JP4930082B2 - Safe driving support system, road device, in-vehicle device, and vehicle - Google Patents

Description

  The present invention relates to a safe driving support system in which a road device and an in-vehicle device cooperate to support a driver's safe driving.

  Conventionally, in order to prevent traffic accidents caused by vehicles in and around the intersection, signal information such as the traffic light color and duration of the traffic signal provided at the intersection is provided in advance to the traveling vehicle. A safe driving support for controlling the speed of the vehicle by determining whether the vehicle-mounted device mounted on the vehicle can safely stop before the intersection based on the signal information and whether the vehicle can safely pass through the intersection A system has been proposed (see, for example, Patent Document 1).

In the apparatus described in Patent Document 1, for example, time information until a traffic signal displaying blue turns red is transmitted from a transmission device provided on the road to the vehicle, and this time information is transmitted on the in-vehicle device side. And the travel speed at that time, and if it is determined that there is no time to safely pass the intersection, that is, if it is determined that the vehicle should stop before the intersection, the vehicle is automatically braked and The vehicle is controlled to decelerate and stop before stopping at the intersection.
Japanese Patent No. 2806801

  In the diffusion stage of safe driving support systems, traffic signals (service traffic signals) that can provide signal information such as lamp color and duration time are not always installed at all intersections, The system operation may be stopped at a specific intersection due to maintenance work or the like. In view of this situation, overconfidence and distrust of the driver's safe driving support system can be a big problem regarding the effectiveness of the system.

  In other words, when an intersection where the safe driving support system operates and an intersection that does not operate alternately come and go while driving, the driver must always be aware of whether or not it is a point where assistance can be received each time the intersection is approached. However, the problem of “distrust” may occur that it begins to have distrust in the significance of the system, and as a result, does not expect to receive driving assistance.

  On the other hand, if the safe driving support system is installed at almost all intersections or if the intersections where the system is installed are continuous, the driver has an excessive expectation that he / she can always receive driving assistance while driving, so be careful. There is a possibility of neglecting safety confirmation. If there is an intersection in which only one system does not operate among these intersections, the driver's attention will be reduced due to "overconfidence" to the safe driving support system, resulting in an unsafe driving state. there is a possibility.

  Therefore, in view of the above circumstances, the present invention is such that even if an intersection where safe driving support is implemented and an intersection where it is not implemented are mixed, the driver does not have overconfidence or distrust in the safe driving assistance system. An object is to provide a safe driving support system capable of providing highly effective safe driving support.

(1) A safe driving support system disclosed in this specification is a safe driving support system that supports a safe driving by linking a road device and an in-vehicle device, and the road device is a predetermined target. Means for transmitting service intersection information to the in-vehicle device for identifying whether or not the intersection is a service intersection where a traffic signal capable of providing signal information is installed, and the in-vehicle device is on the road Characterized in that it comprises means for determining whether or not to perform a safe driving support operation based on the service intersection information received from a device, and safe driving support control means for performing the safe driving support operation based on the determination. you. Here, an intersection where a traffic signal capable of providing signal information (service traffic signal) is installed is defined as a service intersection.

  For example, the on-road device transmits service intersection information for identifying whether or not the intersection included in the road map data is a service intersection to the in-vehicle device. The in-vehicle device selects an intersection group consisting of one or more intersections on a route on which the vehicle is scheduled to travel, determines whether each intersection included in the intersection group is a service intersection based on the received service intersection information, If all intersections are service intersections, it is determined to perform safe driving support operations such as vehicle speed control and deceleration instructions to the driver. If any intersection that is not a service intersection is included, the safe driving support operations are performed. Decide not to do it. The method of selecting the intersection group may be a method of collecting intersections where traffic signals operating with the same cycle length are installed, continuous intersections on the same route (for example, National Route X, Prefectural Route Y, etc.) A method of collecting geographically close intersections may be used, and various methods may be mentioned. In addition, the route may be a searched route to the destination searched by the in-vehicle device or a route on which the vehicle is traveling.

  As a result, if a service intersection and a non-service intersection are mixed in the intersection group, or if the intersection group includes only one intersection that is not a service intersection, the safe driving support operation is not executed in the intersection group. It is possible to prevent the execution and non-execution of the driving support operation from switching frequently or the safe driving support operation from being executed only at one intersection. Therefore, it is possible to prevent the driver from having the above-described overconfidence and distrust in the safe driving support system, and it is possible to perform safe driving support with high effectiveness.

(2) to the service intersection information, at least one it is not preferable to contain identification information of a road that flows into the intersection and identification information of the intersection.

  For example, the service intersection information may be information in which a number for identifying an intersection is associated with a flag indicating whether the intersection is a service intersection. Alternatively, the service intersection information may be information in which a number identifying a road flowing into the intersection is associated with a flag indicating whether or not the intersection is a service intersection. The service intersection information may be information in which a number for identifying an intersection, a number for identifying a road flowing into the intersection, and a flag indicating whether the intersection is a service intersection are associated with each other.

(3) Further, wherein the service intersection information, it is not preferable to include information on the status of the offer in the service intersection.

  As already described, even at a service intersection, a traffic signal may stop providing signal information due to equipment failure or maintenance work. Then, even if all the intersections included in the intersection group are service intersections, if some of them stop providing signal information, it is decided to perform the safe driving support operation at the intersection group according to the above-mentioned criteria However, when the vehicle travels through the intersection group, execution or non-execution of the safe driving support operation may frequently be switched, or the safe driving support operation may not be executed at only one intersection. Therefore, the service intersection information includes information indicating whether or not the traffic signal is actually providing signal information at the service intersection. For example, the in-vehicle device is included in the intersection group based on the service intersection information. It is determined whether or not signal information is provided at each intersection. If signal information is provided at all intersections, it is decided to perform a safe driving support operation, and no signal information is provided. If the intersection is included, it is determined not to perform the safe driving support operation. As a result, it is possible to more reliably prevent the safe driving support operation from being frequently executed or not executed, or to prevent the safe driving support operation from being executed only at one intersection, and to provide a highly effective safe driving support. It can be performed.

(4) In addition, the service intersection information, it is not preferable that includes information indicating the confidence level of the signal information in the service intersection. Here, the reliability level refers to the high reliability of signal information.

  For example, when signal information of the light color “blue” and the duration “10 seconds” is provided to the in-vehicle device from the traffic signal via the road device, the signal information is transmitted between the traffic signal and the road device. After the communication time, the processing time of the road device, and the communication time between the road device and the vehicle-mounted device have elapsed, the vehicle device reaches the vehicle-mounted device. If the total time of the above communication time and processing time (referred to as “communication required time”) is 1 second, the in-vehicle device will display the above-mentioned light color “blue” when the blue continuous number of seconds becomes 9 seconds. ”And the signal information of the duration“ 10 seconds ”are received, and the actual blue duration and the received blue duration are shifted by one second of the required communication time. . Furthermore, the required communication time may vary depending on the communication quality of the communication path, the processing capability of various devices on the communication path, and the like. Therefore, the reliability of the signal information (particularly the number of continuous seconds) received by the in-vehicle device depends on the required communication time and its variation.

  By the way, in the safe driving support operation such as vehicle speed control and the deceleration instruction to the driver, the signal information received is much more reliable than the safe driving support operation that alerts the driver to change the light color. Required. The reason is as follows. Even if the required communication time is 1 second, a vehicle that travels at a speed of 90 km / h travels 25 m in the meantime. Then, after 9 seconds, the lamp color actually switches from blue to yellow, and since the vehicle position at that time is in front of the stop line, the in-vehicle device should be controlled to decelerate and stop. The device may erroneously recognize that it will be switched after one second, and may determine that the position of the vehicle at that time is after passing a stop line further advanced by 25 m, and control to maintain the speed. Therefore, in driving safety support operations such as speed control and deceleration instructions, signal information requires very high reliability. On the other hand, if the driver informs the driver that the lamp color will soon switch from blue to yellow 3 seconds before the lamp color changes from blue to yellow, the lamp color will not switch from blue to yellow after 3 seconds. Even if it switches after 2 seconds, it must be “soon” for the driver. Therefore, in the safe driving support operation for alerting, the signal information does not require so high reliability. Therefore, if the required communication time or its fluctuation is large, the signal information is not applicable for safe driving support operations such as speed control and deceleration instructions, even if it is sufficiently applicable for the safe driving support operation for alerting. There is a case.

  Therefore, when the in-vehicle device performs a safe driving support operation such as speed control or a deceleration instruction, the service intersection information includes information on the reliability level of the signal information at the service intersection. Based on service intersection information, it is determined whether signal information is provided at each intersection included in the intersection group, whether the reliability level of the signal information is high, signal information is provided at all intersections, And if the reliability level of the signal information is high, it is determined that the safe driving support operation is performed, and if at least one intersection that does not satisfy this is included, it is determined that the safe driving support operation is not performed. . Thereby, safe driving assistance with higher safety can be performed.

(5) In addition, the service intersection information, it is not preferable that includes information indicating the security level of the signal information in the service intersection. Here, the security level refers to a high level of signal information safety due to processing such as encryption and encoding.

  For example, if a camouflaged road device that intercepts signal information from a traffic signal to an in-vehicle device, creates false signal information, and provides the in-vehicle device is installed, the camouflaged road device is red in color. Intercepting certain signal information, creating false signal information whose light color is blue, and providing it to the in-vehicle device, the vehicle is red because the in-vehicle device trusts the false signal information and does not perform deceleration control. In some cases, you may enter an intersection and cause a traffic accident.

  Therefore, the service intersection information includes information on the security level of the signal information at the service intersection. For example, whether the in-vehicle device provides signal information at each intersection included in the intersection group based on the service intersection information. If the signal information is provided at all the intersections and the security level of the signal information is high, it is decided to perform a safe driving support operation. If at least one intersection that does not satisfy this is included, it is determined that the safe driving support operation is not performed. Thereby, safe driving assistance with higher safety can be performed.

(6) Further, to the service intersection information, it is not preferable to include information about the permission of the point-sensitive control in service intersection.

  In the point sensitive control, the display time of the lamp color displayed based on the sensing information of the vehicle detector is extended or shortened. For example, in the right turn sensitive control, which is a kind of point sensitive control, the right turn dedicated display (blue arrow) shows the right turn vehicle gap (inter-vehicle time) with a vehicle detector provided in the right turn dedicated lane in a very short cycle ( For example, the measurement time is measured every 100 msec), and the display time of the right-turn exclusive display is extended or shortened according to the presence or absence of a gap. Therefore, it is practically difficult to predict the duration of the right-turn exclusive display in advance. Therefore, even if it is a service intersection, if it is an intersection where point sensitive control is permitted, the duration of the light color may not be determined in advance, and depending on the timing to enter, safe driving support operation may not be possible is there.

  Therefore, the service intersection information includes information as to whether or not the point sensitive control is permitted at the service intersection. For example, the in-vehicle device may receive signal information at each intersection included in the intersection group based on the service intersection information. Whether or not location sensitive control is permitted, and if signal information is provided at all intersections and location sensitive control is not permitted, a safe driving support operation is performed. If at least one intersection that does not satisfy this is included, it is determined that the safe driving support operation is not performed. As a result, it is possible to more reliably prevent the safe driving support operation from being frequently executed or not executed, or to prevent the safe driving support operation from being executed only at one intersection, and to provide a highly effective safe driving support. It can be performed.

(7) Further, to the service intersection information it has preferably may include the information of traffic regulation in the service intersection.

  If the service intersection information includes traffic regulation information such as lane regulation and speed regulation at the service intersection, it is useful because a safe driving support operation can be performed according to these traffic regulations.

(8) the safety driving support operation, and the previous SL wheel both of speed control, the notification to the passenger of the vehicle, it is not preferable is at least one.

  As described above, the safe driving support operation includes controlling the speed of the vehicle, instructing the passenger including the driver to decelerate and maintain the speed, and alerting that the light color is switched. .

(9) Further, the road device disclosed herein, Ru road device der used for the safe driving support system.

(10) The road device is not particularly limited, but if it is an optical beacon, data communication with a vehicle can be performed only within a narrow area, so that necessary information can be transmitted / received only to / from a necessary vehicle. possible and that Do not.

(11) In addition, the in- vehicle device disclosed in this specification is for identifying whether or not the predetermined target intersection is a service intersection where a traffic signal capable of providing signal information is installed. Means for acquiring service intersection information; determination means for determining whether or not to perform a safe driving support operation based on the service intersection information; and safe driving support control means for performing the safe driving support operation based on the determination; that it has a.

  The in-vehicle device may receive the service intersection information from the road device as described above, or may read the service intersection information stored in the in-vehicle device in advance, and the service intersection information acquisition method is not limited. The in-vehicle device is not limited to a single device, and may be composed of a plurality of devices.

(12) The service intersection information includes information about the implementation status of provision at the service intersection, and the determination means includes one or more of the one or more on the route on which the vehicle on which the in-vehicle device is mounted is to travel. It is configured to select an intersection group composed of intersections and to determine whether or not to perform the safe driving support operation at the intersection group based on the implementation status of the provision at each intersection of the intersection group. It is not preferred.

(13) Moreover, the determination means is configured to determine to perform the safe driving support operation at the intersection group when the signal information is provided at all the intersections of the intersection group. and it is not preferable that.

(14) Further , the service intersection information includes information indicating a reliability level of the signal information at the service intersection, and the determination unit further sets the reliability level of the signal information at each intersection of the intersection group. based, it is not preferable that is configured to determine whether to perform the safety driving support operation in the intersection group.

(15) In addition, when the signal information is provided at all the intersections of the intersection group and the reliability level of the signal information is high, the determination unit determines that the safety information is not included in the intersection group. it preferred to be composed so as to decide to perform the drive assistance operation.

(16) In addition, the service intersection information includes information indicating a security level of the signal information at a service intersection, and the determination unit is further configured based on a security level of the signal information at each intersection of the intersection group, it is not preferable that is configured to determine whether to perform the safety driving support operation in the intersection group.

(17) In addition, when the signal information is provided at all the intersections of the intersection group and the security level of the signal information is high, the determination unit performs the safe driving in the intersection group. it preferred to be composed so as to decide to perform the assistance operation.

(18) Further , the service intersection information includes information on whether or not the point sensitive control is permitted at the service intersection, and the determination unit further determines whether the point sensitive control is permitted or not at each intersection of the intersection group. it is not preferable that is configured to determine whether to perform the safety driving support operation at the intersection group.

(19) In addition, the determination unit may provide the safe driving in the intersection group when the signal information is provided at all the intersections of the intersection group and the point sensitive control is permitted. it preferred to be composed so as to decide to perform the assistance operation.

(20) In addition, it is preferable that the information processing apparatus further includes means for notifying an occupant of the vehicle of information for identifying whether or not an intersection on the route is an intersection where a safe driving support operation is performed based on the determination. Yes.

  For example, if the guidance route to the destination is superimposed on the road map data, and image data in which a figure such as a circle is superimposed on the intersection on the route where the safe driving support operation is performed is displayed on the in-vehicle monitor Because the driver can recognize at a glance at which intersection the safe driving support operation is performed, the driver may be confused even if the intersection where the safe driving support operation is performed and the intersection where the driving is not performed are mixed. Disappear.

(21) In addition, further includes a search means for searching for a guide route to a destination, the route plan to the travel, it is not preferable is a guide route said search means has searched.

(22) Further , search means for searching for a guidance route to the destination, and selection means for selecting a second intersection group composed of one or a plurality of the intersections for which the signal information is provided. The route to be traveled is searched by setting the cost of the road flowing into each intersection of the second intersection group to be relatively smaller than the cost of the road flowing into the intersection other than the intersection. it is not preferable is an inductive route.

  For example, out of a group of intersections that gather together intersections where traffic signals operating with the same cycle length are installed, those that provide signal information at all the intersections included in the intersection group are selected ( There may be a plurality of intersection groups.The intersection group is defined as the second intersection group), and the cost of the road flowing into the intersection included in the second intersection group flows into the intersection not included in the second intersection group. Set relatively small compared to the cost of the road. Then, the guide route to the destination is searched so that the total cost of the road is minimized. Then, since a guidance route that passes through the intersections included in the second intersection group as much as possible is searched, the intersections on the route are collected together in the second intersection group, and a new intersection group is created. If this is selected (this is the first intersection group), signal information is provided at all intersections included in the first intersection group. Is done. Therefore, since the probability that the safe driving support operation is performed on the entire route is increased, safe driving support with higher safety can be performed.

(23) Further, to the service intersection information, at least one it is not preferable to contain identification information of a road that flows into the intersection and identification information of the intersection.

(24) In addition, it is preferable that the service intersection information includes traffic regulation information at the service intersection.

(25) Further, the safe driving support operation, the control of the speed of the vehicle-vehicle device is mounted, the notification to the passenger of the vehicle, it is not preferable is at least one.

(26) Further, the vehicle disclosed herein, Ru vehicle der equipped with the above-vehicle device.
The safe driving support system according to the first aspect of the present invention is a safe driving support system that supports safe driving by linking a road device and an in-vehicle device mounted on a vehicle, wherein the road device is predetermined. Means for transmitting to the in-vehicle device intersection information including information regarding whether or not the point sensitive control is permitted for the target intersection, and the in-vehicle device is based on the intersection information received from the on-road device. It comprises means for determining whether or not to perform a safe driving support operation, and safe driving support control means for performing the safe driving support operation based on the determination (claim 1).
The intersection information preferably includes information for distinguishing whether or not point sensitive control is permitted at the intersection (claim 2).
Moreover, it is preferable that the intersection information includes information on permission start time and permission end time of point sensitive control at the intersection (claim 3).
Moreover, it is preferable that the intersection information includes at least one of identification information of the intersection and identification information of a road flowing into the intersection.
The safe driving support system according to the second aspect of the present invention is a safe driving support system that supports safe driving by linking a road device and an in-vehicle device mounted on a vehicle, and the road device is predetermined. Means for transmitting service intersection information to the in-vehicle device for identifying whether the target intersection is a service intersection where a traffic signal capable of providing signal information is installed; Based on the service intersection information received from the road device, means for determining whether to perform a safe driving support operation for the vehicle, and safe driving support control means for performing the safe driving support operation based on the determination And the service intersection information includes information about whether or not the point sensitive control is permitted at the service intersection (claim 5).
In the safe driving support system of the first or second invention, the safe driving support operation is preferably at least one of control of the speed of the vehicle and notification to a passenger of the vehicle (claim). Item 6).
A road device according to a third aspect of the invention is a road device used in the safe driving support system according to the first or second aspect of the invention (claim 7).
Although the said road device is not specifically limited, if it is an optical beacon, since it can communicate data with a vehicle only within a narrow area | region, it will become possible to transmit / receive required information only between required vehicles. (Claim 8).
Further, an in-vehicle device according to a fourth aspect of the invention is an in-vehicle device mounted on a vehicle, the means for acquiring intersection information including information related to permission / inhibition of point sensitive control for a predetermined intersection. It has a determining means for determining whether to perform a safe driving support operation for the vehicle based on intersection information, and a safe driving support control means for performing the safe driving support operation based on the determination. Claim 9).
Further, the in-vehicle device of the fifth invention is an in-vehicle device mounted on a vehicle, wherein whether or not the predetermined target intersection is a service intersection where a traffic signal capable of providing signal information is installed. Means for acquiring service intersection information for identification; determination means for determining whether to perform a safe driving support operation for the vehicle based on the service intersection information; and the safe driving support operation based on the determination The service intersection information includes information on whether or not the point sensitive control is permitted at the service intersection (claim 10).
A vehicle according to a sixth aspect of the invention is a vehicle equipped with the on-vehicle device according to the fourth or fifth aspect of the invention (claim 11).

As described above, according to the safety driving support system of the present invention, it is possible to enhance the effectiveness of safety driving support.

Embodiment 1:
Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings. First, terms are defined.
"Service traffic signal": A traffic signal that can provide signal information such as lamp color and duration.
“Service intersection”: An intersection where service traffic signals are installed.
“Non-service intersection”: an intersection that is not a service intersection.

  FIG. 1 is a schematic diagram showing an outline of a safe driving support system including a road device, an in-vehicle device, and a vehicle according to the present invention. The safe driving support system includes a road device 1, an in-vehicle device 2, a service traffic signal 3A, a traffic signal 3B, a central device 4, a vehicle 10, and the like. The central device 4 is a device that provides traffic information and the like, and is installed in a traffic control center. The central device 4 may be installed on the road instead of being installed in the traffic control center. The central device 4 is connected to the service traffic signal 3A installed at each of the plurality of service intersections IA via a communication line such as a telephone line, and at the same time, the traffic signal installed at each of the plurality of non-service intersections IB. It is connected to 3B via a communication line such as a telephone line. The service traffic signal 3A is connected to a road device 1 installed on each of a plurality of roads flowing into the service intersection IA including the road RA via a communication line such as a telephone line. The traffic signal 3B is connected to a road device 1 installed on each of a plurality of roads flowing into the non-service intersection IB including the road RB via a communication line such as a telephone line.

  The on-road device 1 is an optical beacon, a radio beacon, a DSRC (Dedicated Short Range Communication), a WiMAX (Worldwide interoperability for microwave access), and the like. Wirelessly communicate information. The on-road device 1 includes a communication unit 1a that communicates various information with the in-vehicle device 2, and a communication control device 1b that controls the communication unit 1a. The communication control device 1b is provided with a storage unit such as a ROM, and information on the distance from the road device 1 to the intersection at the inflow destination of the road where the road device 1 is installed is stored in advance. For example, information on the distance from the road device 1 to the service intersection IA is stored in advance in the storage unit of the road device 1 installed on the road RA, and also stored in the road device 1 installed on the road RB. In the section, information on the distance from the road device 1 to the non-service intersection IB is stored in advance. In addition, the information of these distances is not limited to the structure memorize | stored previously, The structure acquired and memorize | stored from the central apparatus 4 grade | etc., May be sufficient.

  The road device 1 connected to the service traffic signal 3A has traffic information including traffic regulation information such as speed regulation and lane regulation from the service traffic signal 3A, signal information such as service intersection information, lamp color, and duration time, which will be described later. Is transmitted to the in-vehicle device 2. On the other hand, the road device 1 connected to the traffic signal 3B receives traffic information and service intersection information described later from the traffic signal 3B, and transmits these information and distance information to the in-vehicle device 2. The road device 1 may be configured to directly receive traffic information, service intersection information, and the like from the central device 4, or may be configured such that these pieces of information are stored in advance in the storage unit.

  The service traffic signal 3A includes a traffic signal controller 3aa and a plurality of signal lamps 3b. The traffic signal controller 3aa controls lighting, extinguishing and blinking of each signal lamp of the signal lamp device 3b. In addition, the traffic signal controller 3aa transmits information about the implementation status of signal information provision to the central device 4. Specifically, whether or not the signal information is provided, and if it is stopped, its cause (traffic signal maintenance, traffic signal abnormality, road equipment maintenance, road equipment abnormality, central equipment Information). In addition, the traffic signal controller 3aa receives traffic information and service intersection information described later from the central device 4, and transmits these information and signal information to the road device 1 connected to the traffic signal controller 3aa.

  The traffic signal 3B is a normal traffic signal, and includes a traffic signal controller 3ab and a plurality of signal lamps 3b. The traffic signal controller 3ab is different from the traffic signal controller 3aa in that signal information is not transmitted to the on-road device 1, and information on the implementation status of signal information provision is not transmitted to the central device 4.

  The central device 4 includes a service intersection table indicating whether or not each intersection is a service intersection, a point sensitive intersection table indicating whether or not each point sensitive control is permitted, and a type of traffic regulation for each link flowing into the intersection. Is stored in the storage unit of the apparatus. Here, the link refers to a road between intersections distinguished in the upward direction and the downward direction.

  FIG. 2 is an explanatory diagram showing an example of a service intersection table. The service intersection table includes an intersection ID for identifying an intersection, a group ID for identifying a group including the intersection, and a service / non-identification for identifying whether the intersection is a service intersection or a non-service intersection. It consists of each column of the service flag. For example, an intersection with an intersection ID of 000001 is included in a group with a group ID of 00001, indicating that it is a non-service intersection, and an intersection with an intersection ID of 000002 is a group with a group ID of 00002. It is included in and shows that it is a service intersection.

  The above group is set, for example, by grouping together service intersections IA or non-service intersections IB where service traffic signal 3A or traffic signal 3B operating with the same cycle length is installed. However, the present invention is not limited to this method, and continuous service intersections IA or non-service intersections IB on the main road may be grouped together, or simply service intersections IA or non-service intersections IB that are geographically close may be grouped together. May be grouped together. Note that the group may include only one intersection.

  FIG. 3 is an explanatory diagram showing an example of a point sensitive intersection table. The point-sensitive intersection table includes an intersection ID for identifying an intersection, a point-sensitive permission / non-permission flag for distinguishing whether or not point-sensitive control is currently permitted at the intersection, and point-sensitive control of the point-sensitive control at the intersection. It consists of each column of permission start time and permission end time. For example, at an intersection with an intersection ID of 000001, point sensitive control is not permitted at this time, the point sensitive control permission start time is 16:00, and the permission end time is 18:00. Yes. Also, for example, at an intersection with an intersection ID of 000002, the point sensitive control is currently permitted, the point sensitive control permission start time is 06:00, and the permission end time is 20:00. ing.

  FIG. 4 is an explanatory diagram showing an example of a traffic regulation type table. The traffic regulation type table includes an intersection ID for identifying an intersection, a link ID for identifying a link flowing into the intersection, and a regulation type indicating a traffic regulation type (speed regulation, lane regulation, right turn prohibition, no regulation, etc.). It consists of each column. For example, a link that flows into an intersection with an intersection ID of 000001 and that has a link ID of 0000001 indicates that speed regulation is being implemented. In addition, for example, it is indicated that traffic regulation is not implemented in the link that flows into the intersection with the intersection ID 000001 and that has the link ID 0000002. Note that the correspondence between the intersections with intersection IDs of 000001 and 000002 and the links with link IDs of 0000001 to 0000013 is as shown in FIG.

  The central device 4 acquires information on the implementation status of the provision of signal information from the plurality of service traffic signals 3A at a predetermined timing (for example, every 5 minutes), and provides the signal information for each of the plurality of service intersections IA. Determine whether it has been implemented. Next, the central device 4 creates service intersection information described below based on the determination result and the service intersection table, the point sensitive intersection table, and the traffic regulation type table stored in the storage unit.

  FIG. 6 is an explanatory diagram showing an example of service intersection information. The service intersection information includes an intersection ID for identifying an intersection, a group ID for identifying a group including the intersection, a link ID for identifying a link flowing into the intersection, and whether the intersection is a service intersection. Service / non-service flag for distinguishing whether it is a non-service intersection, point sensitive permission / non-permission flag for distinguishing whether point sensitive control is currently permitted at the intersection, point sensitive at the intersection Control permission start time and permission end time, restriction type indicating traffic restriction type, information provision execution / non-execution flag for distinguishing whether signal information is provided at the intersection, signal at the intersection Causes when information provision has been suspended (traffic signal maintenance, traffic signal abnormalities Maintenance of the road system, the abnormality of the road device, and a respective column of the stop events indicating a stop instruction, etc.) from the central unit.

  For example, for a link with a link ID of 0000001 that flows into an intersection with an intersection ID of 000001, the further intersection is included in the group with a group ID of 00001, is a non-service intersection, and is point sensitive control. Is not permitted at the present time, the permission start time of the point sensitive control is 16:00 and the permission end time is 18:00, indicating that speed regulation is being implemented.

  Also, for example, for a link that flows into an intersection with an intersection ID of 000002 and a link ID of 0000010, the further intersection is included in a group with a group ID of 00002 and is a service intersection. The control is permitted at the present time, the permission start time of the point sensitive control is 06:00, the permission end time is 20:00, traffic regulation is not implemented, and signal information is provided Is shown.

  Also, for example, for a link flowing into an intersection with an intersection ID of 000050 and having a link ID of 0000253, the further intersection is included in a group with a group ID of 00001 and is a service intersection, and is point sensitive. The control is permitted at the moment, the permission start time of the point sensitive control is 8:00, the permission end time is 18:00, the lane restriction is implemented, the signal information is not provided, It shows that the provision of information has been stopped for maintenance of the traffic signal controller.

  The central device 4 transmits the created service intersection information to a plurality of service traffic signals 3A and traffic signals 3B together with traffic information including traffic regulation information such as speed regulation and lane regulation.

  The vehicle 10 is equipped with an in-vehicle device 2, and the in-vehicle device 2 wirelessly communicates various information with the on-road device 1. When the vehicle 10 equipped with the in-vehicle device 2 passes through the communication area of the road device 1, the vehicle 10 wirelessly communicates with the road device 1, and the road device 1 connected to the service traffic signal 3 </ b> A receives traffic. Information, service intersection information, signal information, and distance information are acquired, and traffic information, service intersection information, and distance information are acquired from the road device 1 connected to the traffic signal 3B. When the in-vehicle device 2 acquires the service intersection information and the distance information, the in-vehicle device 2 executes a safe driving support control process described later.

  FIG. 7 is a block diagram showing configurations of the in-vehicle device 2 and other devices mounted on the vehicle 10. The GPS processing unit 201 receives a GPS signal from a GPS satellite, and measures the position (latitude, longitude, and altitude) of the vehicle 10 based on time information included in the GPS signal, an orbit of the GPS satellite, and positioning correction information. . The azimuth sensor 202 is composed of an optical fiber gyro and the like, and measures the azimuth and angular velocity. The vehicle speed acquisition unit 203 acquires the speed data of the vehicle 10 measured by the vehicle speed sensor 101 detecting the angular speed of the wheels. The communication unit 204 receives various information such as traffic information and service intersection information from the road device 1.

  The storage unit 205 stores road map data. The road map data includes intersection data in which intersection IDs and intersection positions are associated, link IDs, link start points / end points / interpolation points (corresponding to points where roads are bent), link costs (for example, Link that associates the link ID of the link connected to the link end point with the link ID of the link connected to the link end point. It consists of data. The storage unit 205 stores various information received by the communication unit 204 and a route intersection table described later.

  The fuel control unit 206 issues an instruction to the fuel control apparatus 102 based on the content instructed by the processing unit 210 in the safe driving support control process described later. The fuel control device 102 supplies fuel based on an instruction from the fuel control unit 206 and an accelerator pedal depression amount.

  The braking unit 207 issues an instruction to the reduction gear 103 based on the content instructed by the processing unit 210 in the safe driving support control process described later. The reduction gear 103 operates the brake based on the instruction from the braking unit 207 and the depression amount of the brake pedal.

  The display unit 208 displays on the monitor 104 image data created by the processing unit 210 in a safe driving support control process described later.

  The voice output unit 209 outputs the voice data created by the processing unit 210 in the safe driving support control process described later from the speaker 105.

  The processing unit 210 is composed of one or a plurality of microcomputers, and is based on the data measured by the GPS processing unit 201, the azimuth and angular velocity measured by the azimuth sensor 202, and the speed acquired by the vehicle speed acquisition unit 203. Map matching processing is performed, and the position of the vehicle 10 on the link of the road map data stored in the storage unit 205 is obtained.

  Moreover, the process part 210 performs the safe driving assistance control process demonstrated below. First, when the processing unit 210 acquires service intersection information from the road device 1, the processing unit 210 searches for a guidance route to the destination and notifies the driver of the guidance route. The destination is preset by a driver or the like. Specifically, the processing unit 210 searches for a guidance route to the destination so that the total value of the link costs is minimized. As a search method, a Dijkstra method or the like may be used. Furthermore, image data in which the searched guidance route is superimposed on the road map is created and displayed on the monitor 104.

  Next, the processing unit 210 groups intersections that exist on the searched guidance route, and creates a route intersection table to be described later. Specifically, the intersection ID of each intersection existing on the guidance route is extracted with reference to the road map data, and the group ID of each corresponding intersection is extracted with reference to the service intersection information. Then, intersections having the same group ID are grouped into one group (hereinafter referred to as a correction group), and a correction group ID is given, and information on the intersection ID, group ID, correction group ID, and service intersection information of these intersections is provided. A route intersection table to be described later is created based on the provided execution / non-execution flag. When there is no intersection on the guidance route in the service intersection information, the correction group ID is assigned to the intersection as one independent group.

  FIG. 8 is a diagram for explaining grouping of intersections. In the figure, the triangle mark indicates the vehicle 10, the star mark indicates the destination, the circle mark indicates the intersection, the broken line indicates the group, the thick solid line indicates the link on the guidance route, and the thin solid line indicates the link not on the guidance route. Yes. The numbers in parentheses indicate intersection IDs, and the numbers surrounded by squares indicate group IDs. Since the intersection IDs of the intersections existing on the guidance route are 00101, 000102, 000103, 000104, 000105, 000106, 000107, 000123, and 000124 in the order from the vehicle 10 to the destination, the processing unit 210 is assigned to the group of the group ID00051. The intersections of the included intersection ID000101 are grouped to give a correction group ID001, the intersections of the intersection ID000102, 000103, 000104 included in the group of the group ID00052 are grouped to give the correction group ID002, and are included in the group of the group ID00053. Intersection IDs 000105, 000106, 000107, and 000123 are grouped to give a correction group ID 003, and group ID 0 Grouping intersection intersection ID000124 included in the group of 060 imparts correction group ID004 with.

  In this case, since there is only one intersection belonging to the correction group ID001 or ID004, the intersection belonging to the correction group (intersection ID000101 or ID000124) belongs to a correction group (correction group ID002 or ID003) adjacent to the intersection. You may do it. In this manner, by integrating correction groups that belong to only a few intersections with other correction groups, it is possible to perform control so that the safe driving support operation is not frequently switched. Conversely, a correction group to which a large number of intersections belong may be divided into a plurality of correction groups according to the estimated arrival time and geographical distance.

  FIG. 9 is an explanatory diagram showing an example of a route intersection table. The route intersection table includes an intersection ID, a group ID, a correction group ID of an intersection existing on the guidance route, an information provision execution / non-execution flag for distinguishing whether or not signal information is provided at the intersection, The intersection is composed of control permission / non-permission flag columns for distinguishing whether or not to permit execution of a speed control process described later at the intersection. In the route intersection table, intersections existing on the guidance route are stored from top to bottom in order from the vehicle 10 toward the destination, and nothing is stored in the control permission / denial flag in the initial state.

  For example, the intersection on the guidance route through which the vehicle 10 first passes has an intersection ID of 00101, a group ID of 00051, and a correction group ID of 001, indicating that signal information is being provided. Also, for example, the intersection on the guidance route through which the vehicle 10 passes fifth is the intersection ID 000105, the group ID 00005, and the correction group ID 003, indicating that signal information is not provided. Yes. Further, for example, an intersection on the guidance route through which the vehicle 10 passes lastly indicates that the intersection ID is 00124, the group ID is 0060, and the correction group ID is 004.

  When the grouping and creation of the route intersection table are completed, the processing unit 210 determines, for each correction group, whether signal information is provided at all intersections included in the correction group. As a result of the determination, if signal information is provided at all intersections included in the correction group, it is decided to perform speed control processing at these intersections, and the route intersection table is updated. On the other hand, if signal information is not provided at at least one of the intersections included in the correction group, it is determined that the speed control process is not performed at the intersection included in the correction group, and the route intersection table is updated.

  Specifically, the processing unit 210 refers to the route intersection table, extracts information provision execution / non-execution flags of all intersections corresponding to the correction group ID for each correction group ID, and the signal information is Determine if it is provided. If the signal information is provided at all intersections as a result of the determination, “permitted” is set to the control permission / non-permission flag of these intersections. On the other hand, if signal information is not provided at at least one intersection, “not permitted” is set to the control permission / denial flag of these intersections.

  This will be described using the example of the route intersection table in FIG. The processing unit 210 first extracts the correction group ID 001 of the uppermost intersection in the route intersection table of FIG. Since the intersection corresponding to the correction group ID001 is only the intersection of the intersection ID000101, the information provision execution / non-execution flag of the intersection is extracted. Since it is “implemented”, it is determined that signal information is provided at all intersections corresponding to the correction group ID 001, and “permitted” is set to the control permission / non-permission flag of the intersection with the intersection ID 00101. .

  Next, the processing unit 210 extracts the correction group ID 002 of the second intersection from the top. Since the intersection corresponding to the correction group ID 002 is an intersection having an intersection ID of 000102, 000103, 000104, information provision execution / non-execution flags of these intersections are extracted. Since all are “execution”, it is determined that signal information is provided at all intersections corresponding to the correction group ID 002, and “permitted” is set to the control permission / non-permission flag of these intersections.

  The processing unit 210 further extracts the correction group ID 003 at the fifth intersection from the top. Since the intersection corresponding to the correction group ID 003 is an intersection having intersection IDs of 00010, 000106, 000107, and 000123, information provision execution / non-execution flags of these intersections are extracted. Since it is “non-execution”, “execution”, “non-execution”, and “execution” respectively, it is determined that signal information is not provided at all intersections corresponding to the correction group ID 003, and these Set “not permitted” to the control permission / denial flag at the intersection.

  The processing unit 210 finally extracts the correction group ID 004 at the lowest intersection. Since the intersection corresponding to the correction group 004 is only the intersection of the intersection ID000124, the information provision execution / non-execution flag of the intersection is extracted. Since nothing is set, it is determined that the signal information is not provided at all the intersections corresponding to the correction group ID 004, and the control permission / non-permission flag of the intersection whose intersection ID is 001024 is “not permitted”. Set. FIG. 10 is an explanatory diagram illustrating an example of the route intersection table after the control permission / denial flag is set as described above.

  When the control unit 210 sets a control permission / non-permission flag, the processing unit 210 can distinguish the intersection on the guidance route for which the flag is “permitted” and the intersection on the guidance route for which the flag is “not permitted”. The image data is corrected and displayed on the monitor 104.

  FIG. 11 is an explanatory diagram illustrating an example of image data. In the figure, the triangle mark indicates the position of the vehicle 10, the star mark indicates the destination position, the thin solid line indicates the link, the thick solid line indicates the guidance route, and the circle indicates the control permission / non-permission flag is “permitted”. Represents an intersection on the guidance route.

  FIG. 12 is an explanatory diagram showing an example of image data in another mode. In FIG. 12, the triangle mark, the star mark, and the thin solid line are the same as in FIG. 11, but the thick solid line represents the section where the speed control process is performed, and the thick dotted line represents the section where the process is not performed. Note that the section in which the speed control process is performed includes links that flow into intersections on the guidance route whose control permission / non-permission flag is “permitted”.

  The rider of the vehicle 10 including the driver can recognize at a glance at which intersection or in which section the speed control process is executed by looking at the image displayed on the monitor 104. Even if there is an intersection where the above process is performed and an intersection where the process is not performed, there will be no confusion.

  Further, the processing unit 210 creates voice data about whether or not the speed control process is executed at the intersection on the guidance route, and outputs it from the speaker 105. For example, if the names of the intersections with intersection IDs 000104 and 000105 are “XX intersection” and “△△△ intersection”, respectively, the voice data is “Speed control will be performed up to XX intersection. However, please note that speed control will not be performed from the △△△ intersection. " Note that the voice is not only provided first, but also when the speed control process is switched between execution and non-execution, that is, in the example of FIG. It is desirable to do it at the time.

  The driver may feel annoyed if he / she provides the voice whether or not the speed control process is executed at each intersection on the guide route, but in this way the first time point and the execution of the speed control process If it is provided by voice at the time when non-execution switches, intersections where speed control processing is executed or intersections where speed control processing is not executed will continue to some extent, so the number of times notified by voice is very small compared to the number of intersections on the guidance route. Thus, the driver is useful without being bothered.

  After displaying the image data and providing the audio data, the processing unit 210 executes speed control processing at each intersection according to the control permission / non-permission flag at each intersection in the route intersection table. Specifically, when the processing unit 210 enters an inflow link of an intersection where the flag is “permitted”, the traffic information, signal information and distance information stored in the storage unit 205, a vehicle speed acquisition unit Based on the speed data of the vehicle 10 acquired in 203, speed control processing is performed until the vehicle passes the intersection. That is, it is determined whether or not the intersection (service intersection IA that provides signal information) can be safely passed in blue. If it is determined that the intersection can be passed, the fuel is maintained so that the current speed is maintained. The controller 206 is instructed. If it is determined that the vehicle cannot pass, the brake unit 207 is instructed to stop safely on the stop line PA before the service intersection IA. On the other hand, if “not permitted” is set, the speed control process is not performed until the vehicle passes through the intersection.

  If signal information is provided at the intersection and the in-vehicle device 2 executes the speed control process, the intersection of the intersection IDs 000010, 000105, 000106, 000107, 000123, and 000124 as shown in FIG. When passing the vehicle, the execution and non-execution of the speed control process are frequently switched (in the example of FIG. 10, it is switched five times), so the driver feels confused and annoyed, and for the safe driving support system There is a possibility of distrust as described above. However, according to the present invention, the vehicle-mounted device 2 executes speed control processing at these intersections only when signal information is provided at all of the plurality of intersections grouped. Non-execution can be prevented from frequently switching (in the example of FIG. 10, only switching between intersection ID000104 and ID000105 is performed once). Therefore, it is possible to prevent the driver from having distrust in the safe driving support system and to increase the effectiveness of the safe driving support system.

  Further, for example, it is assumed that the route intersection table after the setting of the control permission / denial flag is as shown in FIG. Also in this case, when signal information is provided at the intersection, if the in-vehicle device 2 executes the speed control process, the speed control process is executed at any intersection other than the intersection ID000107, so the driver While traveling at the intersection of ID000101 to 000106, it is overconfident that the speed control process is always executed at the intersection, and there is a possibility of driving without sufficient safety confirmation at the intersection of intersection ID000107. . However, according to the present invention, since the speed control process is not executed at all the intersections included in the correction group ID 003 including the intersection of the intersection ID000107, there is only one intersection where the speed control process is not performed. Things disappear. Therefore, it is possible to prevent the driver from being overconfident in the safe driving support system.

  Even if the service intersection IA is providing signal information, if point sensitive control is being performed, the speed control process is not performed depending on the timing of entering the intersection as described above. If there is a service intersection IA for which point sensitive control is permitted in the correction group, there is a possibility that the speed control process is not performed at the intersection included in the correction group. Also good. As a result, the execution and non-execution of the speed control process can be further prevented from being frequently switched.

  Moreover, the vehicle-mounted apparatus 2 is not limited to the structure which performs a speed control process as a safe driving assistance control process, The structure which alert | reports to a driver may be sufficient. For example, when the in-vehicle device 2 determines whether or not it can safely pass the service intersection IA in blue based on traffic information, signal information, distance information, and speed data of the vehicle 10, The driver may be informed to keep the current speed by voice, and if it is determined that the vehicle cannot pass, the driver may be informed that the vehicle should be decelerated so that it can be safely stopped at the stop line PA before the service intersection IA. . Alternatively, the in-vehicle device 2 will promptly light the driver if the light color of the service intersection IA is blue and the duration time is less than a predetermined number of seconds (for example, 3 seconds). You may alert | report that a color switches from blue to yellow.

  Further, the road device 1 is not limited to a configuration that transmits service intersection information to all the in-vehicle devices 2, and only when the information indicating that the safe driving support control process can be executed is received from the in-vehicle devices 2. The structure which transmits service intersection information to the apparatus 2 may be sufficient.

  Further, the in-vehicle device 2 is not limited to the configuration for acquiring service intersection information from the road device 1, but may be configured to acquire through a mobile phone connected to the in-vehicle device 2 or through media such as radio broadcasting. . Alternatively, the service intersection information may be stored in the storage unit 205 in advance and acquired from the storage unit 205, or may be acquired from a storage medium such as a CD-ROM in which the service intersection information is recorded. May be.

  Further, the in-vehicle device 2 is not limited to the configuration in which the intersections existing on the guidance route are grouped, but the intersections existing on the route (for example, the national highway X line, the prefectural road Y line, etc.) on which the vehicle 10 is traveling. A configuration for grouping may be used. Thus, even if the driver does not set a destination, the route on which the vehicle 10 is traveling is regarded as a guide route and grouping is performed. Therefore, as long as the driver is traveling, the speed control process is executed. It is possible to prevent non-execution from being frequently switched. If the route on which the vehicle 10 is traveling changes, grouping may be performed each time.

  Further, the in-vehicle device 2 is not limited to the configuration in which the intersections are grouped based on the group ID included in the service intersection information, but based on the group ID of each intersection stored in the storage unit 205 by the in-vehicle device 2. The structure which groups an intersection may be sufficient.

  Further, the in-vehicle device 2 is not limited to the configuration in which intersections are grouped based on the group ID included in the service intersection information, and the in-vehicle device 2 provides information on the cycle length of the service traffic signal 3A or traffic signal 3B at each intersection. A configuration may be used in which intersections having the same cycle length are acquired and grouped together. Moreover, the structure by which the vehicle-mounted apparatus 2 groups the geographically close intersection, and the structure which groups the intersection which exists on the fixed area of a main road may be sufficient.

  Further, in the above-described embodiment, if the vehicle-mounted device 2 includes at least one intersection that is not provided with signal information in the grouped intersections, the vehicle-mounted device 2 is determined not to perform the speed control process at these intersections. However, the present invention is not limited to this, and if the grouped intersection includes two or more intersections for which signal information is not provided, the configuration is determined not to perform the speed control process. It may be. Further, among the grouped intersections, when only the last passing intersection does not provide the signal information, it may be determined that the speed control process is performed only until the intersection is reached. good. Similarly, when only the first intersection that passes through among the grouped intersections does not provide the signal information, the speed control processing may be determined after passing through the intersection. Further, as long as at least one non-service intersection is included in the grouped intersections, it may be determined that the speed control process is not performed at these intersections.

  Moreover, in the above-mentioned embodiment, although the vehicle-mounted apparatus 2 was the structure which searches for the guidance route to the destination, it is not limited to this. If all service intersections IA included in the same group ID provide signal information, the link cost of the link flowing into these service intersections IA is set to be small, and the guidance route to the destination is set. The structure to search may be sufficient. With this configuration, a guidance route that passes through these service intersections IA is searched. Therefore, if the driver drives along this guidance route, the probability that the speed control process is executed is increased, and the safety of traveling is increased. Rise.

Embodiment 2:
The difference between the present embodiment and the first embodiment is that the service intersection information includes information indicating the reliability level of the signal information, and the in-vehicle device 2 responds to the information indicating the reliability level. The safe driving support control process is performed. Here, the reliability level refers to the high reliability of signal information.

  When the signal information is transmitted from the service traffic signal 3A to the in-vehicle device 2 mounted on the vehicle 10 via the road device 1, the signal information includes the communication time between the service traffic signal 3A and the road device 1, After the processing time of the road device 1 and the communication time between the road device 1 and the in-vehicle device 2 have elapsed, the vehicle device 2 is reached. For example, when the signal information is the light color “blue” and the duration time is “10 seconds”, if the total time (communication time) of the communication time and processing time is 1 second, the blue color Since the in-vehicle device 2 receives the above signal information when the continuous time of 9 seconds becomes 9 seconds, the actual blue continuous time and the received blue continuous time are 1 second of the required communication time. It will be misaligned. Further, the required communication time may vary depending on the communication quality of the communication path and the processing capability of a router device (not shown) on the communication path.

  Therefore, when the required communication time and its fluctuation are small, the difference between the actual lamp color duration and the received lamp color duration is small, so it can be said that the signal information is highly reliable. When the time and its variation are large, it can be said that the signal information has low reliability.

  For each link that flows into each service intersection IA, the central device 4 stores information on the reliability level indicating the high reliability of the signal information provided on the link in the storage unit. The reliability level is expressed in three levels, “high”, “standard”, and “low”. Note that the reliability level is not limited to this expression. For example, the reliability level may be expressed as “communication required time“ small ”, fluctuation“ large ”, or the like depending on the communication required time and the magnitude of the fluctuation.

  The central device 4 further adds the reliability level information to the service intersection information described in the first embodiment, and transmits it to the service traffic signal 3A and the traffic signal 3B. FIG. 14 is an explanatory diagram illustrating an example of service intersection information. For example, in a link that flows into an intersection with an intersection ID of 000002 and a link ID of 0000007, the reliability level of signal information provided in the link is “high”, and an intersection with an intersection ID of 000002 In the link having the link ID of 0000009, the reliability level of the signal information provided in the link is “standard”, and the link ID flowing into the intersection having the intersection ID of 000050 is the link ID of 0000253. In a certain link, the reliability level of signal information provided in the link is “low”.

  When the vehicle-mounted device 2 receives the service intersection information from the road device 1, the vehicle-mounted device 2 performs the safe driving support control process with reference to the reliability level information included in the service intersection information. That is, the processing unit 210 performs intersection grouping in the same manner as in the first embodiment, and then, for each correction group, signal information is provided at all intersections included in the correction group, and the reliability is reliable. It is determined whether the sex level is “high”. As a result of the determination, if the condition is satisfied at all the intersections included in the correction group, it is determined to perform the speed control process at these intersections, and the condition is determined at at least one of the intersections included in the correction group. If not, it is determined that the speed control process is not performed at the intersection included in the correction group.

  As described above, the speed control process is performed not only when the signal information is provided at all the intersections included in the correction group, but also when the reliability level is “high”. This is because very high reliability is required for signal information. For example, when the signal information is the light color “blue” and the duration time “10 seconds”, if the required communication time is 1 second, the in-vehicle device 2 becomes the time when the blue duration time becomes 9 seconds. Receives the signal information. If the vehicle 10 is traveling at a speed of 90 km / h, the vehicle 10 travels as much as 25 meters during that one second. Then, after 9 seconds, the lamp color actually switches from blue to yellow, and since the position of the vehicle 10 is in front of the stop line, the in-vehicle device 2 should be controlled to decelerate and stop. The in-vehicle device 2 mistakenly recognizes that it will switch after one second, and has determined that the position of the vehicle 10 is after passing the stop line further advanced by 25 m, so that the in-vehicle device 2 erroneously maintains the speed. Control. As described above, the time required for communication and its variation greatly affect the speed control process. Therefore, it is desirable to execute the speed control process only when the reliability of the signal information is very high. Therefore, according to the present invention, the driver can travel with higher safety.

Embodiment 3:
The present embodiment is different from the above-described first embodiment in that the service intersection information includes information indicating the security level of the signal information, and the in-vehicle device 2 performs safe driving according to the information indicating the security level. It is a point which performs support control processing. Here, the security level refers to a high level of signal information safety due to processing such as encryption and encoding.

  For each link that flows into each service intersection IA, the central device 4 stores information on the security level of the signal information provided on the link in the storage unit. The security level is expressed in three levels: “high”, “standard”, and “low”. The security level is not limited to this expression. When signal information is encrypted using a public key method or a secret key method, the longer the length of these keys, the more Because it becomes difficult to decrypt and increases security, the length of the key may be expressed as “Large”, “Standard”, “Small”, or “100 bytes”. It may be expressed by the key length itself.

  The central device 4 further adds the security level information to the service intersection information described in the first embodiment, and transmits it to the service traffic signal 3A and the traffic signal 3B. FIG. 15 is an explanatory diagram illustrating an example of service intersection information. For example, for a link that flows into an intersection with an intersection ID of 000002 and a link ID of 000007, the security level of the signal information provided in the link is “high”, and the intersection with the intersection ID of 000002 In the link with the link ID of 0000009, the security level of the signal information provided in the link is “standard”, and the link with the link ID of 0000253 flows into the intersection with the intersection ID of 000050. Then, the security level of the signal information provided in the link is “low”.

  When the in-vehicle device 2 receives the service intersection information from the road device 1, the in-vehicle device 2 performs the safe driving support control process with reference to the security level information included in the service intersection information. That is, the processing unit 210 performs intersection grouping in the same manner as in the first embodiment, and then, for each correction group, signal information is provided at all intersections included in the correction group, and security is performed. Determine whether the level is "high". As a result of the determination, if the condition is satisfied at all the intersections included in the correction group, it is determined to perform the speed control process at these intersections, and the condition is determined at at least one of the intersections included in the correction group. If not, it is determined that the speed control process is not performed at the intersection included in the correction group.

  In this way, not only the signal information is provided at all intersections included in the correction group, but also the speed control process is performed only when the security level is “high”. This is because very high security is required for the signal information. For example, if a camouflaged road device (not shown) that intercepts signal information from the service traffic signal 3A to the in-vehicle device 2 and creates false signal information and provides it to the in-vehicle device 2 is installed, When the device intercepts the signal information whose lamp color is red, creates false signal information whose lamp color is blue, and provides it to the in-vehicle device 2, the in-vehicle device 2 decelerates the false signal information by trusting it. This is because there is a risk of entering a crossing in red without control and causing a traffic accident. Therefore, it is desirable to execute the speed control process only when the safety of the signal information is very high. Therefore, according to the present invention, the driver can travel with higher safety.

  The embodiment disclosed this time should be considered as illustrative in all points and not restrictive. The scope of the present invention is defined by the terms of the claims, rather than the description above, and is intended to include any modifications within the scope and meaning equivalent to the terms of the claims.

1 is a schematic diagram illustrating an outline of a safe driving support system including a road device, an in-vehicle device, and a vehicle according to the present invention. It is explanatory drawing which shows the example of a service intersection table. It is explanatory drawing which shows the example of a point sensitive intersection table. It is explanatory drawing which shows the example of a traffic regulation classification table. It is explanatory drawing which shows the correspondence of an intersection and a link. It is explanatory drawing which shows the example of service intersection information. It is a block diagram which shows the structure of the vehicle-mounted apparatus and other apparatus which are mounted in the vehicle. It is a figure for demonstrating grouping of an intersection. It is explanatory drawing which shows the example of a route intersection table. It is explanatory drawing which shows the example of a route intersection table. It is explanatory drawing which shows the example of image data. It is explanatory drawing which shows the example of image data. It is explanatory drawing which shows the example of a route intersection table. It is explanatory drawing which shows the example of service intersection information. It is explanatory drawing which shows the example of service intersection information.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Road apparatus 1a Communication part 1b Communication control apparatus 2 Car-mounted apparatus 201 GPS processing part 202 Direction sensor 203 Vehicle speed acquisition part 204 Communication part 205 Storage part 206 Fuel control part 207 Braking part 208 Display part 209 Audio | voice output part 210 Processing part 3A Service traffic Traffic light 3aa, 3ab Traffic light controller 3b Traffic light 3B Traffic light 4 Central device 10 Vehicle 101 Vehicle speed sensor 102 Fuel control device 103 Deceleration device 104 Monitor 105 Speaker IA Service intersection IB Non-service intersection PA Stop line RA, RB Road

Claims (11)

A safe driving support system that supports safe driving by linking a road device and an in- vehicle device mounted on a vehicle,
The road device comprises means for transmitting the intersection information including the information about the permission of the point-sensitive control for an intersection to be predetermined for the vehicle unit,
The in-vehicle device is
Based on prior Ki交 satin information received from the road device, means for determining whether to perform the safety driving support operation for the vehicle,
And a safe driving support control means for performing the safe driving support operation based on the determination. The intersection information includes information for distinguishing whether or not point sensitive control is permitted at the intersection.
The safe driving support system according to claim 1. The intersection information includes permission start time and permission end time of point sensitive control at the intersection,
The safe driving support system according to claim 1 or 2. The front Ki交 satin information, at least one contains the identification information of the road flowing into the intersection and identification information of the intersection,
The safe driving support system according to any one of claims 1 to 3 . A safe driving support system that supports safe driving by linking a road device and an in-vehicle device mounted on a vehicle,
The road device transmits a service intersection information to the in-vehicle device for identifying whether a predetermined target intersection is a service intersection where a traffic signal capable of providing signal information is installed. Have
The in-vehicle device is
Means for determining whether to perform a safe driving support operation for the vehicle based on the service intersection information received from the road device;
Safe driving support control means for performing the safe driving support operation based on the determination,
The service in the intersection information, safe driving support system that is characterized to include information about the permission of the point-sensitive control in service intersection. The safe driving support operation, and the previous SL wheel both of speed control, the notification to the passenger of the vehicle, according to any one of claims 1 to 5, characterized in that at least one Safe driving support system. Road device used in the safety driving support system according to any one of claims 1 to 6. The road device according to claim 7 , wherein the road device is an optical beacon. An in-vehicle device mounted on a vehicle,
Means for acquiring intersection information including information on permission / inhibition of point sensitive control for a predetermined target intersection;
Based on prior Ki交 satin information, determining means for determining whether to perform the safety driving support operation for the vehicle,
An in-vehicle device comprising: safe driving support control means for performing the safe driving support operation based on the determination. An in-vehicle device mounted on a vehicle,
Means for acquiring service intersection information for identifying whether or not a predetermined target intersection is a service intersection where a traffic signal capable of providing signal information is installed;
Determining means for determining whether to perform a safe driving support operation for the vehicle based on the service intersection information;
Safe driving support control means for performing the safe driving support operation based on the determination,
The service in the intersection information, car mounting device you characterized in that includes information about the permission of the point-sensitive control in service intersection. A vehicle equipped with the vehicle-mounted device according to claim 9 or 10 .

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