JP4930441B2 - Driving assistance device - Google Patents

Description

  The present invention relates to a driving support device.

  In recent years, in order to reduce the burden on the driver, devices for providing various types of support to the driver have been developed. As a driving support device, for example, when the host vehicle is about to enter an intersection, it predicts the possibility of a collision with a road crossing the intersection or another vehicle traveling on the opposite lane, and the predicted collision Depending on the possibility, the driver is notified by display and voice, the vehicle side is controlled by automatic braking, or the position of another vehicle is displayed on the display. When such driving assistance is performed, information such as the position, speed, and traveling direction of other vehicles is required. Thus, it has been studied to use road-to-vehicle communication or vehicle-to-vehicle communication as means for acquiring information on other vehicles. In the case of road-to-vehicle communication, detection means (camera and image processing device, millimeter wave radar, etc.) capable of detecting the inside of a predetermined area is provided on the infrastructure side, and the vehicle position information detected by the detection means is a beacon. Send. In the case of inter-vehicle communication, a GPS [Global Positioning System] receiver or the like is mounted on a vehicle, and vehicle position information detected using the GPS or the like is transmitted by an in-vehicle communication device.

In Patent Document 1, the position of the host vehicle is detected using an autonomous sensor (GPS receiver), a navigation system, and the like, the position of the front vehicle is acquired from the preceding vehicle by inter-vehicle communication, and the position of the host vehicle and the front of the host vehicle are detected. An apparatus is disclosed that determines an inter-vehicle distance from the position of a vehicle and controls the speed of the host vehicle so that the calculated inter-vehicle distance becomes a preset inter-vehicle distance. Furthermore, in this apparatus, when the host vehicle passes through position information providing means (for example, a roadside communication device) locally provided on the road, position information on the road is acquired from the position information providing means, The position of the host vehicle is gradually corrected using the position acquired from the position information providing means to prevent temporary sudden acceleration or deceleration.
Japanese Patent Laid-Open No. 10-21500 JP 2004-185429 A

  When the vehicle enters the road-to-vehicle communication area or exits from the road-to-vehicle communication area, the position information acquired by the road-to-vehicle communication and the position information acquired by the vehicle-to-vehicle communication are switched and used. In general, the location information by the infrastructure detection means is accurate, and the location information by the autonomous sensor using GPS on the vehicle side is not accurate, so the location information by road-to-vehicle communication is higher than the location information by vehicle-to-vehicle communication. It is accuracy. Therefore, if the position information acquired by road-to-vehicle communication is simply switched between the position information acquired by road-to-vehicle communication and the position information acquired by vehicle-to-vehicle communication at the entry and exit points of the road-to-vehicle communication area, a large difference in vehicle position occurs due to the difference in position accuracy. The vehicle position may change greatly. As a result, for example, the accuracy of collision prediction decreases, or the position of the vehicle displayed on the display jumps at once.

  In the apparatus described in Patent Document 1, in consideration of the difference in accuracy, when highly accurate vehicle position information is acquired by road-to-vehicle communication or the like, the position of the host vehicle is gradually corrected. However, consideration is given to cases in which high-accuracy vehicle position information from road-to-vehicle communication switches to low-accuracy vehicle position information (for example, position information from vehicle-to-vehicle communication) or vehicle position information having different accuracy for other vehicles. Absent.

  Then, this invention makes it a subject to provide the driving assistance device which suppresses the change of a vehicle position, when switching the vehicle position from which precision differs.

  The driving assistance device according to the present invention provides driving assistance using the vehicle position acquired by road-to-vehicle communication in the road-to-vehicle communication area in which the vehicle position detected by the road-side vehicle position detection means can be transmitted. Outside the communication area, a driving support device that performs driving support using the vehicle position detected by the vehicle position detection means mounted on the vehicle, and the vehicle is located within an area where the vehicle position can be detected by the vehicle position detection means on the road side. When going out of the area, the timing of switching from the vehicle position acquired by road-to-vehicle communication to the vehicle position detected by the vehicle-mounted vehicle position detecting means is delayed with respect to the timing of going out of the area from within the area. And

  In this driving support device, the vehicle position detected by the on-vehicle vehicle position detecting means can be acquired, and when the vehicle is traveling in the road-to-vehicle communication area, the road position detected by the road-side vehicle position detecting means by the road-to-vehicle communication is detected. The vehicle position can also be acquired, and various driving assistances are performed using these vehicle positions. In particular, in the driving support device, when the vehicle goes out of the area where the vehicle position can be detected by the road side vehicle position detection means (that is, when the vehicle position is an area where only the vehicle position can be acquired by the vehicle position detection means mounted on the vehicle). ) The vehicle position detected by the on-vehicle vehicle position detection means from the vehicle position acquired by road-to-vehicle communication (ie, the vehicle position detected by the road-side vehicle position detection means) with respect to the timing of going out of the area from within the area The timing of switching from the vehicle position acquired by road-to-vehicle communication to the vehicle position detected by the vehicle-mounted vehicle position detecting means is delayed. In general, when comparing the position detection accuracy of the road-side vehicle position detection means with the position detection accuracy of the vehicle-mounted vehicle position detection means, the road-side vehicle position detection means has higher position detection accuracy. Therefore, even after entering an area where only the vehicle position can be acquired by the on-vehicle vehicle position detecting means, based on the vehicle position acquired by road-to-vehicle communication (that is, the vehicle position detected by the road-side vehicle position detecting means) for a while. The vehicle position. As a result, it is possible to prevent a sudden change in the vehicle position due to the difference in the position detection accuracy of the vehicle position detection means on the road side and the position detection accuracy of the vehicle position detection means mounted on the vehicle, and a high position accuracy is ensured by the vehicle position by the road position vehicle position detection means. it can. In this way, the driving support device can suppress a change in the vehicle position when switching from the vehicle position acquired by road-to-vehicle communication with different vehicle position accuracy to the vehicle position detected by the vehicle-mounted vehicle position detection means, and with high accuracy. Driving assistance. In particular, in the case of driving assistance in which the vehicle position is displayed on the map on the display, the vehicle position does not move abruptly, so the driver does not feel uncomfortable or distrustful with the system.

  In addition, as a vehicle position, there exists the vehicle position of the own vehicle in which a driving assistance device is mounted, or the vehicle position of another vehicle. As the vehicle position by the on-vehicle vehicle position detecting means, the vehicle position of the own vehicle detected by the vehicle position detecting means mounted on the own vehicle or the vehicle of the other vehicle detected by the vehicle position detecting means mounted on the other vehicle. There is a position. In the case of the vehicle position of another vehicle, it can be acquired by the driving support device of the host vehicle by using inter-vehicle communication or the like. Examples of the vehicle position detection means mounted on the vehicle include autonomous sensors such as a GPS receiver, and position detection of the host vehicle in a navigation system. The roadside vehicle position detection means includes, for example, a camera, an image processing device, a radar such as a millimeter wave radar, and a lane marker.

  In the driving support apparatus of the present invention, the delay of the switching timing is caused by traveling a predetermined distance or a predetermined time after the vehicle goes out of the area from the area in which the vehicle position can be detected by the vehicle position detection means on the road side. It is good also as a structure which continues utilization of the vehicle position acquired by road-to-vehicle communication.

  In this driving support device, when the vehicle goes out of the area where the vehicle position can be detected by the road side vehicle position detection means, the vehicle travels from the area outside the area for a predetermined distance or for a predetermined time. The vehicle position acquired by road-to-vehicle communication (that is, the vehicle position detected by the road-side vehicle position detection means) is continuously used. In this way, the driving assistance device uses the vehicle position detected by the road-side vehicle position detection means with high position detection accuracy for a while after going out of the area, so that high position accuracy can be maintained and high accuracy can be maintained. Driving assistance.

  In the driving support device of the present invention, when the vehicle enters the area from outside the area where the vehicle position can be detected by the road side vehicle position detection means, the vehicle position detected by the vehicle-mounted vehicle position detection means is used for road-to-vehicle communication. It is good also as a structure which switches to the acquired vehicle position gradually.

  In this driving support device, when the vehicle enters the area from outside the area where the vehicle position can be detected by the road-side vehicle position detection means (that is, the area where the vehicle position by the road-side vehicle position detection means can also be acquired by road-to-vehicle communication) The vehicle position detected by the on-vehicle vehicle position detection means is not immediately switched to the vehicle position acquired by road-to-vehicle communication (that is, the vehicle position detected by the road-side vehicle position detection means). The vehicle position detected by the position detection means is gradually switched to the vehicle position acquired by road-to-vehicle communication. As a result, it is possible to prevent a sudden change in the vehicle position due to the difference in the position detection accuracy of the road-side vehicle position detection means and the position detection accuracy of the vehicle-mounted vehicle position detection means. It gradually converges to the vehicle position by means. Thus, in the driving assistance device, it is possible to suppress a change in the vehicle position when switching from the vehicle position detected by the on-vehicle vehicle position detection means having different vehicle position accuracy to the vehicle position acquired by road-to-vehicle communication.

  In the driving support apparatus of the present invention, the vehicle position is the vehicle position of the other vehicle, and gradually from the vehicle position of the other vehicle detected by the vehicle-mounted vehicle position detection means to the vehicle position of the other vehicle acquired by road-to-vehicle communication. It is preferable to end the switching before the other vehicle enters the visual recognition area of the driver of the own vehicle.

  In this driving support device, when another vehicle enters the area from outside the area where the vehicle position can be detected by the road-side vehicle position detecting means, the vehicle-to-road communication is performed from the vehicle position of the other vehicle detected by the on-vehicle position detecting means. The vehicle position is gradually switched to the vehicle position of the other vehicle acquired by the above, but this switching is terminated before the other vehicle enters the visual recognition area of the driver of the own vehicle. Therefore, when the other vehicle arrives at a position that can be visually confirmed by the driver, the vehicle position of the other vehicle used for driving assistance (for example, the vehicle position displayed on the display) has high position detection accuracy. Therefore, the driver does not feel uncomfortable with the driving assistance in comparison with visual observation. Further, when the other vehicle has not reached a position that can be visually confirmed by the driver, the vehicle position of the other vehicle used for driving assistance is gradually corrected to the vehicle position detected by the road-side vehicle position detecting means. Can be prevented, and the driver does not feel uncomfortable with the driving assistance.

  In the driving support apparatus of the present invention, the vehicle position is the vehicle position of the other vehicle, and the vehicle position of the other vehicle detected by the vehicle position detection unit mounted on the vehicle may be acquired by inter-vehicle communication.

  In this driving support device, the vehicle position of another vehicle detected by the on-vehicle vehicle position detection means can be acquired by inter-vehicle communication, and when the vehicle is traveling in the road-to-vehicle communication area, the vehicle position detection on the road side is performed by road-to-vehicle communication. The vehicle positions of other vehicles detected by the means can also be acquired, and various driving assistances are performed using these vehicle positions. Therefore, in this driving support device, when another vehicle goes out of the area from the area where the vehicle position can be detected by the road side vehicle position detection means, the road-to-vehicle communication is performed with respect to the timing of going out of the area from the area. The vehicle position of the other vehicle acquired by the inter-vehicle communication from the vehicle position of the other vehicle acquired by the road-to-vehicle communication instead of immediately switching from the vehicle position of the other vehicle acquired by the vehicle to the vehicle position of the other vehicle acquired by the inter-vehicle communication. Delay the timing of switching to. Further, in this driving support device, when the other vehicle enters the area from outside the area where the vehicle position can be detected by the road side vehicle position detecting means, the vehicle position of the other vehicle acquired by the inter-vehicle communication is obtained by the road-to-vehicle communication. Instead of immediately switching to the acquired vehicle position of the other vehicle, the vehicle position of the other vehicle acquired by inter-vehicle communication is gradually switched to the vehicle position of the other vehicle acquired by road-to-vehicle communication.

  The present invention can suppress changes in the vehicle position when switching vehicle positions with different accuracy.

  Embodiments of a driving assistance apparatus according to the present invention will be described below with reference to the drawings.

  In the present embodiment, the driving support device according to the present invention is applied to a driving support device mounted on a vehicle that performs road-to-vehicle communication and vehicle-to-vehicle communication. In the driving support device according to the present embodiment, the road-to-vehicle communication device and the vehicle-to-vehicle communication device are always operating, and the data received by the road-to-vehicle communication and the data received by the vehicle-to-vehicle communication can be used properly according to the situation. It is a system capable of parallel processing. In the driving support device according to the present embodiment, the position of the other vehicle is specified from the data received by road-to-vehicle communication and the data received by vehicle-to-vehicle communication, and the position of the host vehicle is specified using GPS. Based on the relationship between the vehicle and the host vehicle, the dangerous state is determined and the position of the other vehicle is displayed. In the driving support device according to the present embodiment, based on each specified vehicle position and dangerous state determination result, screen display by a display, sound output by a speaker, and warning by a buzzer are performed as HMI [Human Machine Interface]. In the present embodiment, the driving support device is mounted on each of a large number of vehicles traveling on the road, and the driving support device operates in each vehicle.

  With reference to FIGS. 1-6, the driving assistance apparatus 1 which concerns on this Embodiment is demonstrated. FIG. 1 is a configuration diagram of a driving support apparatus according to the present embodiment. FIG. 2 is an example of the actual position transition of another vehicle when the other vehicle in the one-lane one lane exits the infrastructure detection area and the position transition of the other vehicle after processing in the conventional driving support device. FIG. 3 is an example of an actual position transition of another vehicle when the other vehicle in the one-lane one lane exits the infrastructure detection area and a position transition of the other vehicle after processing in the driving support device of FIG. FIG. 4 is an example of the actual position transition of another vehicle when the other vehicle in the one-side lane enters the infrastructure detection area and the position transition of the other vehicle after processing in the conventional driving support device. FIG. 5 is an example of the actual position transition of another vehicle when two other vehicles enter the infrastructure detection area and the position transition of another vehicle after processing in the conventional driving support device in the case of two lanes on one side. FIG. 6 is an example of the actual position transition of another vehicle when the other vehicle in the one-side lane enters the infrastructure detection area and the position transition of the other vehicle after processing in the driving support device of FIG.

  When the current position of the other vehicle is specified, the driving support device 1 basically uses the received infrastructure data in an area where the infrastructure data can be received by road-to-vehicle communication, and vehicle-to-vehicle communication in other areas. Use the vehicle-to-vehicle communication data received at. In particular, in the driving support device 1, in order to suppress a sudden change in the vehicle position when the infrastructure data and the inter-vehicle communication data about the other vehicle are switched, when the other vehicle leaves the infrastructure detection area, Switching to communication data is delayed, and when other vehicles enter the infrastructure detection area, the vehicle-to-vehicle communication data is gradually switched to infrastructure data.

  The driving support apparatus 1 includes a road-to-vehicle communication device 10, a vehicle-to-vehicle communication device 11, a GPS receiver 12, a map database 13, a vehicle speed sensor 14, a brake switch 15, a blinker switch 16, a display 20, a speaker 21, a buzzer 22, an ECU [ The ECU 30 includes a communication control unit 31, a received signal processing unit 32, a position data processing unit 33, a dangerous state determination unit 34, and an HMI control unit 35.

  The road-vehicle communication device 10 is a wireless communication device for communicating with a roadside communication device (for example, an optical beacon or a radio beacon). In the road-to-vehicle communication device 10, when the own vehicle is present in the road-to-vehicle communication area, the road-to-vehicle communication antenna transmits the own vehicle signal to the road-side communication device, and the road-side communication device receives the road-side signal from the road-side communication device. Receive. The road-to-vehicle communication device 10 is reception-controlled by the ECU 30 and outputs the received road-side signal to the ECU 30. The road-to-vehicle communication device 10 is reception-controlled by the ECU 30 and inputs a host vehicle signal from the ECU 30.

  Data received by road-to-vehicle communication includes VICS [Vehicle Information Communication System] information and infrastructure data. VICS data is road traffic information, such as traffic jam information, traffic regulation information, and parking lot information. Infrastructure data includes other vehicle information, an infrastructure detection area, road information, surrounding information, and the like. The other vehicle information is various information of other vehicles detected by the infrastructure detection means, and includes the current position, vehicle speed, traveling direction, acceleration, vehicle type, vehicle size, body color, and the like. The infrastructure detection area is an area that can be detected by the infrastructure detection means, and includes at least position information of an entry point and an exit point of the area. The road information includes road shape information, lane information, stop line information, speed limit information, signal cycle information for each lane, and the like. Peripheral information includes information on surrounding buildings, information on pedestrian bridges, information on level crossings, and the like. The data transmitted by road-to-vehicle communication includes a vehicle identification number.

  Roadside communicators are installed in front of intersections. A road-to-vehicle communication area is set according to the installation position and performance of the roadside communication device. Only when a vehicle is present in this road-to-vehicle communication area, communication is possible between the road-to-vehicle communication device 10 mounted on the vehicle and the roadside communication device. Therefore, the driving support device 1 can acquire infrastructure data only when traveling in the road-to-vehicle communication area as information on other vehicles, and can acquire only vehicle-to-vehicle communication data when traveling outside the road-to-vehicle communication area. However, when the other vehicle is outside the infrastructure detection area, the information of the other vehicle cannot be acquired even if the own vehicle is in the road-to-vehicle communication area.

  The infrastructure detection means is means for detecting a vehicle on the road side, and detects a vehicle or the like entering an intersection. Examples of the infrastructure detection means include a means including a camera and an image processing device, a radar detection means such as a millimeter wave radar, and a means incorporated in a road such as a lane marker. Information detected by the infrastructure detection means includes the current position of the vehicle, vehicle speed, traveling direction, acceleration, vehicle type, vehicle size, body color, and the like. When the infrastructure detection means detects various types of vehicle information, it transmits the various types of information to the roadside communication device. In the present embodiment, the infrastructure detection means corresponds to the road-side vehicle position detection means described in the claims.

  The infrastructure detection area of the infrastructure detection means is set according to the installation position and performance of the infrastructure detection means, and the situation of buildings around the place where the infrastructure detection area is installed (such as an intersection). The infrastructure detection area is normally set on a road, and is set from a position away from the intersection by a predetermined distance to a boundary between the intersection and the road or a position slightly entering the intersection. However, there are cases where the infrastructure detection area cannot be set up to the vicinity of the boundary between the intersection and the road due to restrictions on the road structure (three-dimensional intersection, pedestrian bridge, road curve shape immediately before the intersection, etc.), buildings and signs around the road, and the like.

  The inter-vehicle communication device 11 is a wireless communication device for communicating between vehicles. The inter-vehicle communication device 11 transmits an inter-vehicle signal to another vehicle existing within a predetermined distance by the inter-vehicle antenna and receives an inter-vehicle signal from the other vehicle existing within the predetermined distance. The inter-vehicle communication device 11 is reception-controlled by the ECU 30 and outputs the received inter-vehicle signal to the ECU 30. The inter-vehicle communication device 11 is transmission-controlled by the ECU 30 and inputs an inter-vehicle signal from the ECU 30.

  Data received by inter-vehicle communication includes the current position of other vehicles, vehicle speed, traveling direction, acceleration, vehicle type, vehicle size, body color, and the like. Data transmitted by inter-vehicle communication includes the current position of the host vehicle, vehicle speed, traveling direction, acceleration, vehicle type, vehicle size, body color, and the like. The current position, vehicle speed, traveling direction, acceleration, and the like in the inter-vehicle communication data are information detected on the vehicle side. For example, the current position is the position detected by the GPS receiver 12, and the vehicle speed is the vehicle speed detected by the vehicle speed sensor 14.

  When comparing the vehicle position in the infrastructure data and the position accuracy of the vehicle position in the inter-vehicle communication data, the position accuracy of the vehicle position in the infrastructure data is higher. Since the vehicle position of the inter-vehicle communication data is a position using GPS, generally the position detection accuracy is low, and there are detection delays and the like. On the other hand, since the vehicle position in the infrastructure data is a position using image processing or radar, the position detection accuracy is generally high. This is because the infrastructure detection unit itself has good performance, and the infrastructure detection unit also improves detection errors and detection delays through algorithm optimization.

  The GPS receiver 12 is equipment for estimating the current position of the host vehicle using GPS. The GPS receiver 12 receives a GPS signal from a GPS satellite by a GPS antenna at regular intervals, demodulates the GPS signal, and based on the demodulated position data of each GPS satellite, the current position ( Latitude, longitude) etc. are calculated. Then, the GPS receiver 12 transmits the current position information of the host vehicle to the ECU 30. In the present embodiment, the GPS receiver 12 corresponds to an in-vehicle vehicle position detecting means described in the claims. The vehicle position detection means mounted on the vehicle may be other means such as current position detection in a navigation system. The GPS receiver may mainly perform only GPS signal reception processing, and the ECU may perform current position calculation processing based on the GPS signals.

  The map database 13 is configured in a predetermined area of the storage device of the driving support device 1. The map database 13 stores road shape information, lane information, intersection shape information, and the like. The map database 13 may store information on road-to-vehicle communication areas and infrastructure detection areas, information on surrounding buildings, information on pedestrian bridges, information on three-dimensional intersections, and the like.

  The vehicle speed sensor 14 is a sensor that detects the speed of the vehicle. The vehicle speed sensor 14 detects the vehicle speed at regular intervals, and transmits the detected vehicle speed to the ECU 30 as a vehicle speed signal. The brake switch 15 is a switch that detects whether or not the brake pedal is depressed by the driver (ON / OFF of the brake pedal). The brake switch 15 transmits the brake pedal ON / OFF to the ECU 30 as a brake signal at regular intervals. The turn signal switch 16 is a switch for inputting a direction instruction (right direction instruction ON, left direction instruction ON, OFF) by the driver. The turn signal switch 16 transmits the driver turn signal operation information to the ECU 30 as a turn signal signal. The detected information is used for dangerous state determination or transmitted to other vehicles as inter-vehicle communication data. In addition to these, various information such as the traveling direction of the vehicle is detected and used in the driving support apparatus 1.

  The display 20 is an in-vehicle display or a meter display shared with a navigation system or the like. When the display 20 receives an image signal from the ECU 30, the display 20 displays an image indicated by the image signal. The speaker 21 is a vehicle-mounted speaker shared with other systems. When the speaker 21 receives a sound signal from the ECU 30, the speaker 21 outputs a sound according to the sound signal. The buzzer 22 is a warning buzzer that notifies a dangerous state. When the buzzer 22 receives a buzzer signal from the ECU 30, the buzzer 22 outputs a buzzer sound according to the buzzer signal. The display 20, the speaker 21, and the buzzer 22 function as HMI means in the driving support device 1.

  The ECU 30 is an electronic control unit including a CPU [Central Processing Unit], a ROM [Read Only Memory], a RAM [Random Access Memory], and the like, and comprehensively controls the driving support device 1. In the ECU 30, a communication control unit 31, a received signal processing unit 32, a position data processing unit 33, a dangerous state determination unit 34, by loading an application program for the driving support apparatus 1 stored in the ROM into the RAM and executing it, The HMI control unit 35 is configured.

  The communication control unit 31 controls road-to-vehicle communication by the road-to-vehicle communication device 10 and vehicle-to-vehicle communication by the vehicle-to-vehicle communication device 11. The communication control unit 31 sets the road-to-vehicle communication device 10 in a standby state when the own vehicle exists outside the road-to-vehicle communication area, and sets the road-to-vehicle communication device 10 when the own vehicle exists in the road-to-vehicle communication area. On the other hand, the reception control of the roadside signal is performed and the transmission control of the own vehicle signal is performed. At this time, the communication control unit 31 generates a host vehicle signal including an identification number of the host vehicle. In addition, the communication control unit 31 keeps the vehicle-to-vehicle communication device 11 in a constantly operating state, performs reception control of inter-vehicle signals from other vehicles to the vehicle-to-vehicle communication device 11 and performs transmission control of inter-vehicle signals of the own vehicle. Do. At this time, the communication control unit 31 detects the current position, the vehicle speed, the traveling direction, the acceleration, the vehicle type of the host vehicle, the vehicle size, the body color, and the like that are detected at regular intervals. Generate a signal.

  The reception signal processing unit 32 performs various types of processing on the roadside signal received by the road-to-vehicle communication device 10 and the vehicle-to-vehicle signal received by the vehicle-to-vehicle communication device 11 so as to be data that can be handled in the ECU 30. For example, there are data unit alignment and data detection time alignment.

  The position data processing unit 33 uses current position data of other vehicles included in infrastructure data received by road-to-vehicle communication and / or current position data of other vehicles included in inter-vehicle communication data received by the inter-vehicle communication device 11. Then, the predicted current position of the other vehicle is specified. The position data processing unit 33 includes a first main process in the case where the host vehicle is traveling in the road-to-vehicle communication area, and a second case in which the host vehicle enters the road-to-vehicle communication area from outside the road-to-vehicle communication area. Main processing, and third main processing when the host vehicle is traveling outside the road-to-vehicle communication area.

  The first main process when the host vehicle is traveling in the road-to-vehicle communication area will be described. When the host vehicle MV is traveling in the road-to-vehicle communication area, the road-side signal can be received by the road-to-vehicle communication device 10, so that the infrastructure data included in the road-side signal can be acquired. Since the current position of the vehicle detected by the infrastructure detection means included in this infrastructure data is highly accurate as described above, it is normal (when the infrastructure detection area is covered to the vicinity of the boundary between the intersection and the intersection road). Driving support processing is performed using the current position as it is as the predicted current position of the other vehicle.

However, the infrastructure detection area IA may not be covered to the vicinity of the boundary between the intersection and the intersection road as shown in FIG. In this case, since the other vehicle leaves the infrastructure detection area IA before the other vehicle reaches the intersection, in the host vehicle MV, the vehicle received by the inter-vehicle communication device 11 after the other vehicle leaves the infrastructure detection area IA. Only the current position of the other vehicle included in the inter-vehicle communication data of the inter-vehicle signal can be acquired. The current position included in the inter-vehicle communication data has low accuracy as described above. Therefore, as shown in FIG. 2, when the current position included in the inter-vehicle communication data is directly used as the predicted current position OVP _t of another vehicle as in the conventional driving support device, the predicted current position OVP _t is the actual other vehicle. A large error may occur with respect to the current position OV _t . Note that subscripts t and t-1 in the reference numerals in the drawing indicate time, t is the current time, and t-1 is the previous time.

For example, when the position update interval is 500 msec and the vehicle speed of the other vehicle is 50 km / h, the current position OV _t-1 of the other vehicle at the position update timing of the previous time to the position of the other vehicle at the current position update timing. It actually moves about 7 m between the current positions OV _t . Further, when the position error of the current position of the inter-vehicle communication data is set to a maximum of 30 m, if the inter-vehicle communication data is used as it is, an error of a maximum of 30 m may occur with respect to the actual current position. Therefore, if the inter-vehicle communication data is used as it is at the position update timing t immediately after the other vehicle leaves the infrastructure detection area IA, the current position of the other vehicle from the predicted current position OVP _{t-1 at} the position update timing t-1 at the previous time. The position may move up to 30 m + 7 m (speed 266 km per hour in terms of vehicle speed), and a large error occurs in the predicted current position OVP _t . Therefore, when this predicted current position OVP _t is displayed on the display as the position of another vehicle, the vehicle position jumps from the vehicle position at the previous time, changes lanes at once, or a plurality of other vehicles are approaching There is a possibility that the front-rear relationship and the left-right relationship of other vehicles are reversed. In addition, when the dangerous state determination (collision prediction determination or the like) is performed using the predicted current position OVP _t , the vehicle position determination, the acceleration determination, or the traveling lane determination is abnormal, and a highly accurate determination cannot be performed.

Therefore, as shown in FIG. 3, when the infrastructure detection area IA is not covered to the vicinity of the boundary between the intersection and the intersection road, when the other vehicle leaves the infrastructure detection area IA, the current position of the inter-vehicle communication data is left as it is. Rather than using the predicted current position, the current position OVI _t-1 of the infrastructure data immediately before leaving the infrastructure detection area IA is used as the initial value for each position update timing until the vehicle passes the intersection. The predicted current position OVP is sequentially calculated using the vehicle speed, the traveling direction, and the acceleration.

That is, the predicted current positions OVP _t , OVP _{t + 1} ,... Are included in the vehicle position at the previous position update timing and the latest inter-vehicle communication data at every position update timing after the other vehicle leaves the infrastructure detection area IA. Calculated from the vehicle speed, traveling direction, and acceleration of the other vehicle. The vehicle position at the previous position update timing is the current position OVI _t-1 of the infrastructure data immediately before leaving the infrastructure detection area IA, and thereafter the predicted current position calculated at the previous position update timing. OVP _t , OVP _{t + 1} ,... As a result, as shown in FIG. 3, even after leaving the infrastructure detection area IA, the predicted current positions OVP _t , OVP _{t + 1} ,... With respect to the actual positions OV _t , OV _{t + 1} ,. The accuracy of the predicted current position OVP is increased, and a change from the previous predicted current position is also reduced.

  Specifically, the position data processing unit 33 acquires the latest road-to-vehicle communication data when the host vehicle is in the road-to-vehicle communication area. Then, at each position update timing, the position data processing unit 33 sets the current position of the detected vehicle as the predicted current position of the other vehicle from the infrastructure data included in the latest road-to-vehicle communication data, and sets the predicted current position as a dangerous state. The data is output to the determination unit 34 and the HMI control unit 35. The position data processing unit 33 acquires the infrastructure detection area from the infrastructure data when the host vehicle is in the road-to-vehicle communication area. Then, the position data processing unit 33 determines whether the infrastructure detection area is covered up to the intersection. At this time, when the infrastructure detection area is covered up to the intersection, the position data processing unit 33 continues to set the current position of the detected vehicle of the infrastructure data as the predicted current position of the other vehicle, and sets the predicted current position. Output to the dangerous state determination unit 34 and the HMI control unit 35.

  When the infrastructure detection area is not covered up to the intersection, the position data processing unit 33 acquires the current position of each detected vehicle from the infrastructure data. Then, the position data processing unit 33 determines whether there is a detected vehicle close to the exit point of the infrastructure detection area based on the exit point of the infrastructure detection area and the current position of each detected vehicle (that is, infrastructure detection). It is determined whether there is another vehicle immediately before leaving the area). When there is a detected vehicle close to the exit point of the infrastructure detection area, the position data processing unit 33 lists the detected vehicle close to the exit point of the infrastructure detection area as a candidate vehicle for position correction processing, and Store infrastructure data.

  When the candidate vehicles are listed, the position data processing unit 33 acquires inter-vehicle communication data of all other vehicles in the infrastructure detection area that can be received by inter-vehicle communication. Then, the position data processing unit 33 performs matching between the stored infrastructure data of the candidate vehicle and the acquired inter-vehicle communication data, and the inter-vehicle inter-vehicle corresponding to the infrastructure data of the other vehicle that is about to leave the infrastructure detection area. Search for communication data. In this matching, the vehicle is verified based on the current position, vehicle speed, vehicle type, vehicle size, body color, and the like.

  When matching vehicle-to-vehicle communication data is found, the position data processing unit 33 determines whether the candidate vehicle has just left the infrastructure detection area based on the exit point of the infrastructure detection area and the current position of the candidate vehicle. When the candidate vehicle has just left the infrastructure detection area, the position data processing unit 33 stores the current position of the infrastructure data immediately before the candidate vehicle leaves, and performs a position correction process when leaving the candidate vehicle. Note that the exit position correction process is not performed on other vehicles that have already left the infrastructure detection area or other vehicles outside the infrastructure detection area.

  When shifting to the exit position correction process, the position data processing unit 33 performs the following process at each position update timing. First, the position data processing unit 33 acquires the latest vehicle-to-vehicle communication data that has been matched for the target other vehicle (candidate vehicle), and acquires the vehicle speed, traveling direction, and acceleration of the vehicle-to-vehicle communication data. Further, the position data processing unit 33 acquires the vehicle position at the previous position update timing of the other target vehicle stored.

  Then, the position data processing unit 33 calculates the movement amount in the front-rear direction and the movement amount in the lateral direction from the previous position update timing to the current position update timing from the vehicle speed, the traveling direction, and the acceleration, and the movement amount in the front-rear direction. And the amount of movement in the horizontal direction is added to the vehicle position at the previous position update timing to obtain the current predicted position. The vehicle position at the previous position update timing is the current position of the infrastructure data immediately before leaving the infrastructure detection area or the predicted current position calculated at the previous position update timing.

  The position data processing unit 33 stores the calculated predicted current position. The stored predicted current position becomes the vehicle position at the previous position update timing at the next position update timing. Further, the position data processing unit 33 outputs the calculated predicted current position to the dangerous state determination unit 34 and the HMI control unit 35.

  Then, the position data processing unit 33 determines whether or not the target other vehicle has passed the target intersection. If the target other vehicle has not passed the target intersection, the position data processing unit 33 performs the above processing at the next position update timing. When the target other vehicle passes through the target intersection, the position data processing unit 33 determines the current position included in the latest inter-vehicle communication data for the target other vehicle for each position update timing. The predicted current position is output to the dangerous state determination unit 34 and the HMI control unit 35.

A second main process when the host vehicle enters the road-vehicle communication area from outside the road-vehicle communication area will be described. When the host vehicle MV is traveling outside the road-to-vehicle communication area, the host vehicle MV can only receive the inter-vehicle signal of the other vehicle by the inter-vehicle communication device 11, and therefore can acquire only the inter-vehicle communication data of the inter-vehicle signal. . As described above, the current position of the other vehicle included in the inter-vehicle communication data is low accuracy. However, when the host vehicle MV enters the road-to-vehicle communication area from outside the road-to-vehicle communication area, the road-side signal can also be received by the road-to-vehicle communication device 10, so that the infrastructure data of the road-to-vehicle communication data of the road-side signal can also be acquired. The current position of the detection vehicle included in the infrastructure data is highly accurate as described above. Therefore, as shown in FIG. 4, if the current position included in the infrastructure data is directly used as the predicted current position OVP _t of another vehicle as in the conventional driving support device, the current position is predicted from the predicted current position OVP _{t-1 of} the previous time. The predicted current position OVP _{t of} time may move greatly.

For example, if the position update interval is 500 milliseconds and the vehicle speed of the other vehicle is 50 km / h, the other vehicle actually moves about 7 m at one position update timing as described above. Further, when the position error of the current position of the inter-vehicle communication data is set to 30 m at the maximum, an error of 30 m at maximum may occur as described above. Therefore, if the infrastructure data is used at the position update timing t immediately after the other vehicle enters the infrastructure detection area IA, the predicted current position OVP _t has a smaller error than the actual current position OV _t of the other vehicle. There is a possibility of moving up to 30 m + 7 m from the predicted current position OVP _t−1 at the time.

Therefore, when the predicted current position OVP _t using the current position of the infrastructure data as it is is displayed on the display as the position of another vehicle, the current time is predicted from the predicted current position OVP _t-1 of the previous time as shown in FIG. Although it flies at a stretch to the current position OVP _t , in fact, it has not moved so much from the position OV _{t-1 at} the previous time of the other vehicle to the position OVP _{t at the} current time. In addition, as shown in FIG. 5, two other vehicles are approaching each other on the left and right lanes, and the predicted current position OVP1 _t and the predicted current position OVP2 _t using the current position of the infrastructure data are set to 2 If you have displayed on the display as the position of the other vehicle of the table, but are flying at once from the predicted current position OVP2 _t-1 at the previous time until the predicted current position OVP2 _t of the current time for other vehicle in the left lane, the other of the right lane the predicted current position OVP1 _t-1 from the predicted current position OVP1 _t of the current time is the actual amount of movement about the same previous time for the vehicle, the other vehicle of the other vehicle is the right lane to the left lane on the display of the display I will overtake at once. However, in practice, the position OV2 _t-1 of the other vehicle in the left lane is ahead of the position OV1 _t-1 of the other vehicle in the right lane, and the other vehicle in the left lane is originally leading. It was. In this way, when the predicted current position OVP _t using the current position of the infrastructure data as it is is displayed on the display as the position of another vehicle, the vehicle position flies at once, the lane changes at a stretch, or multiple other vehicles approach When doing so, the front-rear and left-right relations of other vehicles are reversed.

  Therefore, as shown in FIG. 6, when another vehicle enters the infrastructure detection area IA, the current position of the infrastructure data is not used as it is as the predicted current position, but the vehicle-to-vehicle communication data up to the driver's visible point LP. The position correction amount at each position update timing is calculated according to the positional deviation amount between the current position of the infrastructure data and the current position of the infrastructure data, and the predicted current position OVP is updated by adding the position correction amount to the current position of the infrastructure data. Calculate for each timing. The driver's visually recognizable point LP is a point at the end of the range LA that can be directly visually recognized by the driver of the host vehicle MV. Since the driver can directly check the position of the other vehicle on the intersection side from this viewable point LP, this viewable point LP is provided so as not to give a sense of incongruity between the vehicle position visually recognized by the driver and the vehicle position on the display 20. The position correction is completed by this time, and after the other vehicle passes the visually recognizable point LP, the current position of the infrastructure data is used as it is. On the contrary, since the driver cannot directly check the position of the other vehicle up to the viewable point LP, the driver can visually check the vehicle so that the driver does not feel uncomfortable due to a large movement (position jump) of the vehicle position on the display 20. The vehicle position is corrected so as to gradually approach the current position of the infrastructure data up to the point LP. For the dangerous state determination, after the other vehicle enters the infrastructure detection area IA, the current position of the highly accurate infrastructure data is used as it is.

That is, after the other vehicle enters the infrastructure detection area IA, the position correction amount ΔD is the amount of positional deviation between the current position of the inter-vehicle communication data and the current position of the infrastructure data and the number of position corrections (= the point LP where the other vehicle can be visually recognized). (Estimated elapsed time required for reaching the position / position update interval). When the change in the vehicle speed of the other vehicle is small, the position correction amount ΔD for all the position update timings may be obtained at once after the other vehicle enters the infrastructure detection area IA, but the change in the vehicle speed of the other vehicle is large Therefore, it is necessary to obtain the position correction amount ΔD at each position update timing. The absolute value of the position correction amount ΔD gradually decreases as the other vehicle approaches the visually recognizable point LP, and becomes 0 when the other vehicle reaches the visually recognizable point LP or immediately before it. The position correction amount ΔD is a positive value when the current position of the inter-vehicle communication data is closer to the intersection than the current position of the infrastructure data, and the current position of the inter-vehicle communication data is farther from the intersection than the current position of the infrastructure data. In the case of the side, it is a negative value. Then, at each position update timing, the position correction amount ΔD is added to the current position of the infrastructure data, and the added value is set as the predicted current position OVP. As a result, as shown in FIG. 6, after another vehicle enters the infrastructure detection area IA, the predicted current position with respect to the actual current position OV _t , OV _{t + 1} ,... (Current position of infrastructure data) of the other vehicle. OVP _t , OVP _{t + 1} ,... (Vehicle position on the display 20) gradually approach, and the current position OV _{t + 3} of the actual other vehicle coincides with the predicted current position OVP _{t + 3} at the visible point LP.

  For example, the current position of the inter-vehicle communication data immediately after the other vehicle enters the infrastructure detection area IA is 30 m behind the current position of the infrastructure data (the displacement is −30 m at the entry point), and the vehicle enters the infrastructure detection area IA. The estimated elapsed time of another vehicle from the point to the visually recognizable point LP is 10 seconds, and the position update interval is 500 milliseconds. In this case, it is necessary to correct the positional deviation amount of −30 m at the position update timing of 20 times (= 10 / 0.5). Therefore, a value obtained by adding 1.5 m (= 30/20) from the previous value at each position update timing with -30 m as an initial value is set as a position correction amount ΔD. For example, ΔD = −28.5 m (= −30 + 1.5 × 1) at the position update timing of the first position correction after another vehicle enters the infrastructure detection area IA (that is, the vehicle position on the display 20 is (The current position of the infrastructure data is 28.5m away from the intersection.) At the position update timing of the seventh position correction, ΔD = −19.5 m (= −30 + 1.5 × 7), and the 14th time At the position update timing of position correction, ΔD = −9.0 m (= −30 + 1.5 × 14), and at the position update timing of 20 position corrections, ΔD = 0.0 m (= −30 + 1.5 × 20). is there.

  As a method for obtaining the position correction amount ΔD, a linear interpolation method may be used as in the above example, but another method may be used. For example, the position correction amount ΔD is set to a larger value as it is closer to the entry point of the infrastructure detection area IA (that is, farther from the driver), and the position correction amount is closer to the visually recognizable point LP (that is, closer to the driver). There is a method of setting ΔD to a small value.

  As specific processing, the position data processing unit 33 determines whether or not the host vehicle has entered the road-to-vehicle communication area. When the host vehicle enters the road-to-vehicle communication area, road-to-vehicle communication is started, reception of road-to-vehicle communication data (infrastructure data) is started, and driving support processing such as dangerous state determination starts. The position data processing unit 33 acquires an infrastructure detection area from the infrastructure data. The position data processing unit 33 acquires various information around the target intersection from the map database 13 and the infrastructure data. Various types of information around the intersection include, for example, buildings around the intersection, signboards, fences, etc., road curve curvature in the infrastructure detection area, and the presence of nearby vehicles (especially large vehicles). . Then, the position data processing unit 33 estimates a visually recognizable point (defined by a distance from the intersection, etc.) in the infrastructure detection area of the driver of the own vehicle based on various information around the target intersection. At this time, the maximum specified point is set in advance as a visible point in preparation for the case where all of the intersections can be seen or the range can be almost seen.

  Next, the position data processing unit 33 acquires inter-vehicle communication data of all other vehicles in the infrastructure detection area that can be received by inter-vehicle communication. Further, the position data processing unit 33 determines whether there is another vehicle close to the entry point of the infrastructure detection area based on the entry point of the infrastructure detection area and the current position of each other vehicle (that is, infrastructure detection). It is determined whether there is another vehicle immediately before entering the area). When there is another vehicle close to the entry point of the infrastructure detection area, the position data processing unit 33 lists the other vehicle close to the entry point of the infrastructure detection area as a candidate vehicle for position correction processing.

  When the candidate vehicles are listed, the position data processing unit 33 determines whether the candidate vehicle has just entered the infrastructure detection area based on the entry point of the infrastructure detection area and the current position of the candidate vehicle. When the candidate vehicle has just entered the infrastructure detection area, the position data processing unit 33 performs position correction processing during entry for the candidate vehicle. The approach position correction process is not performed for other vehicles that have already entered the infrastructure detection area, other vehicles that have passed through the infrastructure detection area, and other vehicles that are not in the infrastructure detection area.

  When the exit position correction process is started, the position data processing unit 33 performs matching between the inter-vehicle communication data of the target other vehicle (candidate vehicle) and the infrastructure data, and the other vehicle immediately after entering the infrastructure detection area. Search for infrastructure data corresponding to vehicle-to-vehicle communication data.

  When the matched infrastructure data is found, the position data processing unit 33 calculates the positional deviation amount in the front-rear direction and the lateral positional deviation amount between the current position of the inter-vehicle data of the target other vehicle and the current position of the infrastructure data, respectively. calculate. Further, the position data processing unit 33 calculates the distance from the current position of the target other vehicle to the visible point based on the current position of the infrastructure data and the visible point of the driver. Then, the position data processing unit 33 calculates the estimated elapsed time required for the target other vehicle to reach the visible point based on the calculated distance and the vehicle speed of the infrastructure data. Further, the position data processing unit 33 calculates the position correction amount in the front-rear direction and the position correction amount in the horizontal direction at each position update timing based on the calculated positional deviation amount in each direction, the estimated elapsed time, and the position update interval. Calculate each. Here, the position correction amount for all the position update timings until the other vehicle arrives at the visible point immediately after the other vehicle enters the infrastructure detection area is obtained at a time, but the change in the vehicle speed of the other vehicle becomes large. If it is, the position correction amount is recalculated.

  At each position update timing, the position data processing unit 33 calculates the predicted current position by adding the position correction amount in the front-rear direction and the position correction amount in the horizontal direction to the current position of the latest infrastructure data. The position data processing unit 33 outputs the calculated predicted current position to the HMI control unit 35. Incidentally, the current position of the infrastructure data is output to the dangerous state determination unit 34 as it is.

  In the position data processing unit 33, it is determined whether or not the target other vehicle has reached a point where the driver can visually recognize. When the other vehicle of the object has not reached the point where the driver can visually recognize, the position data processing unit 33 performs the above process at the next position update timing. After the other vehicle of the object reaches the point where the driver can see, the position data processing unit 33 determines the current position of the other vehicle included in the latest acquired infrastructure data for each position update timing of the other vehicle of the object. Is set as the predicted current position of the other vehicle, and the predicted current position is output to the dangerous state determination unit 34 and the HMI control unit 35.

  A third main process when the host vehicle is traveling outside the road-to-vehicle communication area will be described. When the vehicle is traveling outside the road-to-vehicle communication area, the vehicle can only receive the inter-vehicle signal by the inter-vehicle communication device 11, so that only the inter-vehicle communication data of the inter-vehicle signal can be acquired as information on other vehicles. Therefore, the position data processing unit 33 sets the current position of the other vehicle included in the latest acquired inter-vehicle communication data as the predicted current position of the other vehicle at each position update timing, and determines the predicted current position as a dangerous state determination. Output to the unit 34 and the HMI control unit 35.

  The dangerous state determination unit 34 determines a dangerous state (for example, the possibility of a collision) between the host vehicle and another vehicle. The determination of the dangerous state may be performed only in an area where the risk is high in relation to other vehicles, for example, at an intersection. In the dangerous state determination unit 34, the vehicle speed of the host vehicle and the other vehicle, the traveling direction, the positional relationship between the current position of the host vehicle input from the GPS receiver 12 and the predicted current position of the other vehicle input from the position data processing unit 33. Judgment is made in consideration of acceleration and turn signal information. As this determination method, any method may be applied, and a conventional method is used. The dangerous state determination unit 34 outputs the determination result to the HMI control unit 35.

  The HMI control unit 35 provides the driver with position information of other vehicles and information on the dangerous state in relation to the other vehicles using the display 20, the speaker 21, and the buzzer 22. The HMI control unit 35 generates image information indicating the predicted current position of each other vehicle input from the position data processing unit 33 on a map around the host vehicle, and transmits an image signal including the image information to the display 20. . Further, in the HMI control unit 35, in the case of a dangerous state level that needs to be notified to the driver based on the determination result of the dangerous state input from the dangerous state determination unit 34, image information according to the level of the dangerous state. , Generating sound information and buzzer information, transmitting an image signal composed of the image information to the display 20, transmitting a sound signal composed of the sound information to the speaker 21, and transmitting a buzzer signal from the buzzer information to the buzzer 22. To do.

  With reference to FIGS. 1-6, the operation | movement in the driving assistance apparatus 1 is demonstrated. In particular, the processing when the own vehicle in the ECU 30 is traveling in the road-to-vehicle communication area will be described with reference to the flowcharts of FIGS. 7 and 8. The process when entering the vehicle will be described with reference to the flowcharts of FIGS. 9 and 10. FIG. 7 is a flowchart showing a flow of a first main process in the ECU of FIG. FIG. 8 is a flowchart showing the flow of exit position correction processing in the ECU of FIG. FIG. 9 is a flowchart showing a flow of second main processing in the ECU of FIG. FIG. 10 is a flowchart showing a flow of position correction processing at the time of entry in the ECU of FIG.

  When the driving support device 1 is activated, the road-vehicle communication device 10 and the vehicle-vehicle communication device 11 are also activated. The road-to-vehicle communication device 10 is communication-controlled by the ECU 30 (communication control unit 31) and is normally in a standby state. When the own vehicle enters the road-to-vehicle communication area, it transmits its own vehicle signal to the roadside communication device. When a roadside signal is received from a roadside communication device and the own vehicle leaves the road-to-vehicle communication area, the vehicle enters a standby state. In the ECU 30 (reception signal processing unit 32), a roadside signal is input, road-to-vehicle communication data (VICS data, infrastructure data) is taken out from the roadside signal, and various processes are performed on each data. The inter-vehicle communication device 11 is communication-controlled by the ECU 30 (communication control unit 31), transmits an inter-vehicle signal to another vehicle existing within a predetermined distance, and receives an inter-vehicle signal from the other vehicle existing within a predetermined distance. Receive. In the ECU 30 (reception signal processing unit 32), a vehicle-to-vehicle signal is input, vehicle-to-vehicle communication data is extracted from the vehicle-to-vehicle signal, and various processes are performed on the data.

  The GPS receiver 12 also operates. The GPS receiver 12 receives a GPS signal from a GPS satellite, and calculates the current position of the host vehicle based on the GPS signal. In the ECU 30 (reception signal processing unit 32), the current position information of the host vehicle is input from the GPS receiver 12. The vehicle speed sensor 14 detects the vehicle speed. The brake switch 15 detects ON / OFF of the brake pedal. The turn signal switch 16 detects a turn signal operation by the driver. The ECU 30 (reception signal processing unit 32) inputs such vehicle speed information, brake pedal ON / OFF information, turn signal operation information, and the like.

  A case where the host vehicle is traveling in the road-to-vehicle communication area will be described. The position data processing unit 33 of the ECU 30 determines whether or not the host vehicle is in the road-to-vehicle communication area (S10). If it is determined in S10 that the host vehicle is not within the road-to-vehicle communication area, the position data processing unit 33 returns to S10 after a predetermined time and determines again whether the host vehicle is in the road-to-vehicle communication area.

  If it is determined in S10 that the host vehicle is in the road-to-vehicle communication area, the position data processing unit 33 acquires an infrastructure detection area (particularly, a leaving point) from the infrastructure data (S11). Then, the position data processing unit 33 determines whether or not the infrastructure detection area is covered up to the intersection (that is, whether or not the exit point of the infrastructure detection area extends to the intersection) (S12). When it is determined in S12 that the infrastructure detection area is covered up to the intersection, the ECU 30 performs the dangerous state determination and HMI control using the current position of the latest infrastructure data as a normal process (S21).

  If it is determined in S12 that the infrastructure detection area is not covered up to the intersection, the position data processing unit 33 acquires the current position of the vehicle (detected vehicle) detected by the infrastructure detection means from the infrastructure data (S13). Then, the position data processing unit 33 determines whether there is a detected vehicle close to the exit point of the infrastructure detection area (S14). If it is determined in S14 that there is no detected vehicle close to the exit point of the infrastructure detection area, the position data processing unit 33 returns to S13 after a predetermined time and obtains the current position of the detected vehicle again from the latest infrastructure data. To do.

  If it is determined in S14 that there is a detected vehicle close to the exit point of the infrastructure detection area, the position data processing unit 33 lists the detected vehicle close to the exit point of the infrastructure detection area as a candidate vehicle for the position correction process (S15). ). The position data processing unit 33 acquires the latest inter-vehicle communication data for all other vehicles existing in the infrastructure detection area (S16). Then, the position data processing unit 33 matches the infrastructure data of the candidate vehicle with the acquired inter-vehicle communication data of each other vehicle, and searches for the inter-vehicle communication data of the candidate vehicle (S17).

  The position data processing unit 33 determines whether or not the candidate vehicle has just left the infrastructure detection area based on the exit point of the infrastructure detection area and the current position of the candidate vehicle (S18). If it is determined in S18 that the candidate vehicle has not left the infrastructure detection area, the position data processing unit 33 returns to S18 after a predetermined time, and again determines whether or not the candidate vehicle has just left the infrastructure detection area. judge.

  If it is determined in S18 that the candidate vehicle has just left the infrastructure detection area, the position data processing unit 33 stores the current position of the infrastructure data immediately before leaving the infrastructure detection area for the candidate vehicle (S19). The process proceeds to the exit position correction process for the candidate vehicle (S20).

  When the exit position correction process is started, the position data processing unit 33 determines whether or not it is a position update timing (S30). If it is determined in S30 that it is not the position update timing, the position data processing unit 33 waits until the position update timing.

  If the position update timing is determined in S30, the position data processing unit 33 acquires the latest vehicle-to-vehicle communication data of another vehicle (candidate vehicle: matched with vehicle-to-vehicle communication data) subject to position correction processing ( S31). Then, the position data processing unit 33 acquires the vehicle speed, traveling direction, and acceleration of the target other vehicle from the inter-vehicle communication data (S32). Further, the position data processing unit 33 obtains the previous vehicle position (the current position of the infrastructure data immediately before leaving the infrastructure detection area or the predicted current position calculated at the previous position update timing) of the target other vehicle. (S33).

  Then, the position data processing unit 33 calculates the current predicted current position of the target other vehicle based on the acquired vehicle speed, traveling direction, acceleration, and previous vehicle position (S34). Further, the position data processing unit 33 stores the calculated predicted current position (S35). Further, the position data processing unit 33 outputs the calculated predicted current position to the dangerous state determination unit 34 and the HMI control unit 35 (S36, S37).

  The position data processing unit 33 determines whether or not the target other vehicle has passed the target intersection (S39). If it is determined in S39 that the target other vehicle has not passed the target intersection, the position data processing unit 33 returns to S30 and performs the above processing at the next position update timing. When it is determined in S39 that the other vehicle of the object has passed the target intersection, the position data processing unit 33 presents the current position of the latest inter-vehicle communication data acquired for each position update timing for the other vehicle of the object. Is set as the predicted current position of the other vehicle, and the predicted current position is output to the dangerous state determination unit 34 and the HMI control unit 35 (S40).

  The case where the own vehicle enters the road-vehicle communication area from outside the road-vehicle communication area will be described. The position data processing unit 33 determines whether or not the host vehicle has entered the road-to-vehicle communication area (S50). If it is determined in S50 that the own vehicle has not entered the road-to-vehicle communication area, the position data processing unit 33 returns to S50 after a predetermined time, and whether or not the own vehicle has entered the road-to-vehicle communication area again. Determine.

  When it is determined in S50 that the host vehicle has entered the road-to-vehicle communication area, reception of road-to-vehicle communication data (infrastructure data) by the road-to-vehicle communication device 10 is started, and the operation of the driving support process in the ECU 30 is also started. (S51).

  The position data processing unit 33 acquires an infrastructure detection area from the infrastructure data (S52). Further, the position data processing unit 33 acquires various types of information near the target intersection from the map database 13 and the infrastructure data (S53). Then, the position data processing unit 33 estimates a visible point in the infrastructure detection area of the driver of the own vehicle based on various information around the intersection (S54).

  The position data processing unit 33 acquires the latest inter-vehicle communication data for all other vehicles in the infrastructure detection area (S55). Further, the position data processing unit 33 determines whether there is another vehicle close to the entry point in the infrastructure detection area based on the entry point in the infrastructure detection area and the current position of each other vehicle (S56). If it is determined in S56 that there is no other vehicle close to the entry point of the infrastructure detection area, the position data processing unit 33 returns to S55 after a certain time and acquires the latest inter-vehicle communication data again.

  If it is determined in S56 that there is another vehicle close to the entry point in the infrastructure detection area, the position data processing unit 33 lists the other vehicle close to the entry point in the infrastructure detection area as a candidate vehicle for position correction processing ( S57). Then, the position data processing unit 33 determines whether or not the candidate vehicle has just entered the infrastructure detection area based on the entry point of the infrastructure detection area and the current position of the candidate vehicle (S58). If it is determined in S58 that the candidate vehicle has not entered the infrastructure detection area, the position data processing unit 33 returns to S55 after a predetermined time and acquires the latest inter-vehicle communication data again.

  If it is determined in S58 that the candidate vehicle has just entered the infrastructure detection area, the position data processing unit 33 proceeds to a position correction process during entry for the candidate vehicle (S59).

  When the process proceeds to the approach position correction process, the position data processing unit 33 acquires the latest infrastructure data. Then, the position data processing unit 33 matches the inter-vehicle communication data of the other vehicle (candidate vehicle) subject to the position correction process with the acquired infrastructure data, and searches for the infrastructure data of the candidate vehicle (S60).

  The position data processing unit 33 calculates the amount of displacement between the current position of the inter-vehicle communication data and the current position of the infrastructure data for the target other vehicle (S61). Further, the position data processing unit 33 calculates the distance from the current position of the target other vehicle to the visible point based on the current position of the infrastructure data and the visible point of the driver, and calculates the distance and the vehicle speed of the infrastructure data. Based on this, the estimated elapsed time required until the target other vehicle reaches the visually recognizable point is calculated (S62). Then, the position data processing unit 33 calculates a position correction amount at each position update timing based on the positional deviation amount, the estimated elapsed time, and the position update interval (S63). Note that the processing of S61 to S63 is always performed at the first position update timing immediately after the other vehicle of interest enters the infrastructure detection area, and the change in the vehicle speed of the other vehicle of the target becomes large at other position update timings. Sometimes do.

  The position data processing unit 33 determines whether new infrastructure data has been received (S64). If it is determined in S64 that new infrastructure data has not been received, the position data processing unit 33 waits until new infrastructure data is received. If it is determined in S64 that new infrastructure data has been received, the position data processing unit 33 determines whether it is a position update timing (S65). When it is determined in S65 that it is not the position update timing, the position data processing unit 33 waits until the position update timing.

  When it is determined that the position update timing is determined in S65, the position data processing unit 33 calculates the predicted current position by adding the calculated position correction amount to the current position of the infrastructure data (S66). Then, the position data processing unit 33 outputs the current position of the latest infrastructure data for the target other vehicle to the dangerous state determination unit 34 (S67), and outputs the calculated predicted current position to the HMI control unit 35. (S68).

  The position data processing unit 33 determines whether or not the target other vehicle has reached a point where the driver can visually recognize (S69). When it determines with the other vehicle of object not having reached | attained a driver | operator's visual recognition point in S69, in the position data process part 33, it returns to S61 and performs said process. If it is determined in S69 that the target other vehicle has reached the point where the driver can see, the position data processing unit 33 presents the current infrastructure data acquired for the target other vehicle at each position update timing. The position is set as the predicted current position of the other vehicle, and the predicted current position is output to the dangerous state determination unit 34 and the HMI control unit 35 (S70).

  A case where the host vehicle is traveling outside the road-to-vehicle communication area will be described. The position data processing unit 33 sets the current position of the latest vehicle-to-vehicle communication data acquired as the predicted current position of the other vehicle at each position update timing, and the predicted current position is the dangerous state determination unit 34 and the HMI control unit 35. Output to.

  The dangerous state determination unit 34 acquires the current position of the host vehicle from the GPS receiver 12 and also acquires other information such as the vehicle speed and the traveling direction of the host vehicle from a sensor or the like. Further, the dangerous state determination unit 34 acquires the predicted current position of the other vehicle from the position data processing unit 33 and also acquires other information such as the vehicle speed and the traveling direction of the other vehicle from the infrastructure data or the inter-vehicle communication data. . Then, the dangerous state determination unit 34 determines a dangerous state based on the positional relationship between the current position of the host vehicle and the predicted current position of the other vehicle and other information of the host vehicle and the other vehicle, and the determination result is subjected to HMI control. To the unit 35.

  The HMI control unit 35 acquires the predicted current position of the other vehicle from the position data processing unit 33 and also acquires the dangerous state determination result from the dangerous state determination unit 34. The HMI control unit 35 generates image information indicating the predicted current position of each other vehicle on a map around the own vehicle, and transmits an image signal including the image information to the display 20. When the image signal is received, the display 20 displays a surrounding map indicating the vehicle position of the other vehicle based on the image signal. Further, in the case of a dangerous state level that needs to be notified to the driver based on the determination result of the dangerous state, the HMI control unit 35 provides image information, audio information, and buzzer information according to the dangerous state level. The image signal is transmitted to the display 20, the audio signal is transmitted to the speaker 21, and the buzzer signal is transmitted to the buzzer 22. When this image signal is received, the display 20 displays an image informing the danger state in relation to another vehicle based on the image signal. In addition, when this audio signal is received, the speaker 21 outputs a sound that informs the dangerous state in relation to another vehicle based on the audio signal. When the buzzer signal is received, the buzzer 22 outputs a buzzer sound based on the buzzer signal.

  According to this driving support device 1, the position is corrected when switching the vehicle position of the high-precision infrastructure data and the vehicle position of the low-accuracy vehicle-to-vehicle communication data (when another vehicle enters or leaves the infrastructure detection area). By performing the processing, it is possible to suppress a change in the vehicle position at the time of switching, and to perform high-precision driving support. In particular, when the vehicle position is displayed on the display, the vehicle position does not move abruptly, so that the driver does not feel uncomfortable or distrust the system.

  In particular, according to the driving support device 1, when the other vehicle leaves the infrastructure detection area, the vehicle position is corrected with high accuracy and the position change is suppressed by correcting the vehicle position based on the vehicle position of the infrastructure data immediately before leaving. Can be requested. As a result, even if other vehicles cannot be detected up to the intersection by the infrastructure detection means due to physical constraints such as the road structure, even if the other vehicle leaves the infrastructure detection area, the vehicle position will be as good as infrastructure data due to the highly accurate vehicle position to the intersection. Driving assistance. In addition, when the vehicle position of another vehicle entering the intersection does not fly at a stretch when leaving the infrastructure detection area, the front-rear positional relationship and the left-right positional relationship of the other vehicle are abrupt when multiple other vehicles are mixed. There will be no reverse. Therefore, in the display of the position of the other vehicle on the display 20, the driver does not feel discomfort or distrust of the system. Further, in the dangerous state determination, the positional relationship between the host vehicle and the other vehicle is appropriate, and the determination accuracy is increased. Furthermore, even when the position accuracy by GPS is lowered due to a building or an elevated road near the intersection, a highly accurate vehicle position can be obtained regardless of the position accuracy of the inter-vehicle communication data.

  Moreover, according to the driving assistance apparatus 1, when the other vehicle enters the infrastructure detection area, the vehicle position is gradually corrected based on the positional deviation amount between the inter-vehicle communication data and the infrastructure data up to the driver's visible point. Thus, it is possible to obtain the vehicle position in which the change in the vehicle position is suppressed. As a result, the vehicle position of the other vehicle does not fly at a stretch in the vicinity of the entry point of the infrastructure detection area, and when a plurality of other vehicles are mixed, the front-rear positional relationship and the left-right positional relationship of the other vehicle are suddenly reversed. There is nothing wrong. Therefore, in the display of the position of the other vehicle on the display 20, the driver does not feel discomfort or distrust of the system. In addition, since the position is corrected in the section where the driver cannot directly view and the vehicle position of the infrastructure data is set after the point where the driver can directly view, the feeling of discomfort due to the comparison between the driver's visual recognition and the vehicle position on the display 20 is not given. .

  As mentioned above, although embodiment which concerns on this invention was described, this invention is implemented in various forms, without being limited to the said embodiment.

  For example, in the present embodiment, the present invention is applied to a driving support device that performs both vehicle-to-vehicle communication and road-to-vehicle communication. However, the present invention is also applicable to a driving support device that performs only road-to-vehicle communication.

  In the present embodiment, the driving assistance is configured to perform the HMI control to the driver based on the display of the vehicle position of the other vehicle and the dangerous state determination, but other assistance may be provided as the driving assistance. Moreover, although it was set as the structure which performs HMI control by an audio | voice and a display, it is good also as a structure which performs control by the side of vehicles, such as an automatic brake.

  Moreover, although applied in the case where the position of the other vehicle is corrected in the present embodiment, it can also be applied to the case where the position of the host vehicle is corrected.

  In the present embodiment, both the position correction when leaving when the other vehicle goes out of the infrastructure detection area and the position correction when entering when the other vehicle enters the area from outside the infrastructure detection area are performed. Although it was set as the structure, it is good also as a structure which performs only either one.

  In this embodiment, when other vehicles go out of the infrastructure detection area, the vehicle position is sequentially corrected using the current position of the infrastructure data as an initial value and the vehicle speed of the inter-vehicle communication data. However, as a method of delaying the switching timing, other methods may be used.

  Further, in the present embodiment, when other vehicles enter the area from outside the infrastructure detection area, the vehicle position is sequentially set so that the positional deviation amount between the current position of the infrastructure data and the current position of the inter-vehicle communication data gradually decreases. Although it is configured to gradually switch to the vehicle position of the infrastructure data by making corrections, other methods may be used as a method of gradually switching to the vehicle position of the infrastructure data.

It is a block diagram of the driving assistance device which concerns on this Embodiment. It is an example of the actual position transition of the other vehicle when the other vehicle in the case of one side lane leaves the infrastructure detection area and the position transition of the other vehicle after processing in the conventional driving support device. It is an example of the actual position transition of the other vehicle when the other vehicle in the case of one side one lane leaves the infrastructure detection area and the position transition of the other vehicle after processing in the driving support device of FIG. It is an example of the actual position transition of the other vehicle when the other vehicle in the case of one side one lane enters the infrastructure detection area and the position transition of the other vehicle after processing in the conventional driving support device. It is an example of the actual position transition of the other vehicle when two other vehicles in the case of one-side two lanes enter the infrastructure detection area and the position transition of the other vehicle after processing in the conventional driving support device. It is an example of the actual position transition of the other vehicle when the other vehicle in the case of one side lane enters the infrastructure detection area and the position transition of the other vehicle after processing in the driving support device of FIG. It is a flowchart which shows the flow of the 1st main process in ECU of FIG. It is a flowchart which shows the flow of the position correction process at the time of leaving in ECU of FIG. It is a flowchart which shows the flow of the 2nd main process in ECU of FIG. It is a flowchart which shows the flow of the position correction process at the time of approach in ECU of FIG.

Explanation of symbols

  DESCRIPTION OF SYMBOLS 1 ... Driving assistance device, 10 ... Road-to-vehicle communication machine, 11 ... Vehicle-to-vehicle communication machine, 12 ... GPS receiver, 13 ... Map database, 14 ... Vehicle speed sensor, 15 ... Brake switch, 16 ... Blinker switch, 20 ... Display, DESCRIPTION OF SYMBOLS 21 ... Speaker, 22 ... Buzzer, 30 ... ECU, 31 ... Communication control part, 32 ... Reception signal processing part, 33 ... Position data processing part, 34 ... Danger state determination part, 35 ... HMI control part

Claims (5)

In the road-to-vehicle communication area where the vehicle position detected by the road-side vehicle position detection means can be transmitted, driving assistance is provided using the vehicle position acquired by road-to-vehicle communication, and in-vehicle vehicle position outside the road-to-vehicle communication area. A driving support device that performs driving support using the vehicle position detected by the detecting means,
When the vehicle goes out of the area from the area where the vehicle position can be detected by the vehicle position detection means on the road side, the vehicle is mounted from the vehicle position acquired by road-to-vehicle communication with respect to the timing of going out of the area from the area. A driving support apparatus characterized by delaying the timing of switching to a vehicle position detected by a position detection means.   The delay of the switching timing is acquired by road-to-vehicle communication while the vehicle travels a predetermined distance or a predetermined time after exiting the area from the area where the vehicle position can be detected by the road-side vehicle position detection means. The driving support apparatus according to claim 1, wherein the use of the vehicle position is continued.   When the vehicle enters the area from outside the area where the vehicle position can be detected by the roadside vehicle position detection means, the vehicle position detected by the vehicle position detection means mounted on the vehicle is gradually switched to the vehicle position acquired by road-to-vehicle communication. The driving support device according to claim 1 or 2, wherein The vehicle position is the vehicle position of another vehicle,
The gradual switching from the vehicle position of the other vehicle detected by the on-vehicle vehicle position detection means to the vehicle position of the other vehicle acquired by road-to-vehicle communication is terminated before the other vehicle enters the driver's viewing area of the own vehicle. The driving support apparatus according to claim 3, wherein The vehicle position is the vehicle position of another vehicle,
The driving support device according to any one of claims 1 to 4, wherein the vehicle position of another vehicle detected by an on-vehicle vehicle position detection means is acquired by inter-vehicle communication.

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