence of a right turn vehicle, speed, etc.) of the second moving body 9a, the behavior information is not acquired by the moving body behavior information acquisition unit 102, but is acquired by the right turn vehicle detection device 5a. The detected behavior information may be output to the moving body behavior information acquisition unit 102, and the moving body behavior information acquisition unit 102 may store the input behavior information in the information storage unit 105.

The signal information input unit 103 receives the signal information notified from the signal control devices 4 a and 4 b and stores it in the information storage unit 105.
The time information acquisition unit 104 acquires time information and stores it in the information storage unit 105. In FIG. 2, the time information acquisition unit 104 is provided in the information provision determination device 1, but it may be input from the outside.

The intersection information input unit 107 inputs intersection information held by the center 10 (intersection position, regulation speed, right turn required time, etc.) and stores the information in the information storage unit 105.
The distribution control information input unit 108 inputs distribution control information (such as the distribution timing of warning information) held by the center 10 and stores it in the information storage unit 105.
Note that these intersection information and distribution control information may be stored in the information storage unit 105 in advance.
In the present embodiment, warning information is stored in advance in the information storage unit 105.

  Tables 2 and 3 show configuration examples of intersection information in the present embodiment. In Tables 2 and 3, the intersection information includes the types of devices (vehicle sensing devices, pedestrian sensing devices, signal control devices, etc.) installed near the intersections, their installation positions, and the intersections targeted by the devices. It consists of road direction and lane, intersection center position, intersection regulation speed, right turn required time for right turn, and inter-vehicle distance determined to be traffic jam.

  Table 4 shows a configuration example of the information distribution control information in the present embodiment. In Table 4, the information distribution control information includes the behavior of the mobile body (second mobile body 9a) to be provided with warning information and the mobile body that is the target of warning information provided to the mobile body (second mobile body 9a) ( It is composed of a device that acquires the behavior of the first moving body 9b), the content of the warning information to be provided, the recognizable time of the warning information, and the signal state (warning information distribution timing) when the warning information is provided. The

  The information output determination unit 106 determines whether or not to transmit a warning regarding the first moving body 9b to the second moving body 9a based on the above-described information stored in the information storage unit 105 (described later).

The information output means 101 outputs warning information to be transmitted to the right turn vehicle 9a to the DSRC roadside apparatus 2a according to the determination result in the information output determination means 106.
The information output means 101 may be a mobile communication terminal disclosed in Japanese Patent Application Laid-Open No. 2005-318522. Thereby, the information provision determination apparatus 1 can communicate with the in-vehicle apparatus capable of DSRC road-to-vehicle communication.

FIG. 3 is a block diagram showing the configuration of the in-vehicle apparatus according to Embodiment 1 of the present invention. In the figure, an in-vehicle device 9 includes an information providing unit 901 for a driver, an information providing unit 902 for a DSRC roadside device 2a, other in-vehicle devices 909 such as a car navigation system and an optical beacon in-vehicle device, a vehicle sensor 907, or a vehicle control. In-vehicle information input means 903 for inputting in-vehicle information (behavior information of the second moving body 9a) such as the position and speed of the vehicle from the apparatus 908, in-vehicle apparatus management means 904 for managing the in-vehicle apparatus 9, and in-vehicle apparatus management means 904 Vehicle information storage means 905 for storing information inputted from the above and warning information distributed from the DSRC roadside apparatus 2a via the DSRC communication means 906, and DSRC communication means 906 for performing DSRC communication with the DSRC roadside apparatus 2a. is doing.
The information providing unit 901 includes an audio reproducing unit 901a for reproducing audio, an image reproducing unit 901b for reproducing an image, and a text reproducing unit 901c for reproducing text.

The in-vehicle device 9 receives warning information such as right turn warning information, oncoming vehicle warning information, or pedestrian warning information expressed by voice, image, text, or the like distributed from the DSRC roadside device 2a, as the reproduction means 901a, 901b. , 901c.
The in-vehicle device 9 accumulates vehicle information including vehicle type information (identifier (ID)) in the in-vehicle information storage unit 905 and obtains it from other in-vehicle devices 909, the vehicle sensor 907, or the vehicle control device 908. The vehicle information such as the position, speed, direction, turn signal status, etc. of the vehicle to be recorded is always stored via the in-vehicle information input means 903 and the in-vehicle apparatus management means 904. Further, the vehicle information and the vehicle information stored in the in-vehicle information storage means 905 can be provided as uplink information to the DSRC roadside apparatus 2a using the information providing means 902 and the DSRC communication means 906 to the DSRC roadside apparatus 2a. Shall.

FIG. 4 is a flowchart showing the operation of the information provision determination apparatus 1 according to Embodiment 1 of the present invention, and shows the operation in the information output determination means 106. In FIG. 4, when there is a vehicle waiting for a right turn at an intersection, it is determined whether or not a warning is transmitted to the vehicle.
First, in step S101, the center 10 receives intersection information (Tables 2 and 3) and information distribution control information (Table 4), respectively, an intersection information input unit 107 and a distribution control information input unit 108 of the information provision determination device 1. The intersection information input unit 107 and the distribution control information input unit 108 store the input information in the information storage unit 105.

Next, in step S102, the information output determination means 106 determines the presence or absence of the vehicle 9a waiting for a right turn. As a specific determination method, when the moving body behavior information acquisition unit 102 acquires the presence of the right turn waiting vehicle 9a in the right turn vehicle detection area 5a-1 of the right turn vehicle detection device 5a, the moving body behavior information acquisition unit 102 If it is confirmed that the turn signal of the vehicle 9a is lit to the right and the traveling speed is 0 [km / h], the vehicle 9a is a vehicle waiting for a right turn. It is determined that the vehicle is not a waiting vehicle, and the determination result is stored in the information storage unit 105 as behavior information of the second moving body 9a (whether there is a vehicle waiting for a right turn). Further, the information output determination means 106 inputs the behavior information (presence / absence of right turn waiting vehicle) of the second moving body 9a from the information storage unit 105, and determines the presence / absence of the right turn waiting vehicle.
If there is no right turn waiting vehicle, step S102 is repeated again.

If there is a vehicle waiting for a right turn, it is checked in step S103 whether the vehicle 9a can turn right. About the specific confirmation method of right turn availability, the moving body behavior information acquisition part 102 acquires the behavior information of the vehicle 9b (1st moving body) acquired from the vehicle sensing apparatus 3a, and the intersection memorize | stored in the information storage part 105 at step S101. From the information and the information distribution control information and the time information acquired by the time information acquisition unit 104, the time T1 when the vehicle 9b is detected, the detected speed V1 of the vehicle 9b, and the distance to the intersection center of the vehicle 9b (vehicle sensing The distance L) between the device 3a and the center of the intersection, the current time T, the required time Tp2 required for the right turn waiting vehicle 9a to turn right, and the warning information recognizable time Tr are obtained, and the warning information about the vehicle 9b is obtained. Estimate the provision limit time (time to reach the intersection center position: T1 + L / V1) and turn right when it is determined that the vehicle 9a completes the right turn by the limit time Judges. That is,
T1 + L / V1> T + Tp2 + Tr
Is determined to be possible (no risk of colliding with the first moving body 9b).
T1 + L / V1 ≦ T + Tp2 + Tr
In this case, it is determined that a right turn is impossible (there is a risk of collision with the first moving body 9b).

If it is determined that a right turn is possible, the process returns to step S102, and if a right turn is not possible, the process proceeds to step S104.
In step S <b> 104, the information output determination unit 106 determines that the signal information for the vehicles 9 a and 9 b acquired from the signal information input unit 103 and the distribution control information (warning information distribution timing) stored in the information storage unit 105 are the same. Determine whether you are doing it. Here, if both the signal information for the first direction 6a and the second direction 6b are blue, the process proceeds to step S105, and if either is not blue, the process returns to step S102.

  In step S <b> 105, the information output determination unit 106 acquires warning information (oncoming vehicle caution information) to be provided to the right turn waiting vehicle from the information stored in the information storage unit 105, and the DSRC roadside via the information output unit 101. A warning is transmitted from the device 2a to the vehicle 9a waiting for a right turn.

  In step S103, when the speed V1 of the vehicle 9b (first moving body) entering the intersection 7 along the first direction 6a cannot be input from the vehicle sensing device 3a, the intersection information shown in Table 3 is used. (Regulated speed Vp1 in the first direction 6a) may be used instead of V1 to determine whether a right turn is possible.

  Further, the oncoming vehicle warning information in step S105 may be provided by using physical contact with the driver such as pulling the driver's seat belt or vibrating the chair in addition to voice, image, text, and the like. .

In FIG. 4, when there is a vehicle waiting for a right turn at the intersection, it is determined whether or not a warning is transmitted to the vehicle. When a vehicle waiting for a right turn or a vehicle in the middle of a right turn exists at the intersection, When determining whether or not to send a warning, in step S102, if the blinker is lit and the traveling speed is 0 [km / h], it is determined that there is a vehicle waiting for a right turn. If it is lit and the traveling speed is greater than 0 [km / h], it is determined that there is a vehicle in the middle of a right turn.
Further, when the second moving body 9a is a vehicle waiting for a right turn, the operations of Steps S103 to S105 in FIG. 4 are performed, and when the second moving body 9a is a vehicle in the middle of a right turn, in Step S103, the operation is made safer. In order to set the judgment criteria, the same judgment method as that of the vehicle waiting for a right turn is adopted,
T1 + L / V1> T + Tp2 + Tr
When is established, it is determined that a right turn is possible.
T1 + L / V1 ≦ T + Tp2 + Tr
In this case, it is determined that a right turn is impossible.
Further, in step S104, the same determination as in the case of a vehicle waiting for a right turn is performed. In step S105, warning information (not shown in Table 4) to be provided to a vehicle in the middle of a right turn from information stored in the information storage unit 105. The information is acquired, and a warning is transmitted from the DSRC roadside apparatus 2a to the vehicle 9a on the right turn through the information output means 101.

  As described above, the computerized intersection system according to Embodiment 1 of the present invention determines whether or not the second moving body is a right-turn vehicle and whether the second moving body can turn right in the information provision determination device. In other words, it is determined whether there is a risk of colliding with an opposing straight vehicle (first moving body). Further, the first moving body entering the intersection along the first direction opposite to the second direction is in a signal state in which the second moving body entering the intersection along the second direction can turn right. It is determined whether the signal state is capable of going straight. Based on the above determination, it is determined whether or not the warning relating to the first moving body needs to be reproduced by the in-vehicle device of the second moving body. Therefore, only the warning information necessary for the second moving body is provided to alert the oncoming vehicle that has a risk of colliding at the time of a right turn to the right turn vehicle entering the intersection along the second direction. Is possible.

Embodiment 2. FIG.
In the first embodiment, the behavior information of the vehicle 9a entering the intersection 7 along the second direction 6b is acquired by the right turn vehicle detection device 5a and the moving body behavior information acquisition unit 102. Alternatively, the behavior information of the vehicle 9a may be acquired using information transmitted from the in-vehicle device 9 mounted on the right turn waiting vehicle 9a to the DSRC roadside device 2a.
Specifically, from the vehicle 9a that entered the communication area 2a-1 of the DSRC roadside device 2a to the DSRC roadside device 2a, the vehicle information (ID, etc.) of the vehicle 9a and the behavior information of the vehicle 9a (lighting of the turn signal of the right turn, DSRC roadside device 2a inputs the acquired information to the moving body behavior information acquisition unit 102 of the information provision determination device 1.
In this way, the right-turn vehicle detection device 5a becomes unnecessary, and the vehicle that has acquired the behavior information (which is a right-turn vehicle) can be specified, so that warning information can be reliably provided to the right-turn vehicle. The effect which becomes.

Embodiment 3 FIG.
FIG. 5 is a diagram schematically showing a traffic situation in the electronic intersection system according to Embodiment 3 of the present invention.
In the third embodiment, as shown in FIG. 5, when there are a plurality of straight traveling vehicles (first moving body group) entering the intersection 7 along the first direction 6a, warning information regarding the straight traveling vehicle 9b is displayed. After providing the vehicle to the right turn vehicle (the vehicle that is turning right or waiting for the right turn) (second moving body) 9a, it is determined whether or not warning information related to the backward straight vehicle existing behind the straight vehicle 9b is provided to the right turn vehicle 9a. The warning information is provided in accordance with the inter-vehicle distance of the vehicle running straight ahead.
That is, even if the straight vehicle groups 9b, 9c, 9d... Continuously enter the intersection 7 along the first direction 6a, the straight vehicle groups 9b, 9c, 9d,.・ Not all warning information for each vehicle is provided, but warning information is provided for vehicles whose inter-vehicle distance is smaller than Lp1 (Lp1: inter-vehicle distance in which the group of vehicles traveling in the first direction 6a is determined to be congested). Without warning, the warning information is provided for a vehicle having an inter-vehicle distance greater than Lp1.

  By doing this, the same warning information is not repeatedly provided for the moving body in which the driver of the vehicle is already visible, such as in a traffic jam, or the danger recognized by the driver, only the warning information necessary for the moving body Can be provided.

  The specific operation of this embodiment will be described. When the straight traveling vehicle group 9b, 9c, 9d enters the intersection 7 along the first direction 6a with an inter-vehicle distance Lp_bc (between the vehicle 9b and the vehicle 9c) and Lp_cd (between the vehicle 9c and the vehicle 9d), vehicle detection The device 3a detects the presence / absence of a vehicle present in the vehicle sensing range 3a-1, the behavior information of the vehicles 9b, 9c, and 9d when the vehicle is present, and the detected speeds of the vehicles 9b, 9c, and 9d, The detected time is notified to the moving body behavior information acquisition unit 102 of the information provision determination apparatus 1 as the behavior information of the first moving body group.

The information output determination unit 106 of the information provision determination device 1 calculates the inter-vehicle distances Lp_bc and Lp_cd of the vehicles 9b, 9c, and 9d from the speeds of the vehicles 9b, 9c, and 9d and the detected time by a method described later. Alternatively, the inter-vehicle distances Lp_bc and Lp_cd may be acquired by the moving body behavior information acquisition unit 102.
The information storage unit 105 stores an inter-vehicle distance Lp1 as intersection information, and the information output determination unit 106 compares the inter-vehicle distance Lp1 with the inter-vehicle distances Lp_bc and Lp_cd,
(1) When Lp_bc <Lp1 and Lp_cd <Lp1, the vehicle 9b goes straight (2) When Lp_bc> Lp1 and Lp_cd <Lp1, the vehicle 9b, 9c goes straight (3) Lp_bc> Lp1 In this case, the warning information regarding the straight traveling vehicles 9b, 9c, and 9d is provided to the right turn vehicle 9a.

FIG. 6 is a flowchart showing the operation of the information provision determination apparatus 1 according to the third embodiment of the present invention, and shows the operation in the information output determination means 106.
Steps S201 to S204 are the same as steps S101 to S104 in FIG.

In step S205, the size of the inter-vehicle distance L and Lp1 of the straight-ahead vehicle that has entered the intersection 7 along the first direction 6a is confirmed. As a specific method for acquiring the inter-vehicle distance L, the behavior information (vehicle speed Vs1) notified from the vehicle sensing device 3a and the time Ts1 at which the behavior information is acquired are stored in the information storage unit 105. Next, the time Ts2 when the behavior information is notified from the vehicle sensing device 3a is acquired, and the inter-vehicle distance L = Vs1 × Ts is obtained using the time difference Ts (Ts2−Ts1) and Vs1.
If L ≧ Lp1 in step S205, warning information is provided to the right turn vehicle 9a (step S207).
If L <Lp1 in step S205, it is confirmed whether warning information is provided to the right turn vehicle 9a (step S206). If warning information has already been provided to the vehicle 9a, the warning information is not provided to the vehicle 9a, and the process proceeds to step S202. When the warning information is not provided to the vehicle 9a, the process proceeds to step S207.

  In FIG. 5, the behavior information of the vehicle 9a entering the intersection 7 along the second direction 6b is used by using the information transmitted from the in-vehicle device 9 mounted on the vehicle 9a to the DSRC roadside device 2a. As shown in FIG. 1, the right turn vehicle detection device 5a is installed, and the behavior information of the vehicle 9a entering the intersection 7 along the second direction 6b is obtained from the right turn vehicle detection device 5a and the moving body. You may acquire by the behavior information acquisition part 102. FIG.

Embodiment 4 FIG.
FIG. 7 is a diagram schematically showing a traffic situation in an electronic intersection system according to Embodiment 4 of the present invention.
In the fourth embodiment, as shown in FIG. 7, a straight traveling vehicle (first moving body) 9b enters an intersection 7 along a first direction 6a, and a plurality of right-turn vehicles travel along the second direction 6b. (A vehicle in the middle of a right turn or waiting for a right turn) (second moving body group) When 9a, 9e,... Enter the intersection 7 continuously, after providing warning information about the straight vehicle 9b to the right turn vehicle 9a, When determining whether or not to provide warning information regarding the straight vehicle 9b to the vehicle 9e, the second moving body is considered in consideration of the approach order of the second moving body group (a plurality of second moving bodies) to the intersection 7. It is determined whether or not to send a warning regarding the first moving body 9b to each of the groups.

More specifically, in the first embodiment, the following equation is used to determine whether or not the vehicle 9a waiting for a right turn can turn right in step S103 of FIG.
T1 + L / V1> T + Tp2 + Tr
As in the case of the fourth embodiment, when the lanes are arranged in tandem in the same lane, the above formula only considers the right turn required time Tr for one right turn waiting vehicle. It can be applied, but the above formula cannot be applied to a vehicle waiting for a right turn behind.
In the fourth embodiment, in step S103 in FIG. 4, the right turn waiting order assigned to the right turn waiting vehicle groups 9a, 9e,... In this case, for the Nth right turn vehicle, it is determined that a right turn is possible when the following expression is satisfied.
T1 + L / V1> T + (Tp2 × N) + Tr
vice versa,
T1 + L / V1 ≦ T + (Tp2 × N) + Tr
In this case, it is determined that a right turn is impossible.
Here, N is acquired by using ID information or the like transmitted from the in-vehicle device 9 mounted on the right turn waiting vehicles 9a, 9e to the DSRC roadside device 2a.

  By doing in this way, even if a plurality of right turn waiting vehicles enter the intersection along the second direction, it becomes possible to provide warning information to each right turn waiting vehicle at an appropriate timing. Play.

  In FIG. 7, the behavior information of the vehicles 9a and 9e entering the intersection 7 along the second direction 6b is transmitted from the in-vehicle device 9 mounted on the right turn vehicles 9a and 9e to the DSRC roadside device 2a. What is obtained using information is shown. However, as in FIG. 1, the right turn vehicle detection device 5a is installed, and the behavior information of the vehicles 9a and 9e entering the intersection 7 along the second direction 6b is obtained as the right turn vehicle detection device 5a and the moving body behavior information acquisition unit. You may acquire by 102.

  In the third and fourth embodiments, the operation for determining whether or not to send a warning to the vehicle when there is a vehicle waiting for a right turn at the intersection has been described. When it is determined whether or not a warning is transmitted to the vehicle when the vehicle exists, the same processing as described in the first embodiment may be performed.

  In Embodiments 1 to 4, when there are two or more right turn lanes, the processing described in each of the above embodiments may be performed for each lane.

Embodiment 5 FIG.
In the first to fourth embodiments, the information provision determination device 1 performs all the determination as to whether or not to provide warning information to the driver. However, by providing playback control information (described later) to the warning information to be distributed, Part or all of the determination may be performed by the in-vehicle device 9 installed in the second moving body 9a.

FIG. 8 is a block diagram showing the configuration of the in-vehicle apparatus according to Embodiment 5 of the present invention.
In FIG. 8, whether or not the in-vehicle device 9 reproduces the warning information based on the reproduction control information given to the warning information and the in-vehicle information stored in the in-vehicle information storage unit 905 in addition to the means shown in FIG. 3. It has in-vehicle information output judging means 910 for judging whether or not.

Table 5 shows a configuration example of the warning information to which the reproduction control information is added, and FIG. 9 shows a more detailed configuration example of the warning information to which the reproduction control information is added. FIG. 10 shows an example of service type, FIG. 11 shows an example of urgency, and FIG. 12 shows an example of playback conditions.
In Table 5, the reproduction control information includes service type, peripheral information such as signal information and behavior information of the first mobile body 9b, an update flag indicating whether warning information or reproduction conditions are updated, for example, caution, Consists of the urgency of the warning information such that the urgency increases in the order of emergency and danger, and the reproduction conditions indicated by the lane number of the second moving body 9a, the approach direction, etc. Is done.

FIG. 13 is a flowchart showing the operation of the information provision determination apparatus according to Embodiment 5 of the present invention.
In FIG. 13, regardless of whether there is a vehicle waiting for a right turn, the DSRC communication area 2a-1 is based on the intersection information stored in the information storage unit 105, the signal information, and the behavior information of the first moving body 9b. It is determined whether or not the warning information to which the reproduction control information is attached is to be distributed.

Step S301 is the same as step S101 of the first embodiment.
In step S302, if it is assumed that there is a vehicle 9a (second moving body) waiting for a right turn at the intersection, it is determined whether the vehicle 9a can turn right (whether there is a risk of colliding with an opposite straight vehicle). judge. The specific method for determining whether to turn right is the same as step S103 in the first embodiment. If it is determined that a right turn is possible (no risk of colliding with the first moving body), the process returns to step S302, and it is determined that a right turn is impossible (there is a risk of colliding with the first moving body). If so, the process proceeds to step S303.
Step S303 is the same as step S104 of the first embodiment or step S204 of the third embodiment.

  In step S304, the information output determination unit 106 acquires warning information (oncoming vehicle caution information) to be provided to the right turn waiting vehicle from the information stored in the information storage unit 105, and uses the service type (right turn collision) as the reproduction control information. Preventive), peripheral information, update flag, urgency level, and reproduction control information including reproduction conditions are generated, and the DSRC communication area 2a-1 is generated from the DSRC roadside apparatus 2a via the information output means 101. The generated warning information is transmitted to the in-vehicle device 9 of the vehicle traveling on the road. At that time, when the broadcast communication is used, the same warning information is repeatedly transmitted.

FIG. 14 is a flowchart showing the operation of the in-vehicle apparatus according to Embodiment 5 of the present invention.
In FIG. 14, it is determined whether or not the warning is to be reproduced depending on whether the second moving body 9a is a right turn vehicle.
First, in step S401, the in-vehicle device management unit 904 always stores in-vehicle information such as the position / speed / lane of the vehicle in the in-vehicle information storage unit 905.

  Next, when the second mobile body 9a enters the DSRC communication area 2a-1 in step S402, the in-vehicle information output determination unit 910 receives from the DSRC roadside device 2a via the DSRC communication unit 906 and the in-vehicle information storage unit 905. Warning information to which playback control information is attached is acquired.

  In step S403, it is determined whether the service type and the reproduction condition are matched with the state of the own vehicle among the reproduction control information given to the warning information using the in-vehicle information. If not, the process returns to step S402. If they match, the process proceeds to step S404. Whether or not the service type and the state of the host vehicle are matched may be determined for each in-vehicle device 9. For example, if the service type is right-turn collision prevention, and if the right turn signal is ON and the vehicle speed is V2 km / h or less, the vehicle information output determination unit 910 specifies that the vehicle vehicle information matches the state of the vehicle. The determination unit 910 determines that the warning information is to be reproduced only when the turn signal state and speed stored in the in-vehicle information storage unit 905 and the reproduction condition are met.

In step S404, it is checked whether there is warning information being reproduced. If there is warning information being reproduced, it is determined whether the received warning information is the same as the warning information being reproduced. Whether or not the warning information is the same can be determined using the service type and the update flag in the reproduction control information given to the warning information. When both the service type and the update flag are the same, it is determined that the warning information is the same. When the warning information is the same, the process returns to step S402, and when there is no warning information being reproduced or when the warning information is different, the process proceeds to step S405.
In step S405, the warning information is reproduced using the information providing means 901 to the driver. At this time, if the audio information is frequently played back, the driver feels bothered and the effectiveness of the warning is reduced. Therefore, when the urgency of the received warning information is lower than the urgency of the warning information being played (danger When the degree is reduced), the audio information may not be reproduced, and only the image may be reproduced as the warning information.

  Although the case where there is one warning information is described here, a plurality of services can be performed in one communication area by distributing a plurality of warning information. In this case, as the operation of the in-vehicle information output determination unit 910 of the in-vehicle device 9, it is only necessary to determine whether or not it is necessary to reproduce all the warning information and reproduce only the warning information determined to be necessary for reproduction. In addition, when it is determined that a plurality of warning information can be reproduced, it is possible to preferentially reproduce information with higher urgency (more dangerous) by using urgency.

  In addition, by designating the playback position and range as playback conditions, it is possible to create a service area in any range that provides warning information regardless of the shape and size of the communication area.

  As described above, in the computerized intersection system according to Embodiment 5 of the present invention, whether or not a right turn vehicle can be turned right in the information providing determination device, that is, there is a risk of collision with an opposite straight vehicle (first moving body). The second moving body entering the intersection along the second direction is in a signal state capable of making a right turn, and enters the intersection along the first direction opposite to the second direction. It is determined whether or not one moving body is in a signal state in which it can go straight. In the in-vehicle device, it is determined whether or not the second moving body is a right turn vehicle. Based on the above determination, it is determined whether or not the warning relating to the first moving body needs to be reproduced by the in-vehicle device of the second moving body. Therefore, only the warning information necessary for the second moving body is provided to alert the oncoming vehicle that has a risk of colliding at the time of a right turn to the right turn vehicle entering the intersection along the second direction. Is possible.

  In addition, since the reproduction control information is added to the warning information to be distributed, the in-vehicle device of the second mobile unit determines whether or not the reproduction condition is satisfied and performs reproduction, so that a service using broadcast communication is possible. . It is also possible to provide a plurality of services within one communication area or create a service area in an arbitrary range. Furthermore, since it is not necessary for the information provision determination device to grasp the behavior of the second moving body, the right-turn vehicle detection device becomes unnecessary, and the processing of the information provision determination device can be simplified.

  In the information provision determination apparatus according to Embodiment 5 of the present invention, as shown in Embodiment 3, there are a plurality of straight traveling vehicles (first moving body group) that enter the intersection 7 along the first direction 6a. In this case, instead of providing all the warning information for each vehicle, it may be determined whether the warning information needs to be provided based on the inter-vehicle distance.

Embodiment 6 FIG.
In the computerized intersection system according to Embodiment 5 of the present invention, the information provision determination device 1 determines whether or not there is a risk of collision with an opposing straight vehicle (first moving body 9b), and in the second direction 6b. The second moving body 9a entering the intersection along the first direction 6a in a signal state in which the second moving body 9a entering the intersection along the right direction can be turned straight, and the first moving body 9b entering the intersection along the first direction 6a facing the second direction 6b can go straight. It is determined whether it is a signal state, and it is determined in the in-vehicle device 9 whether the second moving body 9a is a right turn vehicle. In the computerized intersection system according to Embodiment 6 of the present invention, the in-vehicle device 9 transmits the behavior information, intersection signal information, intersection information, warning information, and distribution control information of the first mobile body 9b before entering the intersection to the DSRC roadside device. By acquiring from 2a, the in-vehicle device 9 determines whether or not the own vehicle (second moving body 9a) is a right-turn vehicle, and there is a risk of colliding with the opposite straight vehicle (first moving body 9b). In addition, the second moving body 9a entering the intersection along the second direction 6b is in a signal state capable of turning to the right and along the first direction 6a opposite to the second direction 6b. Then, it is determined whether or not the first moving body 9b entering the intersection is in a signal state capable of going straight.

FIG. 15 is a flowchart showing the operation of the in-vehicle device according to Embodiment 6 of the present invention.
First, steps S501 to S502 are the same as S401 to S402. In this embodiment, the roadside information provision determination device 1 stores intersection information, signal information, and behavior information of a moving body (such as the first moving body 9b) detected by the vehicle sensing device 3a in the peripheral information of the reproduction control information. For example, the data is periodically transmitted at a cycle of 100 msec.
In step S503, it is determined whether or not the host vehicle is a right turn vehicle from the in-vehicle information such as the lane of the vehicle and the state of the turn signal stored in the in-vehicle information storage unit 905. A specific determination method for determining whether or not the vehicle is a right turn vehicle is the same as the determination method for determining whether or not the right turn collision prevention service in step S403 in the fourth embodiment matches the state of the host vehicle. If it is determined that the vehicle is a right turn vehicle, the process proceeds to S504.
In step S504, the second information is obtained from the intersection information stored in the peripheral information of the received reproduction control information, the behavior information of the first moving body 9b, and the in-vehicle information of the host vehicle stored in the in-vehicle information storage unit 905. It is determined whether or not the moving body 9a can turn right. The specific method for determining whether to turn right is the same as step S103 in the first embodiment. If it is determined that a right turn is possible, the process returns to S502. If it is determined that a right turn is not possible, the process proceeds to step S505.
In step S505, using the signal information stored in the peripheral information of the received reproduction control information, it is determined whether both signals are blue, as in step S104 of the first embodiment. If both signals are blue, the process proceeds to step S506, and if neither is blue, the process returns to step S502.
In step S506, the presence / absence of other warning information being reproduced is confirmed. If the same warning information is reproduced or warning information with a high degree of urgency is reproduced, the warning information is not reproduced and the process proceeds to S502. Return. If the warning information is not reproduced or the warning information with low urgency is reproduced, the process proceeds to step S507.
In step S507, the warning information (right turn collision prevention information) is reproduced using the information providing means 901 to the driver. At this time, the type of the reproduction information, the update flag, and the urgency level are stored and used for determining whether or not they are the same in step S506 and determining the urgency level.

Further, in each of the above-described embodiments, at the intersection 7, the vehicle travels straight along the first direction 6a and enters the intersection 7 along the second direction 6b opposite to the first direction 6a. Although the electronic intersection system for a right turn vehicle is described, the electronic intersection system can be installed on roads in directions different by 90 degrees.
In addition, the same system can be applied to lanes facing each other at any other intersection.

Embodiment 7 FIG.
In the computerized intersection system according to the first to sixth embodiments of the present invention, the warning information providing service for the right turn vehicle is shown. Each device of the computerized intersection system shown in FIG. 1 can be applied to various services shown in FIG. 10, such as a left turn-in information providing service.
FIG. 16 is a diagram schematically showing a configuration of an electronic intersection system according to Embodiment 7 of the present invention, and shows a system for providing warning information to a left turn vehicle at an intersection.
In FIG. 16, the DSRC roadside apparatus 2a defines a DSRC communication area 2a-2 from the intersection 7 to a few tens of meters before the lane along the first direction 6a, and the vehicle 9a entering the communication area 2a-2. It communicates with the in-vehicle device 9 installed in the (second moving body).
The vehicle sensing device 3a (camera or DSRC roadside device) is a sensor capable of detecting the two-wheeled vehicle 9f (first moving body) traveling in the vehicle sensing range 3a-2. The presence information of the motorcycle and the behavior information of the motorcycle ( Speed, position, distance to the intersection) and the result is notified to the information provision determination device 1. Other devices are the same as those shown in FIG.
In addition, as shown in FIG. 16, the approach direction to the intersection 7 of the two-wheeled vehicle 9f (1st moving body) and the vehicle 9a (2nd moving body) is the same direction 6a.

FIG. 17 is a flowchart showing the operation of the information provision determination apparatus according to Embodiment 7 of the present invention.
In FIG. 17, the warning information to which the reproduction control information is added is distributed as in the fifth embodiment.

Step S601 is the same as step S301 in the fifth embodiment.
In step S602, it is determined whether or not the two-wheeled vehicle 9f exists in the vehicle sensing range 3a-2. If a two-wheeled vehicle exists, the process proceeds to step S603.
In step S <b> 603, the information output determination unit 106 determines whether or not the signal information for the two-wheeled vehicle 9 f acquired from the signal information input unit 103 matches the distribution control information stored in the information storage unit 105. Here, if the signal information for the first direction 6a is blue or yellow, the process proceeds to step S604, and if the signal information is red, the process returns to step S602.

  In step S604, the information output determination means 106 acquires warning information (left turn caution information) to be provided to the left turn vehicle from information stored in the information storage unit 105, and uses the service type (left turn winding) as reproduction control information. Information), peripheral information (distance to the intersection of the two-wheeled vehicle 9f), update flag, urgency and regeneration conditions (lane number of the left turn lane) are generated, and the DSRC is output via the information output means 101. The generated warning information is transmitted from the roadside device 2a to the in-vehicle device 9 of the vehicle traveling in the DSRC communication area 2a-2. At that time, when the broadcast communication is used, the same warning information is repeatedly transmitted.

FIG. 18 is a flowchart showing the operation of the in-vehicle device according to Embodiment 7 of the present invention.
In FIG. 18, it is determined whether or not to reproduce the warning depending on whether or not the second moving body 9 a is a left turn vehicle and ahead of the two-wheeled vehicle.

First, steps S701 to S702 are the same as steps S401 to S402 of the fifth embodiment.
In step S703, it is determined whether the service type and the reproduction condition in the reproduction control information given to the warning information match the state of the host vehicle. If not, the process returns to S702. The process proceeds to S704. For example, the vehicle's state is the left turn-in information from the travel lane, turn signal state, distance to the intersection, and the distance to the intersection of the two-wheeled vehicle specified in the peripheral information of the received data. Only when the conditions estimated from the service type provided (the left turn signal ON and the vehicle are in front of the two-wheeled vehicle) and the conditions specified in the regeneration conditions (lane number) The warning information is determined as a reproduction target.
Steps S704 to S705 are the same as steps S404 to S405 of the fifth embodiment.

  Here, the in-vehicle device 9 determines whether or not it is a left turn vehicle and determines whether or not to reproduce the warning information. As in the first embodiment, the blinker state of the second moving body 9a is determined. Alternatively, the information provision determination device 1 may acquire in-vehicle information such as the travel lane and the distance to the intersection, and the roadside information provision determination device 1 may determine whether to provide warning information. Further, as in the sixth embodiment, intersection information, signal information, and motorcycle behavior information are stored and distributed in the peripheral information of the reproduction control information, and all the determinations as to whether or not to provide warning information are made by the second mobile unit. You may carry out with the vehicle-mounted apparatus 9 of 9a.

  In this way, by changing the position of the DSRC communication area, the information distribution control information input to the information output determination unit 106, and the reproduction conditions for each service type used in the in-vehicle information output determination unit 910, various types of information described in FIG. Services can be realized.

  Further, in each of the above-described embodiments, it is shown that the predetermined warning information is stored in the information storage unit 105 in advance or the predetermined warning information is held by the center 10. May include an input interface for reading arbitrary warning information, and the information output determination unit 106 may use the warning information read via the input interface as the warning information.

  Similarly, in the determination on the in-vehicle device 9 side, the condition presumed from the service type is shown in advance. However, the in-vehicle device 9 has an input interface for reading an arbitrary service type and its condition. The in-vehicle information output determination unit 910 may use information read via the input interface as a condition estimated from the service type.

  In each of the above embodiments, a method for determining everything on the road side (Embodiment 1), a method for determining each on the road side and the vehicle side (Embodiments 5 and 7), and a method for determining everything on the vehicle side. Although (Embodiment 6) is shown, these forms may be mixed in the same communication area. Therefore, the computerized intersection system includes the roadside devices and the vehicle-side in-vehicle devices shown in FIGS. 1 and 2.

It is a figure which shows typically the structure of the computerized intersection system by Embodiment 1 of this invention. It is a block diagram which shows the structure of the electronic intersection system by Embodiment 1 of this invention. It is a block diagram which shows the structure of the vehicle-mounted apparatus by Embodiment 1 of this invention. It is a flowchart figure which shows operation | movement of the information provision determination apparatus by Embodiment 1 of this invention. It is a figure which shows typically the traffic condition in the electronic intersection system by Embodiment 3 of this invention. It is a flowchart figure which shows operation | movement of the information provision determination apparatus by Embodiment 3 of this invention. It is a figure which shows typically the traffic condition in the electronic intersection system by Embodiment 4 of this invention. It is a block diagram which shows the structure of the vehicle-mounted apparatus by Embodiment 5 of this invention. It is a figure which shows the structural example of the warning information which provided the reproduction | regeneration control information by Embodiment 5 of this invention. It is a figure which shows the example of the service type in the reproduction | regeneration control information by Embodiment 5 of this invention. It is a figure which shows the example of the urgency in the reproduction | regeneration control information by Embodiment 5 of this invention. It is a figure which shows the example of the reproduction | regeneration conditions in the reproduction | regeneration control information by Embodiment 5 of this invention. It is a flowchart figure which shows operation | movement of the information provision determination apparatus by Embodiment 5 of this invention. It is a flowchart figure which shows operation | movement of the vehicle-mounted apparatus by Embodiment 5 of this invention. It is a flowchart figure which shows operation | movement of the vehicle-mounted apparatus by Embodiment 6 of this invention. It is a figure which shows typically the structure of the computerized intersection system by Embodiment 7 of this invention. It is a flowchart figure which shows operation | movement of the information provision determination apparatus by Embodiment 7 of this invention. It is a flowchart figure which shows operation | movement of the vehicle-mounted apparatus by Embodiment 7 of this invention.

Explanation of symbols

  DESCRIPTION OF SYMBOLS 1 Information provision determination apparatus, 2a DSRC roadside apparatus, 2a-1, 2a-2 DSRC communication area, 3a Vehicle sensing apparatus, 3a-1, 3a-2 Vehicle sensing range, 4a, 4b Signal control apparatus, 5a Right turn vehicle detection apparatus 5a-1 Right turn vehicle detection area, 6a 1st direction, 6b 2nd direction, 7 intersection, 8a, 8b pedestrian crossing, 9 in-vehicle device, 9a, 9e second moving body, 9b, 9c, 9d, 9f first 1 mobile unit, 10 center, 100 mobile unit behavior information acquisition unit, 101 information output unit, 102 mobile unit behavior information acquisition unit, 103 signal information input unit, 104 time information acquisition unit, 105 information storage unit, 106 information output determination unit 107 Intersection information input unit, 108 Distribution control information input unit, 200 Signal information acquisition unit, 300 Information holding unit, 901 Information to driver Provision means, 901a audio reproduction means, 901b image reproduction means, 901c text reproduction means, 902 information provision means to the DSRC roadside device, 903 in-vehicle information input means, 904 in-vehicle information management means, 905 in-vehicle information storage means, 906 DSRC communication Means, 907 vehicle sensor, 908 vehicle control device, 909 other vehicle-mounted device, 910 vehicle-mounted information output determination device.

Claims (4)

Behavior information before entering the intersection of the first mobile body entering the intersection, signal information of the intersection, intersection information, warning information, distribution control information for defining timing for distributing the warning information, and time information Based on the information output determination means for determining whether or not to transmit a warning related to the first mobile body to the second mobile body entering the intersection, and at least the above-mentioned according to the determination result of the information output determination means A communication area that covers a portion near the intersection, and includes an information output means that outputs the warning to a communication means that communicates with a second mobile body that enters the communication area, wherein the information output determination means includes: In the case of a first moving body group in which there are a plurality of the first moving bodies that enter the intersection along the direction, it is determined that each inter-vehicle distance of the first moving body group and the first moving body group are congested. Use inter-vehicle distance Te, the Second mobile unit, the information provision determination apparatus characterized by determining whether to send a warning for each of the first mobile unit. The information output determination means includes the behavior information of the first moving body before entering the intersection, the behavior information of the second moving body, the signal information of the intersection, the intersection information, the warning information, and the timing for distributing the warning information. 2. The information provision determination according to claim 1, wherein it is determined whether or not a warning related to the first moving body is transmitted to the second moving body based on the specified distribution control information and time information. apparatus. The information output determining means includes behavior information of the first moving body before entering the intersection, signal information of the intersection, intersection information, warning information, distribution control information that defines a timing for distributing the warning information, and time information. And determining whether or not to transmit a warning regarding the first moving body to the second moving body, and transmitting warning information to which a service type and a reproduction condition are added. The information provision determination device described in 1. Behavior information of the first mobile body entering the intersection before the intersection approach, behavior information of the second mobile body entering the intersection, signal information of the intersection, intersection information, warning information, and warning information Information output determination means for determining whether or not a warning related to the first moving body is to be transmitted to the second moving body based on the distribution control information that defines the timing of distribution and time information, and the information output determination According to the determination result of the means, there is provided an information output means that has a communication area covering at least a part near the intersection and outputs the warning to the communication means that communicates with the second mobile body entering the communication area. In the case of a second moving body group in which there are a plurality of the second moving bodies entering the intersection along the second direction, the information output determining means determines the order of entry of the second moving body group into the intersection. Considering above Information providing determination device for each second mobile unit and judging whether or not to send a warning about the first moving body.

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