JP4924300B2 - In-vehicle intersection stop prevention device, in-intersection stop prevention system, in-vehicle intersection stop prevention device program, in-vehicle crossing stop prevention device, in-crossing stop prevention system, and in-vehicle crossing stop prevention device program - Google Patents

Description

  The present invention relates to a vehicle-in-intersection stop prevention device, an in-intersection stop prevention system, a program for an in-vehicle intersection stop prevention device, an in-vehicle crossing stop prevention device, an in-crossing stop prevention system, and an in-vehicle crossing stop prevention. It relates to a program for the device.

  Conventionally, when a vehicle enters an intersection (or a railroad crossing; hereinafter the same in this column), an in-intersection stop prevention technology has been proposed that assists in determining whether or not the vehicle will stop within the intersection. Yes.

For example, in Patent Document 1, it is determined whether or not there is a space where the host vehicle can enter beyond the intersection by performing inter-vehicle communication with vehicles around the host vehicle, and a notification based on the determination is sent to the driver. Techniques to be performed are disclosed.
JP-A-2005-165543

  However, the technology as described above is based on the assumption that all vehicles on the road are equipped with vehicle-to-vehicle communication devices and that all vehicle-to-vehicle communication devices are operating normally. In such a technique, when the last vehicle at the end of the intersection (or level crossing) does not have a vehicle-to-vehicle communication device or does not have the vehicle-to-vehicle communication device of the last vehicle, The exact space cannot be specified.

  In view of the above points, an object of the present invention is to realize an intra-intersection stop prevention technique (or a crossing stop prevention technique) that does not rely on the inter-vehicle communication function.

  In order to achieve the above object, the first feature of the present invention is that the in-car stop prevention device for in-vehicle use in the first road (6, 91, 92) for exiting the intersection (3). To acquire the first photographed image (25) with the portion immediately after (3) as the subject and to enter the intersection (3) before exiting to the first road (6, 91, 92) A second photographed image (26) having a subject in front of the intersection (3) in the second road (4) is acquired by wireless communication.

  Further, the in-vehicle stop prevention apparatus for in-vehicle use is based on the arrangement of vehicles in the first image (25), and the length of the empty space immediately after the intersection (3) on the first road (6, 91, 92). (Hereinafter referred to as the first distance). Further, the in-car stop prevention device for vehicle use identifies the position of the own vehicle (2) in the second image (26), and the own vehicle (2) on the second road (4) based on the identified position. ) To the intersection (hereinafter referred to as the second distance). Then, based on the fact that the first distance is shorter than the second distance, the notification device (12, 14) is made to notify that the host vehicle (2) is prevented from entering the intersection (3).

  As described above, the in-car stop prevention device for in-vehicle use is the arrangement of the vehicle in the first image (25) photographed at the tip of the intersection (3) and the second photographed before the intersection (3). Based on the position of the host vehicle (2) in the image (26), it can be specified whether or not there is a space where the host vehicle (2) can enter beyond the intersection (3). Therefore, an in-intersection stop prevention technology that does not rely on the inter-vehicle communication function is realized.

  Moreover, the stop prevention apparatus for vehicle-mounted intersections may acquire the display state of the traffic light (9) ahead of the intersection (3) on the first road (6) by wireless communication. In that case, the in-car stop prevention device for in-vehicle use is based on whether or not the acquired display state indicates that the signal (9) can be passed from the second road (6). The content of the notification to be performed at (12, 14) may be switched. There is a great difference in the degree of movement of the vehicle ahead of the intersection (3) depending on whether or not the traffic light (9) ahead of the intersection (3) can pass. Therefore, by performing display switching corresponding to such a difference, it is possible to provide assistance that is more convenient for the passenger.

  In addition, the in-vehicle intersection stop prevention device causes the occupant to specify the position of the host vehicle (2) in the second image (26) and, based on the specification, the host vehicle in the second image (26). The position of (2) may be specified. Since the occupant is familiar with the appearance of the host vehicle (2), the identification of the host vehicle (2) by such a method is very accurate.

  In addition, the on-vehicle intersection stop prevention device acquires the first captured image (25) and the second captured image (26) based on the information that the first road (6) is congested. ) And the captured images (25, 26) may not be acquired based on the fact that there is no traffic jam. In this way, on roads where the vehicle is flowing smoothly, it is no longer necessary to acquire a captured image and determine whether or not it is possible to pass through an intersection.

  Moreover, the 2nd characteristic of this invention is immediately after the said intersection (3) in the 1st road (6, 91, 92) for the in-vehicle intersection stop prevention apparatus to exit the intersection (3). A second captured image is acquired for obtaining a first photographed image (25) having a portion of, and entering the intersection (3) before exiting to the first road (6, 91, 92). A second photographed image (26) having a subject in front of the intersection (3) on the road (4) is acquired by wireless communication. Further, the in-vehicle intersection stop prevention device displays the acquired first captured image (25) and the vehicle in the acquired second captured image (26) on the image display device (12).

  In this way, the vehicle in the second image (26) photographed before the intersection (3) and the first image (25) photographed at the tip of the intersection (3) are shown to the occupant. Then, the occupant compares the length of the train in front of the host vehicle in the second image (26) with the empty space immediately after the intersection (3) in the first image (25). It can be determined whether or not can enter the space. Therefore, it is possible to realize an intra-intersection stop prevention technique that does not rely on the inter-vehicle communication function.

  The on-vehicle intersection stop prevention device cuts out the vehicle in the second image (26), and displays an image in which the cut-out vehicle is arranged on the last vehicle in the first image (25) on the image display device. It may be displayed. In this way, the occupant can more directly grasp the relationship between the position of the host vehicle and the empty space.

  In addition, the first feature of the present invention is that the first shooting is performed with the portion immediately after the intersection (3) in the first road (6, 91, 92) for leaving the intersection (3) as the subject. A first camera (7) that captures an image (25) and a second road (4) for entering the intersection (3) before leaving the first road (6, 91, 92) A second camera (5) that captures a second captured image (26) using the portion in front of the intersection (3) as a subject, and the first image (25) acquired by the image acquisition means First distance specification that specifies the length of the empty space immediately after the intersection (3) on the first road (6, 91, 92) (hereinafter referred to as the first distance) based on the arrangement of the vehicle inside Means (125) and the vehicle (2) in the second image (26) acquired by the image acquisition means Based on the vehicle position specifying means (130) for specifying the position and the position specified by the vehicle position specifying means, the distance from the vehicle (2) to the intersection on the second road (4) (hereinafter, The second distance specifying means (135) for specifying the second distance) and the vehicle (2) entering the intersection (3) based on the fact that the first distance is shorter than the second distance. It can also be understood as an in-intersection stop prevention system including notification control means (165, 170) for causing the notification device (12, 14) to perform notification for suppression. The features of the present invention can also be understood as a program. In addition, the first and second features of the present invention exhibit the same effect even when the intersection is replaced with a crossing.

  In addition, the code | symbol in the parenthesis in the said claim shows the correspondence of the term described in the claim, and the concrete thing etc. which illustrate the said term described in embodiment mentioned later.

  Hereinafter, an embodiment of the present invention will be described. FIG. 1 conceptually shows an example of a scene to which this embodiment is applied. In this figure, a vehicle 2 equipped with a vehicle navigation device 1 (corresponding to an example of an in-vehicle intersection stop prevention device) 1 according to the present embodiment travels on an approach road 4 for entering the intersection 3. Yes. Of the approaching road 4, the part before the intersection 3 (that is, a section going back from the intersection 3 by a predetermined distance (for example, 50 meters) in the direction opposite to the traveling direction of the approaching road 4) is installed near the approaching road 4. Images are taken repeatedly (for example, every second) by the approaching side camera 5. An image taken by the approaching camera 5 is output to the roadside radio device 20 installed near the approaching road 4 via a cable or the like. The section that is the subject of the exit side camera 7 includes a part of the crosswalk on the exit road 6 side of the intersection 3.

  The exit road 6 is a road for proceeding straight from the intersection 3 when exiting the exit road 4 and exiting. Of the exit road 6, a portion immediately after the intersection 3 (that is, a predetermined section that travels a predetermined distance (for example, 50 meters) from the intersection 3 in the traveling direction of the exit road 6) is installed in the vicinity of the exit road 6. Images are taken repeatedly (for example, every second) by the exit side camera 7. An image taken by the exit side camera 7 is output to the roadside radio 20 via a cable or the like. The section that is the subject of the approaching camera 5 includes a vehicle stop line on the approaching road 4 side of the intersection 3.

  In addition, a traffic light 9 is installed at an intersection 8 that follows the intersection 3 along the exit road 6. The traffic light 9 first after exiting the intersection 3 along the exit road 6 sequentially outputs its display state information (hereinafter referred to as traffic signal information) to the roadside radio 20 via a cable or the like. It is like that. The display state is a combination of the approach direction and the exit direction with respect to the target intersection 8 (for example, the direction of entering the exit road 6 and going straight, the direction of entering the exit road 6 and turning right, the approach of the road 90 and turning left The state of whether or not the vehicle can enter for each of the entry / exit methods comprising the direction of the

  The vehicle navigation apparatus 1 receives and uses the information output from the approach road 4, the approach side camera 5, and the traffic light 9 via the roadside radio device 20, so that the host vehicle 2 enters the intersection 3. In addition, the driver's judgment on whether or not to stop at the intersection 3 by using the preceding vehicle is supported.

  FIG. 2 is a block diagram showing the configuration of the roadside radio 20. The roadside radio 20 includes a radio unit 21 and a control circuit 22. The wireless unit 21 amplifies, converts, modulates, and demodulates communication data in order to mediate wireless communication between the vehicle navigation device 1 mounted on the vehicle 2 traveling on the approach road 4 and the roadside wireless device 20. Etc.

  The control circuit 22 transmits information received from the approach side camera 5, the exit side camera 7, and the traffic light 9 to the vehicle navigation apparatus 1 using the wireless unit 21 as necessary. Specifically, when a signal for requesting camera information (hereinafter referred to as a camera information request signal) is received from the vehicle navigation apparatus 1, the captured images output from the entry-side camera 5 and the exit-side camera 7 are then displayed. To the vehicle navigation device 1.

  At the time of transmitting the captured image, the roadside wireless device 20 uses the vehicle navigation apparatus together with the captured image scale information of the captured image from the approaching camera 5 and the scaled information of the captured image from the exiting camera 7 together with the captured images. 1 to send. The scale information of the captured image is information representing the ratio of the length on the pixel of the image to the length on the actual road that is the subject. The information representing the ratio may be the value of the ratio itself, or the specifications of the cameras 5 and 7 necessary for calculating the ratio, such as the focal length of each camera 5 and 7 and the distance to the subject. It may be information.

  When the control circuit 22 receives a signal requesting signal information (hereinafter referred to as a signal information request signal) from the vehicle navigation device 1, the control circuit 22 then transmits the signal information output from the signal device 9 to the vehicle navigation device 1. Send.

  FIG. 3 is a block diagram showing the configuration of the vehicle navigation device 1. The vehicle navigation apparatus 1 includes a radio unit 10, a position detector 11, an image display device 12, an operation unit 13, a speaker 14, a traffic information receiver 15, a map data acquisition unit 16, and a control circuit (corresponding to a computer) 17. have.

  The radio unit 10 performs processing according to a predetermined radio communication protocol such as amplification, frequency conversion, demodulation, A / D conversion, etc., on a signal received by an antenna (not shown), and outputs the result to the control circuit 17. In addition, the radio unit 10 performs processing according to a predetermined radio communication protocol such as D / A conversion, modulation, frequency conversion, amplification, etc. on the data input from the control circuit 17, and the resultant signal is transmitted to the antenna described above. Output to. By such an operation, the control circuit 17 can exchange data with the roadside radio device 20 via the radio unit 10.

  The position detector 11 includes a well-known sensor (not shown) such as a geomagnetic sensor, a gyroscope, a vehicle speed sensor, and a GPS receiver. The current position and direction of the vehicle based on the characteristics of each of these sensors. , And information for specifying the speed is output to the control circuit 17. The image display device 12 displays an image based on the image signal output from the control circuit 17 to the occupant.

  The operation unit 13 includes a plurality of mechanical switches provided in the vehicle navigation device 1 and an input device such as a touch panel provided on the display surface of the image display device 12. The user presses the mechanical switch and touches the touch panel. Is output to the control circuit 17.

  The traffic information receiver 15 is a radio receiver that receives road congestion information, traffic regulation information, and the like wirelessly transmitted from an FM radio broadcasting station or an optical beacon installed along a road and outputs the information to the control circuit 17.

  The map data acquisition unit 16 includes a nonvolatile storage medium such as a DVD, a CD, and an HDD, and a device that reads data (and writes data if possible) to the storage medium. The storage medium stores a program executed by the control circuit 17, map data for route guidance, and the like.

  The map data has road data and facility data. The road data includes link position information, type information, node position information, type information, information on connection relations between nodes and links, and the like. The facility data has a plurality of records for each facility, and each record is data indicating name information, location information, land lot number information, telephone number information, zip code information, facility type information, etc. of the target facility. have.

  The control circuit 17 is a microcomputer having a CPU, RAM, ROM, I / O, and the like. The CPU executes a program for the operation of the vehicle navigation device 1 read from the ROM or the map data acquisition unit 16, reads information from the RAM, the ROM, and the map data acquisition unit 16 when executing the program. And, if possible, the information is written to the storage medium of the map data acquisition unit 16, and the radio unit 10, the position detector 11, the image display device 12, the operation unit 13, the speaker 14, and the traffic information receiver 15 are written. Send and receive signals.

  Specific processing performed by executing a program by the control circuit 17 includes current position specifying processing, guidance route calculation processing, route guidance processing, and intra-intersection stop prevention processing. The current position specifying process is a process for specifying the current position and direction of the vehicle based on a signal from the position detector 11 using a known technique such as map matching. The guidance route calculation process is a process of receiving an input of a destination by an occupant from the operation unit 13 and calculating an optimum guidance route from the current position to the destination.

  In the route guidance process, map data is read from the map data acquisition unit 16, and an image in which the calculated guide route, destination, waypoint, current position, etc. are overlaid on the map indicated by the map data is displayed on the image display device 12. This is a process of outputting a guidance voice signal for instructing a right turn, a left turn or the like to the speaker 14 when necessary, such as when the host vehicle arrives before the guidance intersection.

  The intra-intersection stop prevention process is a process of providing information to the passengers of the vehicle 2 so that the vehicle 2 does not stop at the intersection 3 due to the leading vehicle. The control circuit 17 repeatedly executes the program 100 shown in FIG. 4 in order to execute this intra-intersection stop prevention process.

  In the execution of the program 100, the control circuit 17 first determines in step 105 whether or not the host vehicle 2 is in front of the intersection 3 that is the nearest intersection ahead. Specifically, based on the current position of the host vehicle 2 and the position information of the intersection 3 in the map data, when the distance from the host vehicle 2 to the intersection 3 is less than a reference distance (for example, a predetermined 50 meters), It is determined that the host vehicle 2 is in front of the intersection 3, and then step 110 is executed. If the distance is equal to or greater than the reference distance, it is determined that the vehicle is not in front of the intersection 3, and the determination in step 105 is executed again.

  In step 110, based on the traffic jam information acquired from the traffic information receiver 15, it is determined whether any of the approach road 4 and the exit road 6 is traffic jam. 115 is executed, and if neither is a traffic jam, step 105 is executed again.

  In step 115, a camera information request signal is transmitted to the roadside radio 20 using the radio unit 10. Receiving this camera information request signal, the roadside radio 20 starts to transmit the captured images and scale information of the approach side camera 5 and the exit side camera 7 to the vehicle navigation device 1 as described above. FIG. 5 shows an example 25 of a captured image of the exit side camera 7, and FIG. 6 shows an example 26 of a captured image of the entrance side camera 5. Subsequently, in step 120, a captured image and scale information transmitted from the roadside apparatus 20 are acquired.

  Subsequently, in step 125, the distance L1 along the exit road 6 of the empty space immediately after the intersection 3 based on the acquired exit-side captured image 25 captured by the exit-side camera 7 and the scale information of the exit-side camera 7 (FIG. 5) is calculated. Here, the empty space immediately after the intersection 3 specifically refers to the space from the end of the pedestrian crossing on the exit road 6 side of the intersection 3 to the rear end of the last vehicle on the exit road 6. . Note that the control circuit 17 can detect each vehicle in the exit side captured image 25 using a known pattern recognition technique. Then, the relationship between the distance on the pixel of the exit side captured image 25 and the actual distance L1 can be specified from the scale information of the exit side camera 7.

  Subsequently, in step 130, the position of the host vehicle 2 in the approach side captured image 26 captured by the approach side camera 5 is specified. Specifically, the approach side photographed image 26 is displayed on the image display device 12, and the speaker 14 is caused to display a sound that prompts the occupant to specify the host vehicle 2 from the approach side photographed image 26 using the touch panel. In response to this, when the occupant designates the own vehicle 2 in the approach-side captured image 26, the control circuit 17 identifies the designated vehicle 2 as the own vehicle.

  Subsequently, in step 135, a distance L2 (see FIG. 6) along the intersection 3 from the own vehicle 2 to the intersection 3 is calculated. Specifically, the distance on the pixel along the traveling direction of the intersection 3 from the own vehicle 2 identified in step 130 to the stop line before the intersection 3 is identified, and the identified distance and the approaching camera 5 And the actual distance L2 corresponding to the distance is specified.

  Subsequently, in step 140, a composite image of the exit side captured image 25 and the entrance side captured image 26 is displayed on the image display device 12. FIG. 7 and FIG. 8 show an example of a composite image 33 of the exit side captured image 25 and the entrance side captured image 26, respectively.

  Specifically, the image composition is performed by enlarging or reducing the entrance-side captured image 26 based on the scale information of the captured images 25, 26, thereby reducing the scale of the exit-side captured image 25 and the scale of the entrance-side captured image 26. Adjust to match. Subsequently, the vehicle row is cut out from the approach-side captured image 26 using an image recognition technique. Subsequently, the inclination of the cut-out vehicle row is adjusted so that the cut-out vehicle row and the vehicle row in the exit side captured image 25 face the same direction. Subsequently, the cut-out vehicle train is combined with the exit-side captured image 25 so that the first vehicle in the cut-out vehicle train is connected to the rear of the last vehicle in the vehicle train in the exit-side captured image 25. In the composite image, the host vehicle 2 may be highlighted more than other vehicles.

  In the example of FIG. 7, the host vehicle 2 in the composite image 33 is on the pedestrian crossing at the intersection 3. Therefore, in this example, when the own vehicle 2 enters the intersection 3, it stops at the intersection 3. By looking at the composite image 33 on the image display device 12, the occupant can visually grasp this.

  Further, in the example of FIG. 8, the own vehicle 2 in the composite image 33 is not on the pedestrian crossing at the intersection 3. Therefore, in this example, the host vehicle 2 can pass through the intersection 3 without stopping even if it enters the intersection 3. By looking at the composite image 33 on the image display device 12, the occupant can visually grasp this.

  Subsequently, in step 145, it is determined whether or not the distance L1 specified in step 125 is not less than the distance L2 specified in step 135. If the distance L1 is not less than the distance L2, then step 175 is executed, If L1 is less than the distance L2, then step 150 is executed.

  In step 150, the above-described signal information request signal is transmitted to the roadside device 20 using the wireless unit 10. Receiving this traffic signal information request signal, the roadside radio device 20 wirelessly transmits the traffic signal information of the traffic signal 9 to the vehicle navigation apparatus 1. Subsequently, in step 155, the traffic signal information from the roadside radio device 20 is acquired via the radio unit 10.

  Subsequently, in step 160, it is determined whether or not the traffic light 9 indicates that the intersection 8 can be passed from the exit road 6 based on the acquired traffic signal information. When the traffic light 9 indicates that it is possible to pass the intersection 8 from the exit road 6 (for example, in the case of a green light display), there is a high possibility that each vehicle on the exit road 6 proceeds gradually. However, when the traffic light 9 does not indicate that the intersection 8 can be passed from the exit road 6 (for example, in the case of a red light display), it is unlikely that each vehicle on the exit road 6 will proceed for the time being. If the determination result in step 160 is affirmative, step 170 is subsequently executed. If the determination result is negative, step 165 is subsequently executed.

  In step 165, the entry prohibition notification is performed using one or both of the image display device 12 and the speaker 14. Specifically, “Not expected to change traffic conditions ahead”, “It is dangerous to enter the intersection”, “Prohibit entry”, etc. are notified. When this notification is performed using the image display device 12, an entry prohibition display 41 may be superimposed on the composite image 33 as shown in FIG. In this way, the occupant can clearly grasp the current situation using both images and characters.

  In step 170, since there is a high possibility that an empty space will be formed after a short wait, notification for prompting the standby is performed using one or both of the image display device 12 and the speaker 14. Specifically, notifications such as “The traffic situation in front of the intersection is changing” and “Please wait for a while until you can pass safely” are made. This notification may be performed by superimposing on the composite image 33 in the same manner. Subsequent to steps 165 and 170, step 115 is executed again.

  In step 175, even if the vehicle enters the intersection 3, a notification indicating that there is no danger of stopping in the intersection 3 is given. This notification may also be made to superimpose the passage permission display 42 on the composite image 33 as shown in FIG. After step 175, execution of program 100 for intersection 3 ends.

  By executing the program 100 as described above, the control circuit 17 causes the host vehicle 2 to newly enter the intersection 3 (see step 105), and the approach road 4 and the approach side camera 5 are in a traffic jam state. In this case (see step 110), the exit side captured image 25 captured by the exit side camera 7 and the approach side captured image 26 captured by the approach side camera 5 are requested and acquired (see steps 115 and 120).

  Then, the control circuit 17 determines the length L1 of the empty space along the traveling direction of the exit road 6 immediately after the intersection 3 in the exit road 6 based on the obtained arrangement of the vehicle group in the exit side captured image 25. (Corresponding to an example of the first distance) is specified based on the image recognition technique and the scale information of the exit camera 7 (step 125).

  In addition, the control circuit 17 displays the acquired approach-side captured image 26 on the image display device 12, thereby accepting a designation operation for the vehicle 2 in the approach-side captured image 26 (see step 130). Then, the distance L2 (corresponding to an example of the second distance) from the vehicle 2 to the intersection 3 according to the received designation is specified based on the image recognition technique and the scale information of the approaching camera 5 (see step 135).

  Further, the control circuit 17 cuts out the vehicle in the acquired entrance-side captured image 26 and causes the image display device 12 to display a composite image 33 in which the cut-out vehicle is arranged on the last vehicle in the exit-side captured image 25 (step). 140). In this way, the occupant can more directly grasp the relationship between the position of the host vehicle and the empty space.

  Further, the control circuit 17 compares the distance L1 and the distance L2 (see step 145), and if the distance L1 is shorter than the distance L2, a notification for suppressing the host vehicle 2 from entering the intersection 3 is displayed on the image display device. 12 or the speaker 14 (see steps 150 to 170).

Specifically, the traffic signal information of the traffic signal 9 is requested and acquired (see steps 150 and 155), and the traffic signal information can pass through the traffic signal 9 (that is, pass through the intersection 8). In the case shown (see step 160), since there is no possibility that the user can enter the intersection 3 without stopping for a while, a notification for prohibiting the entry is performed.
If it waits for a while, it will be possible to pass through the intersection 3 without stopping, so a notification for prompting to wait is issued (see step 165). If the traffic signal information indicates that it is possible to pass the traffic light 9 (see step 160), the traffic signal information can be passed without stopping at the intersection 3 after a short wait. Notification or the like that prompts the user to do so is performed (see step 170).

  Then, the process of requesting and obtaining the exit-side captured image 25 and the approach-side captured image 26 (see steps 115 to 170) is repeated as long as the distance L1 is equal to or greater than the distance L2 (see step 145). Then, when the distance L1 is less than the distance L2 (see step 145), a notification indicating that there is no possibility of stopping in the intersection 3 even if the vehicle enters the intersection 3 is given (see step 175), and then the 3 The execution of the program 100 is terminated.

  As described above, the vehicle navigation device 1 includes the arrangement of the vehicle group in the exit-side captured image 25 captured before the intersection 3 and the host vehicle 2 in the approach-side captured image 26 captured before the intersection 3. It is possible to specify whether or not there is a space where the host vehicle 2 can enter beyond the intersection 3, that is, whether or not the host vehicle 2 can pass through the intersection 3 without stopping. Therefore, an in-intersection stop prevention technology that does not rely on the inter-vehicle communication function is realized.

  And the navigation apparatus 1 for vehicles is based on whether the acquired display state has shown that it can pass the traffic light 9 from the exit road 6, and the content of the entry suppression notification to the intersection 3 to a passenger | crew is shown. It is supposed to switch. There is a great difference in the degree of movement of the vehicle ahead of the intersection 3 depending on whether the traffic light 9 ahead of the intersection 3 can pass or not. Therefore, by performing display switching corresponding to such a difference, it is possible to provide assistance that is more convenient for the passenger.

  Further, the vehicle navigation device 1 causes the occupant to specify the position of the host vehicle 2 in the approach-side captured image 26 and specifies the position of the host vehicle 2 in the approach-side captured image 26 based on the specification. Since the occupant is familiar with the appearance of the host vehicle 2, the identification of the host vehicle 2 by such a method is very accurate.

  Further, the vehicle navigation device 1 acquires the captured images 25 and 26 based on acquiring information indicating that the exit road 6 and the approach road 4 are congested, and is based on the fact that there is no traffic jam. Thus, the captured images 25 and 26 are not acquired. In this way, on the road where the vehicle is flowing smoothly, the captured images 25 and 26 are unnecessarily acquired and it is not determined whether the vehicle can pass through the intersection.

  In the above embodiment, the set of the vehicle navigation device 1, the approach side camera 5, the exit side camera 7, the traffic light 9, and the roadside radio device 20 corresponds to an example of an intra-intersection stop prevention system.

(Other embodiments)
As mentioned above, although embodiment of this invention was described, the scope of the present invention is not limited only to the said embodiment, The various form which can implement | achieve the function of each invention specific matter of this invention is included. It is.

  For example, in the above-described embodiment, in step 140, an image obtained by combining the vehicle group in the approach side captured image 26 and the exit side captured image 25 is displayed. However, instead of such an image, both the exit-side captured image 25 and the approach-side captured image 26 may be individually displayed to the occupant without being synthesized.

  That is, as long as the vehicle navigation device 1 displays the vehicle group in the acquired exit side captured image 25 and the acquired entrance side captured image 26 on the image display device 12, the occupant can Whether the vehicle 2 can enter the space by comparing the length of the train in front of the host vehicle 2 in the entrance-side captured image 26 with the empty space immediately after the intersection 3 in the exit-side captured image 25 It can be determined whether or not.

  Moreover, in said embodiment, the navigation apparatus 1 for vehicles supports the propriety of the entrance of the vehicle 2 to the intersection 3 by using the picked-up image 25 of the exit road 6 for going straight ahead and exiting the intersection 3. It is like that. However, for each of the exit road 91 for turning left from the intersection 3 and exiting the exit road 92 for turning right from the intersection 3, there should be a camera for photographing the portion immediately after the intersection 3 in the road. For example, it may be configured to support whether or not the vehicle 2 can enter the intersection 3 using the captured images of the cameras.

  For example, if the control circuit 17 knows in advance that the vehicle 2 goes straight through the intersection 3 and uses the exit side photographed image 25, the control circuit 17 knows in advance that the vehicle 2 makes a left turn through the intersection 3. If there is an image obtained by photographing the exit road 91 instead of the exit-side captured image 25, and it is known in advance that the host vehicle 2 turns right at the intersection 3, the exit-side captured image 25 is used instead. Then, an image obtained by photographing the exit road 92 may be used.

  In this case, the control circuit 17 specifies in which direction the own vehicle 2 leaves the intersection 3 based on information from a device (not shown) that outputs the operating state of the direction indicator of the vehicle 2. It may be like this. Alternatively, if the route guidance process is being executed, the control circuit 17 specifies the direction of exiting the intersection 3 when traveling along the guidance route as the direction in which the vehicle 2 exits the intersection 3. May be.

  In addition, it is not always necessary that the traffic signal for which information is acquired in step 150 of the program 100 is installed at the intersection. For example, it may be a traffic light for a crosswalk that crosses the exit road 6.

  Moreover, in the said embodiment, although a passenger | crew specifies the own vehicle from the approach side picked-up image 26 using a touch panel, the method of specifying the own vehicle in the exit side picked-up image 25 is this. Other methods may be used.

  In the above embodiment, the scale information of the captured images 25 and 26 is used when specifying the distance L1 and the distance L2. However, when the cameras 7 and 5 are set in advance so that the two captured images 25 and 26 have the same scale, the distances L1 and L2 are based on the pixels in the captured image without using the scale information. It may be specified as the distance.

  Moreover, in the said embodiment, although the vehicle navigation apparatus 1 specifies the distance L1, the roadside radio | wireless machine 20 specifies distance L1 based on the exit side picked-up image 25, and specifies the specified distance L1. It may be configured to wirelessly transmit to the vehicle navigation device 1. In this case, the roadside radio device 20 has the first distance specifying means in the claims.

  In the above embodiment, each function realized by the control circuit 17 executing the program is realized by using hardware having those functions (for example, an FPGA capable of programming the circuit configuration). You may come to do.

It is a figure which shows notionally an example of the scene where embodiment of this invention is applied. 2 is a block diagram showing a configuration of a roadside radio device 20. FIG. 1 is a block diagram showing a configuration of a vehicle navigation device 1. FIG. It is a flowchart of the program 100 which the control circuit 17 of the vehicle navigation apparatus 1 performs. It is a figure which shows an example of the exit side picked-up image 25 image | photographed with the exit side camera. It is a figure which shows an example of the approach side picked-up image 26 image | photographed with the approach side camera. It is a figure which shows an example of the image synthesis | combination in step 140 of the program 100. FIG. It is a figure which shows an example of the image composition in step 140 of the program 100. FIG.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 ... Vehicle navigation apparatus, 2 ... Own vehicle, 3 ... Intersection, 4 ... Approach road,
5 ... Entry camera, 6 ... Exit road, 7 ... Exit camera, 8 ... Intersection, 9 ... Traffic light,
DESCRIPTION OF SYMBOLS 10 ... Radio | wireless part, 11 ... Position detector, 12 ... Image display apparatus, 13 ... Operation part,
14 ... Speaker, 15 ... Traffic information receiver, 16 ... Map data acquisition unit, 17 ... Control circuit,
20 ... roadside radio, 21 ... radio unit, 22 ... control circuit, 25 ... exit side photographed image,
26 ... Entry side captured image, 33 ... Composite image, 41 ... Entry prohibition display, 42 ... Traffic permission display,
91, 92 ... exit road, 100 ... program.

Claims (11)

In the first road (6, 91, 92) for exiting the intersection (3), a first photographed image (25) with the portion immediately after the intersection (3) as a subject is acquired , and A second portion of the second road (4) for entering the intersection (3) before leaving the first road (6, 91, 92) is a subject in front of the intersection (3). Image acquisition means (120) for acquiring the two captured images (26) by wireless communication;
The length of the empty space immediately after the intersection (3) on the first road (6, 91, 92) based on the vehicle arrangement in the first captured image (25) acquired by the image acquisition means First distance specifying means (125) for specifying the length (hereinafter referred to as the first distance);
Vehicle position specifying means (130) for specifying the position of the host vehicle (2) in the second captured image (26) acquired by the image acquisition means;
Second distance specifying means for specifying a distance from the host vehicle (2) to the intersection (hereinafter referred to as second distance) on the second road (4) based on the position specified by the vehicle position specifying means. (135),
Based on the fact that the first distance is shorter than the second distance, the host vehicle (2) moves to the intersection (3
Notification control means (165, 170) for causing the notification device (12, 14) to perform notification for suppressing entry into the
Display control means for cutting out the vehicle in the second captured image (26), and displaying on the image display device an image in which the cut-out vehicle is arranged on the last vehicle in the first captured image (25); automotive intersection in stop preventing device provided with. A traffic light state acquisition means (155) for acquiring a display state of the traffic light (9) ahead of the intersection (3) on the first road (6) by wireless communication;
The notification control means is based on whether or not the display state acquired by the traffic light state acquisition means indicates that the traffic light (9) can be passed from the second road (6). The content of the notification to be performed by the notification device (12, 14) is switched.
The in-vehicle intersection stop prevention device described in 1. The vehicle position specifying means causes the occupant to specify the position of the host vehicle (2) in the second captured image (26), and specifies the position based on the specification. The in-vehicle intersection stop prevention device according to 2.   The image obtaining means obtains the first photographed image (25) and the second photographed image (26) based on obtaining information indicating that the first road (6) is congested. The first captured image (25) and the second captured image (26) are not acquired based on the acquired information indicating that there is no traffic jam. The in-vehicle intersection stop prevention device according to any one of the above. In the first road (6, 91, 92) for exiting the intersection (3), a first photographed image (25) with the portion immediately after the intersection (3) as a subject is acquired , and A second portion of the second road (4) for entering the intersection (3) before leaving the first road (6, 91, 92) is a subject in front of the intersection (3). Image acquisition means (120) for acquiring the two captured images (26) by wireless communication;
Display for displaying on the image display device (12) the vehicle in the first captured image (25) acquired by the image acquisition means and the second captured image (26) acquired by the image acquisition means. Control means (140) ,
The display control means cuts out a vehicle in the second captured image (26), and displays an image in which the cut-out vehicle is arranged on the last vehicle in the first captured image (25) on the image display device. An on- vehicle stop prevention device for in- vehicle intersections, characterized by displaying . A first camera that captures the first captured image (25) with the portion immediately after the intersection (3) in the first road (6, 91, 92) for exiting the intersection (3) as a subject. (7) and
The second road (4) for entering the intersection (3) before leaving the first road (6, 91, 92) is the first part of the second road (4) before the intersection (3). 2 images (
A second camera (5) for shooting 26);
The length of the empty space immediately after the intersection (3) on the first road (6, 91, 92) based on the vehicle arrangement in the first captured image (25) acquired by the image acquisition means First distance specifying means (125) for specifying the length (hereinafter referred to as the first distance);
Vehicle position specifying means (130) for specifying the position of the vehicle (2) in the second captured image (26) acquired by the image acquisition means;
Second distance specifying means for specifying a distance (hereinafter referred to as a second distance) from the vehicle (2) to the intersection on the second road (4) based on the position specified by the vehicle position specifying means. (135),
Based on the fact that the first distance is shorter than the second distance, the vehicle (2)
3) Notification control means (165, 170) for causing the notification device (12, 14) to perform notification for suppressing entry into the system;
Display control means for cutting out the vehicle in the second captured image (26), and displaying on the image display device an image in which the cut-out vehicle is arranged on the last vehicle in the first captured image (25); intersection the stop prevention system comprising a. A program for an on-vehicle intersection stop prevention device,
Said intersection (3) in the first road (6, 91, 92) for exiting the intersection (3)
Second to enter the portion immediately obtains the first captured image to the object (25), the intersection (3) before exiting to the first road (6,91,92) of Road (4)
An image acquisition means (120) for acquiring, by wireless communication, a second photographed image (26) having a portion in front of the intersection (3) as a subject,
The length of the empty space immediately after the intersection (3) on the first road (6, 91, 92) based on the vehicle arrangement in the first captured image (25) acquired by the image acquisition means First distance specifying means (125) for specifying the length (hereinafter referred to as the first distance);
Vehicle position specifying means (130) for specifying the position of the host vehicle (2) in the second captured image (26) acquired by the image acquisition means;
Second distance specifying means for specifying a distance from the host vehicle (2) to the intersection (hereinafter referred to as second distance) on the second road (4) based on the position specified by the vehicle position specifying means. (135) ,
Based on the fact that the first distance is shorter than the second distance, the host vehicle (2) moves to the intersection (3
Notification control means (165 , 170) for causing the notification device (12, 14) to perform notification for suppressing entry into the
Display control means for cutting out a vehicle in the second captured image (26) and displaying an image in which the cut-out vehicle is arranged on the last vehicle in the first captured image (25) on an image display device. A program that causes a computer to function. A first photographed image (25) having a subject immediately after the first level crossing (3) in the first road (6, 91, 92) for exiting the first level crossing (3). acquires the, the first road (6,91,92) said first before exiting the railway crossing (3) second for entering the road (4) of the first crossing Image acquisition means (120) for acquiring a second photographed image (26) with the portion in front of (3) as a subject by wireless communication;
A space immediately after the first level crossing (3) on the first road (6, 91, 92) based on the vehicle arrangement in the first captured image (25) acquired by the image acquisition means. First distance specifying means (125) for specifying the length of the space (hereinafter referred to as the first distance);
Vehicle position specifying means (130) for specifying the position of the host vehicle (2) in the second captured image (26) acquired by the image acquisition means;
Second to specify a distance from the own vehicle (2) to the first railroad crossing (hereinafter referred to as a second distance) on the second road (4) based on the position specified by the vehicle position specifying means. Distance identification means (135);
Based on the fact that the first distance is shorter than the second distance, the notification device (12, 14) is notified to prevent the host vehicle (2) from entering the first railroad crossing (3). Notification control means (165, 170)
Display control means for cutting out the vehicle in the second captured image (26), and displaying on the image display device an image in which the cut-out vehicle is arranged on the last vehicle in the first captured image (25); automotive railway crossing the stop prevention device equipped with. A first photographed image (25) having a subject immediately after the first level crossing (3) in the first road (6, 91, 92) for exiting the first level crossing (3). acquires the, the first road (6,91,92) said first before exiting the railway crossing (3) second for entering the road (4) of the first crossing Image acquisition means (120) for acquiring, by wireless communication, a second captured image (26) having a subject in front of (3)
Display for displaying on the image display device (12) the vehicle in the first captured image (25) acquired by the image acquisition means and the second captured image (26) acquired by the image acquisition means. Control means (140) ,
The display control means cuts out a vehicle in the second captured image (26), and displays an image in which the cut-out vehicle is arranged on the last vehicle in the first captured image (25) on the image display device. A stop prevention device for in- vehicle crossings characterized by being displayed . The first photographed image (25) is taken with the portion immediately after the first level crossing (3) in the first road (6, 91, 92) for exiting the first level crossing (3) as the subject. A first camera (7) to shoot;
Before the first level crossing (3) in the second road (4) for entering the first level crossing (3) before leaving the first road (6, 91, 92) A second camera (5) that captures a second captured image (26) with the portion of
A space immediately after the first level crossing (3) on the first road (6, 91, 92) based on the vehicle arrangement in the first captured image (25) acquired by the image acquisition means. First distance specifying means (125) for specifying the length of the space (hereinafter referred to as the first distance);
Vehicle position specifying means (130) for specifying the position of the vehicle (2) in the second captured image (26) acquired by the image acquisition means;
A second distance specifying the distance (hereinafter referred to as a second distance) from the vehicle (2) to the first railroad crossing on the second road (4) based on the position specified by the vehicle position specifying means;
Distance identification means (135);
Based on the fact that the first distance is shorter than the second distance, the notification device (12, 14) is notified to suppress the vehicle (2) from entering the first railroad crossing (3). Notification control means (165, 170)
Display control means for cutting out the vehicle in the second captured image (26), and displaying on the image display device an image in which the cut-out vehicle is arranged on the last vehicle in the first captured image (25); A system for preventing stoppage at level crossings. A program for a stop prevention device for in-vehicle crossings,
A first photographed image (25) having a subject immediately after the first level crossing (3) in the first road (6, 91, 92) for exiting the first level crossing (3). It acquires the second for entering the first crossing (3) before exiting to the first road (6,91,92)
A second captured image (4) having a subject in front of the first level crossing (3) in the road (4)
Image acquisition means for acquiring 26) by wireless communication (120),
A space immediately after the first level crossing (3) on the first road (6, 91, 92) based on the vehicle arrangement in the first captured image (25) acquired by the image acquisition means. First distance specifying means (125) for specifying the length of the space (hereinafter referred to as the first distance);
Vehicle position specifying means (130) for specifying the position of the host vehicle (2) in the second captured image (26) acquired by the image acquisition means;
Second to specify a distance from the own vehicle (2) to the first railroad crossing (hereinafter referred to as a second distance) on the second road (4) based on the position specified by the vehicle position specifying means. Distance identification means (135) ,
Based on the fact that the first distance is shorter than the second distance, the notification device (12, 14) is notified to prevent the host vehicle (2) from entering the first railroad crossing (3). Notification control means (165 , 170) to be activated , and
Display control means for cutting out a vehicle in the second captured image (26) and displaying an image in which the cut-out vehicle is arranged on the last vehicle in the first captured image (25) on an image display device. A program that causes a computer to function.

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