JP4911094B2 - Driving support device, driving support method, and computer program - Google Patents

Description

  The present invention relates to a driving support device, a driving support method, and a computer program that provide information related to other vehicles.

  In recent years, from the viewpoint of preventing accidents when driving a vehicle, the driver detects the obstacles such as people and bicycles located around the vehicle by radar or images of captured cameras and prevents the collision with the obstacles. There are an increasing number of vehicles equipped with driving support devices that perform warning and vehicle control.

  Further, by using such a driving support device, it has been performed to guide other vehicles entering the intersection, particularly when the vehicle travels through the intersection. That is, at the intersection, the vehicle enters the intersection from a plurality of directions. Accordingly, the driver needs to pay attention to the other vehicle by visually recognizing all directions in which the other vehicle may enter when passing the intersection. However, there are many blind spots that are areas that cannot be seen from the vehicle at the intersection. For example, such a blind spot is formed by a building installed at the corner of an intersection or another vehicle traveling at the intersection. When the other vehicle enters the intersection from the blind spot direction, the driver may not notice the approach of the other vehicle. Furthermore, it is difficult to detect other vehicles located in the blind spot direction with a camera or a sensor.

  Therefore, conventionally, a technique has been proposed in which information about obstacles detected by other vehicles is acquired by performing communication between vehicles, and information about vehicles at positions that cannot be detected from the own vehicle is also acquired. . Then, based on the information acquired by communication between vehicles, the driver is made aware of the approach of other vehicles by guiding obstacles such as other vehicles located in the blind spot direction of the own vehicle when traveling at the intersection. It is possible to avoid contact with other vehicles.

Here, for example, Japanese Patent Application Laid-Open No. 2000-99898 describes a technique for providing information on a vehicle located in the blind spot direction with respect to a right turn waiting vehicle. The prior art described in Japanese Patent Laid-Open No. 2000-99898 will be described below with reference to FIG. As shown in FIG. 7, in a situation where a right turn waiting vehicle 102 waiting for a right turn at an intersection 101, a straight traveling vehicle 103 entering from an oncoming lane, and a succeeding vehicle 104 traveling behind the straight traveling vehicle 103 are located, From 102, the straight traveling vehicle 103 becomes an obstacle and the rear of the straight traveling vehicle 103 becomes a blind spot. Therefore, the driver of the vehicle 102 waiting for a right turn may not notice the following vehicle 104 entering the intersection 101. Therefore, when the straight-ahead vehicle 103 detects the following vehicle 104, the information of the following vehicle 104 is provided to the vehicle 102 waiting for a right turn.
JP 2000-99898 A (pages 2 to 3, FIGS. 5 and 6)

  However, there is a situation where a blind spot is formed for a vehicle traveling at an intersection other than the situation shown in Patent Document 1. For example, as shown in FIG. 8, at an intersection 113 where the priority road 111 and the non-priority road 112 intersect, a temporary stop vehicle 114 that is temporarily stopped on the non-priority road 112 and an entry from the priority road 111 to the non-priority road 112. When the left turn vehicle 115 and the following vehicle 116 traveling behind the left turn vehicle 115 are located, the left turn vehicle 115 becomes an obstacle from the temporarily stopped vehicle 114, and the rear of the left turn vehicle 115 becomes a blind spot. Therefore, the driver of the temporarily stopped vehicle 114 may not notice the following vehicle 116 entering the intersection 113.

  The present invention has been made to solve the above-described conventional problems, and provides information related to a vehicle following the own vehicle to other vehicles located on the intersection road intersecting with the road on which the own vehicle travels. It is an object of the present invention to provide a driving support device, a driving support method, and a computer program that can complement a blind spot of a vehicle that travels in a vehicle and can travel safely.

In order to achieve the above object, the driving support device (1) according to claim 1 of the present application includes a subsequent vehicle information acquisition means (11) for acquiring information related to a subsequent vehicle located behind the host vehicle, and a traveling direction of the host vehicle. An intersection road specifying means (11) for specifying an intersection road that intersects with a road on which the vehicle travels at an intersection ahead, and another vehicle located on the intersection road specified by the intersection road specifying means with respect to the succeeding vehicle possess an information providing means for providing information (11), a cross, the information providing unit, when turning right or left at the intersection that the vehicle is in the direction of travel is identified by the intersection road specification means Information is provided to the other vehicle located on the road on which the own vehicle enters, and information is provided to the other vehicle when the own vehicle goes straight through an intersection ahead of the traveling direction. And wherein the decoction.

  Further, the driving support device (1) according to claim 2 is the driving support device according to claim 1, wherein the driving road type acquisition means (11) for acquiring the road type of the road on which the vehicle travels, and the intersection Crossing road type acquiring means (11) for acquiring the road type of the crossing road specified by the road specifying means (11), wherein the information providing means (11) is the road type of the road on which the vehicle is traveling. Is a priority road, and information is provided to the other vehicle when the road type of the cross road specified by the cross road specifying means is a non-priority road.

According to a third aspect of the present invention, in the driving support method, the following vehicle information acquisition step (S9) for acquiring information related to the following vehicle located behind the own vehicle, and the own vehicle traveling at an intersection ahead of the traveling direction of the own vehicle. An intersecting road identifying step (S5) for identifying an intersecting road that intersects with the road to be performed, and an information providing step (S11) for providing information related to the following vehicle to other vehicles located on the intersecting road identified by the intersecting road identifying step ) and, have a, the information providing step, when the right or left turn at the intersection where the vehicle is in the direction of travel, of the cross road that is specified by the intersection road specification step, the vehicle enters Information is provided to the other vehicle located on the side road, and information is not provided to the other vehicle when the host vehicle goes straight through an intersection ahead of the traveling direction. It is characterized in.

Further, the computer program according to claim 4 is a vehicle information acquisition function (S9) for acquiring information related to a subsequent vehicle located behind the host vehicle, and the host vehicle travels at an intersection ahead of the host vehicle in the traveling direction. A crossing road specifying function (S5) for specifying a crossing road that intersects the road, and an information providing function (S11) for providing information related to the following vehicle to other vehicles located on the crossing road specified by the crossing road specifying function When the vehicle turns right or left at an intersection ahead of the traveling direction, the information providing function When providing information to the other vehicle located on the road on which the vehicle enters, and when the host vehicle goes straight through an intersection ahead of the traveling direction, Characterized in that it does not provide information to the vehicle.

According to the driving support device according to claim 1 having the above-described configuration, by providing information related to a vehicle following the host vehicle to another vehicle located on an intersection road that intersects the road on which the host vehicle travels, A blind spot generated in another vehicle can be supplemented with respect to the other vehicle traveling. Accordingly, it is possible to prevent each vehicle traveling at the intersection from coming into contact with the vehicle approaching from the blind spot direction and to travel safely.
In addition, when the host vehicle makes a right turn or a left turn, information on the following vehicle is provided to other vehicles located on the intersection road on the side where the host vehicle enters, so that the other vehicle on the intersection road can It is possible to supplement the blind spot formed by the host vehicle entering the obstacle. Therefore, it is possible to prevent the vehicles that enter the intersection from contacting each other and travel safely.

  According to the driving support device of claim 2, when the road on which the host vehicle travels is a priority road and the intersection road that intersects the road on which the host vehicle travels is a non-priority road, Since the information related to the following vehicle of the host vehicle is provided to the other vehicle located above, it is possible to call attention to the vehicle on the non-priority road that should not originally enter the intersection when the vehicle is on the priority road. Therefore, it is possible to prevent the vehicle entering the intersection from the non-priority road and the vehicle entering the intersection from the priority road, and to allow safe traveling.

According to the driving support method of the third aspect , the vehicle travels at the intersection by providing information related to the vehicle following the host vehicle to another vehicle located on the intersection road that intersects the road on which the host vehicle travels. The blind spot generated in the other vehicle can be supplemented with respect to the other vehicle. Accordingly, it is possible to prevent each vehicle traveling at the intersection from coming into contact with the vehicle approaching from the blind spot direction and to travel safely.
In addition, when the host vehicle makes a right turn or a left turn, information on the following vehicle is provided to other vehicles located on the intersection road on the side where the host vehicle enters, so that the other vehicle on the intersection road can It is possible to supplement the blind spot formed by the host vehicle entering the obstacle. Therefore, it is possible to prevent the vehicles that enter the intersection from contacting each other and travel safely.

Furthermore, according to the computer program of the fourth aspect , the information on the vehicle following the own vehicle is provided to another vehicle located on the intersection road intersecting with the road on which the own vehicle travels. A blind spot generated in another vehicle can be supplemented with respect to the vehicle. Accordingly, it is possible to prevent each vehicle traveling at the intersection from coming into contact with the vehicle approaching from the blind spot direction and to travel safely.
In addition, when the host vehicle makes a right turn or a left turn, information on the following vehicle is provided to other vehicles located on the intersection road on the side where the host vehicle enters, so that the other vehicle on the intersection road can It is possible to supplement the blind spot formed by the host vehicle entering the obstacle. Therefore, it is possible to prevent the vehicles that enter the intersection from contacting each other and travel safely.

DETAILED DESCRIPTION Hereinafter, a driving assistance apparatus according to the present invention will be described in detail with reference to the drawings based on an embodiment that is embodied.
First, a schematic configuration of a vehicle-to-vehicle communication system 3 constituted by a plurality of vehicles 2 provided with a driving support device 1 according to the present embodiment will be described with reference to FIG. FIG. 1 is a schematic configuration diagram of an inter-vehicle communication system 3 according to the present embodiment.

  As shown in FIG. 1, the inter-vehicle communication system 3 according to this embodiment includes a plurality of vehicles 2 traveling on a road, and a plurality of communication devices 4 provided in the driving support device 1 installed in each vehicle 2. Information communication is possible between the two vehicles 2.

Here, the communication device 4 is a communication device that communicates information in a wireless manner using, for example, millimeter wave radio waves. And with other vehicles (subsequent vehicle, forward vehicle, oncoming vehicle, etc.) located in a predetermined wireless communicable range (for example, a range up to a radius of 2 km centered on the own vehicle position) with respect to the own vehicle position It is possible to communicate information wirelessly.
Moreover, as information transmitted / received between vehicles by the communication apparatus 4, there exists the information regarding the following vehicle detected with the various sensors installed in the vehicle 2, etc. so that it may mention later.

  In the communication between the vehicles 2 in the inter-vehicle communication system 3, in addition to directly transmitting / receiving information between the vehicles 2, the information is transmitted / received via a communication facility such as a road machine (not shown). It is also possible.

  Next, the configuration of the driving support apparatus 1 installed in the vehicle 2 constituting the inter-vehicle communication system 3 will be described with reference to FIGS. FIG. 2 is a schematic configuration diagram of the driving support apparatus 1 according to the present embodiment, and FIG. 3 is a block diagram schematically showing a control system of the driving support apparatus 1 according to the present embodiment.

  As shown in FIGS. 2 and 3, in addition to the communication device 4 described above, the vehicle 2 includes a driving support ECU (following vehicle information acquisition means, intersection road identification means, information provision means, traveling road type acquisition means, intersection road (Type acquisition means) 11, ranging sensor 12, map information DB 13, vehicle DB 14, liquid crystal display 16, speaker 17, GPS 18 connected to the driving assistance ECU 11, vehicle speed sensor 19, steering sensor 20, gyro sensor 21 and the like. Further, a winker lamp control ECU 22 is connected to the driving assistance ECU 11 via an in-vehicle LAN such as a CAN (Controller Area Network).

  A driving assistance ECU (Electronic Control Unit) 11 transmits and receives information about the following vehicle detected by the distance measuring sensor 12 when the vehicle approaches an intersection with another vehicle via the inter-vehicle communication system 3. This is an electronic control unit that performs processing (see FIG. 4) and travel guidance processing (see FIG. 6) that guides the succeeding vehicle based on information about the following vehicle transmitted from another vehicle. The driving assistance ECU 11 may also be used as an ECU used for controlling the navigation device. The detailed configuration of the driving assistance ECU 11 will be described later.

The distance measuring sensor 12 is installed above the license plate behind the vehicle 2 and basically includes a sound wave transmitting unit and a sound wave receiving unit. And an ultrasonic wave is each radiated | emitted with respect to the back of the vehicle 2 from a sound wave transmission part, and the reflected wave reflected by the obstruction (specifically following vehicle) is received in a sound wave receiving part. As a result, the driving assistance ECU 11 can detect the distance to the obstacle located behind the vehicle 2 based on the time from reception of the ultrasonic wave to reception of the reflected wave. In the present embodiment, the driving assistance ECU 11 identifies the subsequent vehicle located behind the vehicle and the position and traveling direction of the detected subsequent vehicle based on the detection result of the distance measuring sensor 12.
As the distance measuring sensor 12, a laser distance sensor may be used instead of the ultrasonic sensor. A camera may be used instead of the distance measuring sensor 12. In that case, the subsequent vehicle is detected and the position and the traveling direction of the detected subsequent vehicle are specified by performing image recognition processing on the captured image captured by the camera.

  The map information DB 13 is storage means in which map data related to road networks and facilities is recorded. Here, the map data includes, for example, link data related to roads (links), node data related to node points, intersection data related to intersections, and the like. In particular, link data here includes the link length, the width of the road to which the link belongs, the gradient, the cant, the bank, the road surface condition, the number of lanes on the road, and the number of lanes that decrease. The data representing the narrowed part, the level crossing, etc. is the data regarding the corner, the radius of curvature, the intersection, the T-junction, the entrance and the exit of the corner, the data indicating the downhill road, the uphill road, etc. However, regarding road types, in addition to general roads such as national roads, prefectural roads, and narrow streets, data representing toll roads such as highway automobile national roads, city highways, general toll roads, and toll bridges are recorded. Furthermore, regarding the road type, it includes data for classifying the priority road and the non-priority road.

The vehicle DB 14 is a storage unit that stores various parameter information about the vehicle such as the shape design value and sensor design value of the vehicle 2. For example, the vehicle DB 14 stores information such as the installation position of the distance measuring sensor 12.
And driving assistance ECU11 detects a succeeding vehicle by the inter-vehicle communication process (refer FIG. 4) mentioned later by using the various parameter information memorize | stored in vehicle DB14 so that it may mention later.

  Further, the liquid crystal display 16 displays a guidance screen for guiding traveling based on an instruction from the driving support ECU 11. In particular, in the driving support device 1 according to the present embodiment, when there is another vehicle that enters the intersection from the blind spot direction of the own vehicle when the own vehicle approaches the intersection, the predetermined guidance screen is displayed to display the predetermined guidance screen. Guide other vehicles to enter. Here, as the displayed guidance screen, for example, a map image near an intersection is displayed, and a mark or the like indicating the position or traveling direction of another vehicle is displayed on the map image.

  In addition, the speaker 17 outputs a voice guidance for guiding traveling based on an instruction from the driving support ECU 11. In particular, in the driving support device 1 according to the present embodiment, when there is another vehicle that enters the intersection from the blind spot direction of the own vehicle when the own vehicle approaches the intersection, the predetermined guidance voice is output to the intersection. Guide other vehicles to enter. Here, examples of the guidance voice to be output include “There is a vehicle approaching a position 50 m to the right”.

  In addition, the GPS 18 can detect the current position and the current time of the host vehicle by receiving radio waves generated by the artificial satellite.

  The vehicle speed sensor 19 is a sensor for detecting the moving distance and the vehicle speed of the vehicle, generates a pulse according to the rotation of the wheel of the vehicle 2, and outputs a pulse signal to the driving support ECU 11. Then, the driving assistance ECU 11 calculates the rotational speed and moving distance of the wheels by counting the generated pulses.

The steering sensor 20 is attached to the inside of the steering device, and is a sensor that can detect the turning angle of the steering.
The gyro sensor 21 is a sensor that can detect the turning angle of the vehicle 2. Further, by integrating the turning angle detected by the gyro sensor 21, the vehicle direction can be detected.

  The winker lamp control ECU 22 is an electronic control unit that includes a CPU, RAM, ROM, and the like (not shown) and controls lighting of the winker lamps 23A to 23D (see FIG. 2). Then, the driving assistance ECU 11 detects the current lighting state of the blinker lamps 23A to 23D based on the control signal transmitted from the blinker lamp control ECU 22.

  Next, the details of the driving assistance ECU 11 will be described with reference to FIG. 3. The driving assistance ECU 11 is configured with a CPU 31 as a core, and a ROM 32 and a RAM 33 which are storage means are connected to the CPU 31. The ROM 32 stores various programs necessary for controlling the distance measuring sensor 12, the liquid crystal display 16, the speaker 17, and the like. The RAM 33 is a memory for temporarily storing various data calculated by the CPU 31 in addition to a vehicle-to-vehicle communication processing program (see FIG. 4) and a travel guidance processing program (see FIG. 6) which will be described later.

  Next, a vehicle-to-vehicle communication processing program executed by the driving support ECU 11 in the driving support device 1 having the above configuration will be described with reference to FIG. FIG. 4 is a flowchart of the vehicle-to-vehicle communication processing program according to this embodiment. Here, the inter-vehicle communication processing program is executed at predetermined time intervals (for example, every 200 ms) after the ignition of the vehicle is turned on, and provides information related to the following vehicle to other vehicles located on the intersection road when approaching the intersection. It is a program that performs processing. The programs shown in the flowcharts of FIGS. 4 and 6 below are stored in the ROM 32 and the RAM 33 provided in the driving support apparatus 1 and are executed by the CPU 31.

  First, in step 1 (hereinafter abbreviated as S) 1 in the vehicle-to-vehicle communication processing program, the CPU 31 acquires travel information. Here, examples of the travel information acquired in S1 include current location information regarding the current position and direction of the host vehicle, road information regarding the type of road on which the host vehicle is currently traveling, and the like. Note that the current position and direction of the host vehicle are acquired based on the detection results of the GPS 18 and the gyro sensor 21. Map matching is also performed to specify the current position of the acquired vehicle on the map. On the other hand, road information is acquired from map information DB13 based on the present position of the own vehicle. Note that S1 corresponds to the processing of the traveling road type acquisition unit.

  Next, in S2, the CPU 31 determines whether there is an intersection within a predetermined distance (for example, 100 m) ahead of the traveling direction of the host vehicle based on the current location information acquired in S1 and the map information stored in the map information DB 13. judge. When it is determined that there is an intersection within a predetermined distance ahead of the traveling direction of the host vehicle (S2: YES), the process proceeds to S3. On the other hand, when it is determined that there is no intersection within a predetermined distance ahead of the traveling direction of the host vehicle (S2: NO), the inter-vehicle communication processing program is terminated.

  In S3, the CPU 31 determines based on the road information acquired in S1 whether the road type of the road on which the host vehicle is currently traveling is a priority road. And when it determines with the road classification of the road where the own vehicle drive | works now being a priority runway (S3: YES), it transfers to S4. On the other hand, when it is determined that the road type of the road on which the vehicle is currently traveling is not a priority road (S3: NO), the inter-vehicle communication processing program is terminated.

  Subsequently, in S4, the CPU 31 acquires a passing form of an intersection located in front of the traveling direction of the host vehicle.

Below, the acquisition method of the passing form of the intersection of the own vehicle in said S4 is demonstrated in detail first. The passing form of the intersection of the own vehicle is acquired by either of the following methods (1) or (2).
(1) When a guide route is set in the navigation device provided in the vehicle, it is assumed that the host vehicle travels according to the set guide route, and the passing form of the intersection is specified. The guidance route is set by the navigation device based on the result of route search processing from the departure point (for example, the current position of the host vehicle) to the destination selected by the user. The route search process is performed by a known Dijkstra method using link data, node data, traffic information, and the like stored in the map information DB.
(2) When the guidance route is not set in the navigation device provided in the vehicle, the approach direction to the road or intersection where the vehicle is currently traveling is specified from the current position and direction of the vehicle. Further, the lighting state of the blinker lamps 23A to 23D is acquired based on the signal transmitted from the blinker lamp control ECU 22, and it is specified whether the host vehicle passes through the intersection by going straight, turning right, or turning left. Furthermore, the passage form of the intersection is more specifically specified by using the lane information of the road connected to the intersection.

  Thereafter, in S5, the CPU 31 specifies an intersection road that intersects the road on which the host vehicle currently travels at an intersection ahead of the traveling direction based on the map information stored in the map information DB 13. Note that S5 corresponds to the process of the intersection road specifying means.

  Subsequently, in S6, the CPU 31 acquires from the map information DB 13 information related to the road type of the intersection road specified in S5. In addition, said S6 is corresponded to the process of an intersection road classification acquisition means.

  Thereafter, in S7, the CPU 31 makes a right turn or a left turn at the intersection based on the passing type of the intersection of the own vehicle acquired in S4 and the road type of the intersection road acquired in S6. It is determined whether the vehicle has entered and the road type of the intersection road is a non-priority road.

  If the vehicle enters the intersection road by making a right or left turn at the intersection, and the road type of the intersection road is determined to be a non-priority road (S7: YES), the process proceeds to S8. Transition. On the other hand, if it is determined that the host vehicle passes straight through the intersection, or if it is determined that the road type of the intersection road is not a non-priority road (S7: NO), the inter-vehicle communication processing program is executed. finish.

  In S <b> 8, the CPU 31 determines whether a subsequent vehicle is detected behind the host vehicle based on the detection result of the distance measuring sensor 12. As a result, when it is determined that the following vehicle is detected (S8: YES), the process proceeds to S9. On the other hand, when it is determined that the following vehicle is not detected (S8: NO), the inter-vehicle communication processing program is terminated.

  In S <b> 9, the CPU 31 acquires information related to the detected subsequent vehicle based on the detection result of the distance measuring sensor 12. Specifically, the position coordinates and the movement direction of the detected subsequent vehicle are acquired. In addition, said S9 is corresponded to the process of a following vehicle information acquisition means.

  In S10, the CPU 31 creates transmission data to be transmitted to other vehicles constituting the inter-vehicle communication system 3 (FIG. 1). The transmission data created in S10 includes transmission destination specifying information for specifying a transmission destination vehicle, and information on the detected position coordinates and moving direction of the succeeding vehicle. Further, in the present embodiment, the transmission destination vehicle is a vehicle located on the road on the side on which the host vehicle enters, among the intersecting roads that intersect with the road on which the host vehicle currently travels. Therefore, the transmission destination specifying information includes the link number of the intersection road on the side where the host vehicle enters.

  And CPU31 transmits the transmission data produced by said S10 to all the vehicles located within the predetermined distance (for example, radius 2km) centering | focusing on the own vehicle by the inter-vehicle communication system 3 via the communication apparatus 4 (S11). ). Here, as described above, the transmission data includes transmission destination specifying information for specifying the transmission destination vehicle. Therefore, the vehicle that has received the transmission data compares the transmission destination specifying information with the current position of the host vehicle, and determines whether or not the transmission data is the transmission data transmitted to the host vehicle. And when it determines with it being the transmission data transmitted with respect to the own vehicle, the transmitted transmission data are received as effective information. Note that S11 corresponds to the processing of the information providing unit.

Here, FIG. 5 is an explanatory view for explaining another vehicle to be transmitted in S11. FIG. 5 shows a case where the host vehicle 54 approaches an intersection 53 where the priority road 51 and the non-priority road 52 intersect. In addition, the host vehicle 54 makes a left turn into an intersection road 52 (non-priority road) that intersects the priority road 51 at the intersection 53. Further, a succeeding vehicle 55 exists behind the host vehicle 54. Further, the vehicles 56 to 59 are temporarily stopped on the intersection road 52.
In the situation shown in FIG. 5, the host vehicle 54 acquires the position coordinates (x1, y1) of the following vehicle 55 based on the detection result of the distance measuring sensor 12 (S9). Then, the own vehicle 54 specifies the intersection road 52 on the side on which the own vehicle 54 enters as a transmission destination, and adds the link number of the intersection road 52 on the entry side as transmission destination identification information to obtain information on the subsequent vehicle 55. The included transmission data is transmitted (S11). Accordingly, the vehicles 56 to 58 can grasp the existence of the succeeding vehicle 55 by acquiring information on the succeeding vehicle 55, although the own vehicle 54 becomes an obstacle and the rear of the own vehicle 54 becomes a blind spot. Become.

  Next, a driving guidance processing program executed by the driving assistance ECU 11 in the driving assistance device 1 will be described with reference to FIG. FIG. 6 is a flowchart of the travel guidance processing program according to this embodiment. Here, the travel guidance processing program is a program that is executed at a predetermined time interval (for example, every 200 ms) after the ignition of the vehicle is turned on, and performs a process of guiding information related to the following vehicle provided from another vehicle.

  In the travel guidance processing program, first, in S21, the CPU 31 determines whether data for the host vehicle is received from another vehicle. Whether the received data is data directed to the vehicle is determined by comparing the transmission destination specifying information included in the received data with the current position of the vehicle. More specifically, first, the CPU 31 performs map matching processing based on the current position of the host vehicle detected by the GPS 18 and the map information, and detects the link number of the link on which the host vehicle travels. Then, it is determined whether or not the host vehicle is traveling on the link specified by the transmission destination specifying information included in the received data (that is, the link of the cross road on the side where the host vehicle enters). As a result, when it is determined that the host vehicle is traveling on the link specified by the transmission destination specifying information, it is determined that the received data is data directed to the host vehicle.

  If it is determined as a result of the determination in S21 that data for the host vehicle has been received (S21: YES), the process proceeds to S22. On the other hand, if it is determined that data for the host vehicle has not been received (S21: NO), the travel guidance processing program is terminated.

  In S <b> 22, the CPU 31 further determines whether or not the received data for the host vehicle is information related to a subsequent vehicle located behind the transmission source vehicle. The information on the following vehicle is data transmitted from the vehicle that detected the following vehicle in S11, and includes information on the position coordinates and the traveling direction of the following vehicle located behind the transmission source vehicle.

  If it is determined as a result of the determination in S22 that the received data for the host vehicle is information related to the following vehicle (S22: YES), the process proceeds to S23. On the other hand, when it is determined that the received data for the own vehicle is not information related to the following vehicle (S22: NO), the process proceeds to S24.

In S23, the CPU 31 provides guidance for the following vehicle. Specifically, a map image near the intersection is displayed on the liquid crystal display 16, and a mark or the like indicating the position or traveling direction of the following vehicle is displayed on the map image. Further, a guidance voice (for example, “There is a vehicle approaching the position 50 m to the right”) for specifying the position and traveling direction of the following vehicle is output from the speaker 17. As a result, the vehicle that has received the information regarding the subsequent vehicle can easily grasp that the subsequent vehicle is located behind the transmission source vehicle.
On the other hand, in S24, a predetermined process corresponding to the received data is performed.

  As explained in detail above, in the driving support device 1 according to the present embodiment, the driving support method by the driving support device 1 and the computer program executed by the driving support device 1, the vehicle is approaching an intersection, If the road on which the host vehicle travels is a priority road, and the intersection road that intersects the road on which the host vehicle travels is a non-priority road, and the subsequent vehicle on which the host vehicle travels behind is detected, the detected subsequent vehicle Information (position coordinates and direction of travel) is acquired (S9), and the information regarding the acquired subsequent vehicle is provided to other vehicles located on the intersection road on the side where the host vehicle enters (S11). It is possible to supplement a blind spot formed by a vehicle entering from a priority road as an obstacle to a vehicle that is temporarily stopped. Therefore, it is possible to prevent the vehicle entering the intersection from the non-priority road and the vehicle entering the intersection from the priority road, and to allow safe traveling. In addition, when there are vehicles on the priority road, it is possible to call attention to the vehicles on the non-priority road that should not originally enter the intersection.

Note that the present invention is not limited to the above-described embodiment, and various improvements and modifications can be made without departing from the scope of the present invention.
For example, in the present embodiment, information related to the following vehicle is provided only to other vehicles located on the road on the side where the own vehicle enters among the intersecting roads, but for all vehicles located on the intersecting roads. It may be sent.

  In addition to the information related to the position coordinates and the traveling direction of the subsequent vehicle, the information related to the subsequent vehicle to be provided to other vehicles includes information related to the vehicle speed of the subsequent vehicle, the expected arrival time at the intersection, the vehicle type, the number of vehicles, etc. Also good.

It is a schematic block diagram of the inter-vehicle communication system which concerns on this embodiment. It is a schematic structure figure of a driving support device concerning this embodiment. It is a block diagram which shows typically the control system of the driving assistance device concerning this embodiment. It is a flowchart of the vehicle-to-vehicle communication processing program which concerns on this embodiment. It is explanatory drawing explaining the other vehicle used as transmission object by step 11. FIG. It is a flowchart of the travel guidance processing program which concerns on this embodiment. It is the figure which showed the condition of the intersection where a prior art is applied. It is the figure which showed the condition of the intersection where this invention is applied.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Driving assistance apparatus 2 Vehicle 4 Communication apparatus 11 Driving assistance ECU
12 Distance Sensor 14 Projector 15 Current Position Detection Unit 31 CPU
32 ROM
33 RAM
54 Own vehicle 55 Subsequent vehicle 56-59 Other vehicle

Claims (4)

Subsequent vehicle information acquisition means for acquiring information related to a subsequent vehicle located behind the host vehicle;
An intersection road identifying means for identifying an intersection road that intersects with a road on which the vehicle travels at an intersection ahead of the traveling direction of the own vehicle;
Have a, and information providing means for providing information on the following vehicle to other vehicles located on cross road identified by the cross road specifying means,
The information providing means includes
When making a right turn or a left turn at an intersection in front of the traveling direction of the own vehicle, information is sent to the other vehicle located on the road on which the own vehicle enters from among the intersection roads identified by the intersection road identifying means. Offer to,
A driving assistance device , wherein when the host vehicle goes straight through an intersection ahead of the traveling direction, no information is provided to the other vehicle . Traveling road type acquisition means for acquiring the road type of the road on which the vehicle travels;
Crossing road type acquisition means for acquiring the road type of the crossing road specified by the crossing road specifying means,
The information providing means is provided for the other vehicle when the road type of the road on which the vehicle is traveling is a priority road and the road type of the intersection road specified by the intersection road specifying means is a non-priority road. The driving support apparatus according to claim 1, wherein information is provided. Subsequent vehicle information acquisition step for acquiring information related to a subsequent vehicle located behind the host vehicle;
An intersecting road identifying step for identifying an intersecting road that intersects with a road on which the own vehicle travels at an intersection ahead of the traveling direction of the own vehicle;
Have a, an information providing step of providing information about the following vehicle to other vehicles located on cross road that is specified by the intersection road specification step,
The information providing step includes:
When making a right turn or a left turn at an intersection in which the host vehicle is ahead in the direction of travel, information is sent to the other vehicle located on the road on which the host vehicle enters from among the intersection roads identified in the intersection road identifying step. Offer to,
A driving support method characterized in that information is not provided to the other vehicle when the host vehicle goes straight through an intersection ahead of the traveling direction . On the computer,
Subsequent vehicle information acquisition function for acquiring information related to a subsequent vehicle located behind the host vehicle,
An intersecting road identifying function for identifying an intersecting road that intersects with the road on which the own vehicle travels at an intersection ahead of the traveling direction of the own vehicle;
An information providing function for providing information related to the succeeding vehicle to other vehicles located on the intersecting road identified by the intersecting road identifying function;
A computer program for executing
The information providing function is:
When making a right turn or a left turn at an intersection in front of the traveling direction of the vehicle, information is sent to the other vehicle located on the road on the side on which the vehicle enters, among the intersection roads identified by the intersection road identification function. Offer to,
A computer program characterized by not providing information to the other vehicle when the host vehicle goes straight through an intersection ahead of the traveling direction .

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