JP5245967B2 - Driving support system - Google Patents

Description

  The present invention relates to a driving support system for supporting driving of a host vehicle such as an automobile.

  As a conventional driving support system, for example, the one described in Patent Document 1 is known. In such a driving support system, when a non-priority vehicle on a non-priority road enters an intersection, the driver of the non-priority vehicle is notified of the presence of the priority vehicle traveling on the priority road. As a result, the encounter collision is prevented.

JP 2002-163789 A

  By the way, in the above driving support system, as described above, only non-prioritized vehicles are targeted for driving support. Here, in the above-described driving support system, there may be cases where priority vehicles are also targeted for driving support. In this case, the driver's awareness of road regulation (hereinafter also simply referred to as “road regulation awareness”). ) Has not been considered for driving support, there are the following problems.

  That is, for example, when both a non-priority vehicle and a priority vehicle enter an intersection, the non-priority vehicle must take avoidance actions (for example, deceleration, temporary stop, and traffic concession) in accordance with road regulations such as traffic regulations. However, if driving assistance is also performed for the priority vehicle, the driver of the non-priority vehicle expects the avoidance action of the priority vehicle, and the non-priority vehicle may not take the avoidance action.

  Then, this invention makes it a subject to provide the driving assistance system which can perform the driving assistance which considered the driver | operator's consciousness with respect to the road regulation.

  To achieve the above object, a driving support system according to the present invention includes driving support means for performing driving support based on the presence of a non-priority vehicle with respect to the host vehicle as a priority vehicle, and the host vehicle as a non-priority vehicle. Information storage means for storing travel history information relating to a travel history when the vehicle has traveled in the past, and the driving support means changes the driving support support mode based on the travel history information stored in the information storage means It is characterized by.

  In this driving support system, the driving support support mode is changed based on the travel history information related to the travel history of the host vehicle when the host vehicle has traveled as a non-priority vehicle in the past. Therefore, since the road regulation awareness is reflected in the travel history when the vehicle has traveled as a non-priority vehicle, it is possible to perform driving support in consideration of the road regulation awareness.

  The driving support means preferably calculates the road regulation compliance level based on the travel history information, and changes the support mode so that the driving assistance is performed only when the road regulation compliance level satisfies the specified level. In this case, it is possible to improve the driver's awareness of road regulation because the driver expects to improve the implementation rate of driving support so that the state of compliance with the road regulation is good.

  In addition, as a configuration that favorably exhibits the above-described effects, specifically, the travel history information includes the compliance status of the host vehicle when the host vehicle has traveled in the past as a non-priority vehicle, and The structure which is the information regarding at least one of the avoidance action of the priority vehicle with respect to the own vehicle when driving | running in the past as a priority vehicle is mentioned.

  The priority vehicle may be a vehicle that travels on a priority road that is not provided with a temporary stop restriction at an intersection, and the non-priority vehicle may be a vehicle that travels on a non-priority road provided with a temporary stop restriction at an intersection. preferable. In this case, a so-called meeting service can be provided.

  Moreover, it is preferable that the priority vehicle is a straight-ahead vehicle that goes straight at the intersection, and the non-priority vehicle is a right-turn vehicle that makes a right turn at the intersection. In this case, a so-called right turn service can be provided.

  The driving support system according to the present invention includes driving support means for performing driving support based on the presence of a non-priority vehicle for the first vehicle as a priority vehicle, and the first vehicle has traveled in the past as a non-priority vehicle. Information storage means for storing travel history information related to the travel history at the time, and the driving support means changes the driving support support mode based on the travel history information stored in the information storage means .

  This driving support system also has the same effects as the above effects. That is, since the driving support support mode is changed based on the driving history information related to the driving history of the first vehicle when the first vehicle has traveled as a non-priority vehicle in the past, driving support considering road regulation awareness is provided. Can be done.

  ADVANTAGE OF THE INVENTION According to this invention, it becomes possible to perform the driving assistance which considered the driver | operator's consciousness with respect to the road regulation.

1 is a block diagram illustrating a driving support system according to an embodiment of the present invention. It is a figure which shows the intersection condition for demonstrating an example of the driving | running history recording performed with the driving assistance system of FIG. It is a figure which shows the intersection condition for demonstrating an example of the driving assistance performed with the driving assistance system of FIG. It is a flowchart which shows operation | movement of the driving assistance system of FIG. 5 is a flowchart showing a continuation of FIG. It is a figure which shows the intersection condition for demonstrating the other example of the driving | running history recording performed with the driving assistance system of FIG. It is a figure which shows the intersection condition for demonstrating the other example of the driving assistance performed with the driving assistance system of FIG.

  Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the drawings. In the following description, the same or equivalent elements will be denoted by the same reference numerals, and redundant description will be omitted.

  FIG. 1 is a block diagram showing a driving support system according to an embodiment of the present invention, FIG. 2 is a diagram showing an intersection situation for explaining an example of a driving history record performed in the driving support system of FIG. 1, and FIG. It is a figure which shows the intersection condition for demonstrating an example of the driving assistance performed with the driving assistance system of FIG.

  As shown in FIG. 1, the driving support system 1 is mounted on a host vehicle (first vehicle) X, and performs driving support of the host vehicle X such as an automobile at an intersection using road-to-vehicle communication. As shown in FIG. 3, the intersection I here includes, for example, a priority road Rp that is not subject to temporary stop due to road restrictions such as the Road Traffic Law, and a non-priority road Rm that is orthogonal to the priority road Rp and has temporary stop restrictions. , And a cross intersection.

  The driving support system 1 here provides driving assistance based on the presence of another vehicle Y as a non-priority vehicle traveling on the non-priority road Rm with respect to the own vehicle X as the priority vehicle traveling on the priority road Rp. Providing services (so-called meeting services). In the following explanation, the own vehicle X traveling on the priority road Rp is given priority to the own vehicle Xp, the own vehicle X traveling on the non-priority road Rm is given priority, and the other vehicle Y running on the priority road Rp is given priority. Other vehicle Yp and other vehicle Y traveling on non-priority road Rm are also referred to as non-priority other vehicle Ym.

  1, the driving support system 1 includes an ECU (Electronic Control Unit) (driving support means, information storage means) 10 as a controller configured by, for example, a CPU, a ROM, and a RAM. As a signal input system 11 for inputting a signal to the ECU 10, a road-to-vehicle communication device 2, a vehicle-to-vehicle communication device 3, a car navigation terminal 5, a vehicle speed sensor 6a, a brake sensor 6b, and a blinker sensor 6c are connected. A display 7, a meter monitor 8, and a speaker 9 are connected to the ECU 10 as an HMI (Human Machine Interface) system 12 for executing driving assistance based on processing by the ECU 10.

  As shown in FIG. 3, the road-to-vehicle communication device 2 communicates with the road-side device 21 when the host vehicle X passes through the road-side device 21 installed on the priority road Rp at the intersection I. Information is acquired. For example, an optical beacon or the like is used as the road-vehicle communication device 2. The road-to-vehicle information includes information indicating that the host vehicle X is a priority vehicle, and non-priority information detected by the approaching vehicle detection sensor 22 such as a camera installed on the non-priority road Rm and transmitted to the roadside unit 21. And at least information on the vehicle Ym.

  As shown in FIGS. 1 and 2, the inter-vehicle communication device 3 acquires information between the vehicles by exchanging information with the other vehicle Y. Here, at least travel information relating to the travel state of the other vehicle Y is received as inter-vehicle information. The car navigation terminal 5 acquires the current position information of the host vehicle X detected using, for example, GPS (Global Positioning System) by the GPS-ECU 5a. In addition, the car navigation terminal 5 stores a map database 5b, and acquires road information on the intersection I and road regulation information related to road regulation based on the map database 5b.

  The sensors 6a to 6c are for acquiring travel information of the host vehicle X, the vehicle speed sensor 6a detects the vehicle speed of the host vehicle X, the brake sensor 6b detects the operating condition of the brake of the host vehicle X, The blinker sensor 6c detects the operation status of the blinker of the host vehicle X. The display 7 and the meter monitor 8 display information and images that call attention to the driver. The speaker 9 outputs an alarm or a warning sound for alerting the driver. A buzzer may be used instead of the speaker 9.

  The ECU 10 includes a communication control unit 10a, a communication information processing unit 10b, a travel history information storage unit 10c, a feasibility determination unit 10d, a driving support processing unit 10e, and an HMI control unit 10f. The communication control unit 10 a controls the operation of the communication devices 2 and 3. The communication information processing unit 10b processes information received by the communication devices 2 and 3. The travel history information storage unit 10c stores travel history information related to a travel history when the non-priority host vehicle Xm has traveled in the past. The feasibility determination unit 10d determines whether or not driving support can be performed. The driving support processing unit 10e processes a driving support algorithm related to a driving support execution process. The HMI control unit 10 f controls the HMI system 12 by processing an HMI priority algorithm related to each priority formulation of the HMI system 12.

  The ECU 10 operates the HMI system 12 based on an input from the signal input system 11 when the host vehicle X is a priority vehicle (when the host vehicle Xp is a priority vehicle), for example, driving related to collision avoidance with the non-priority other vehicle Ym. In addition to providing support, the driving support support mode is changed based on the travel history stored in the travel history information storage unit 10c (details will be described later).

  Next, the operation of the driving support system 1 will be described with reference to the flowcharts shown in FIGS.

  In the driving support system 1 of the present embodiment, first, road-to-vehicle information is acquired by the road-to-vehicle communication device 2 or current position information and road information are acquired by the car navigation terminal 5. Subsequently, it is recognized from the acquired information that the host vehicle X is traveling near the intersection I where the encounter service is provided (S1). Then, the ECU 10 determines whether the host vehicle X is a non-priority vehicle (S2).

  As a result of the determination of S2, as shown in FIG. 2, when the own vehicle X is a non-priority own vehicle Xm traveling as a non-priority vehicle, road regulation information is acquired by the car navigation terminal 5, and non-priority is obtained from this road regulation information. Recognize the road regulation of the road Rm (S3). In the example shown in the drawing, it is recognized that there is a temporary stop restriction on the non-priority road Rm and the stop line L is provided.

  Subsequently, while the non-priority own vehicle Xm passes the storage target point of the travel history, the travel information of the priority other vehicle Yp is acquired by the inter-vehicle communication device 3, and the travel of the non-priority own vehicle Xm is performed by the sensors 6-7. Information is acquired (S4 to S6).

  Subsequently, the ECU 10 executes the following processing. That is, based on the travel information of the priority other vehicle Yp, it is determined whether or not the priority other vehicle Yp has an avoidance action, that is, a collision avoidance action (S7). Here, it is determined whether or not the priority other vehicle Yp has suddenly decelerated, suddenly stopped, and suddenly steered. When there is an avoidance action in the priority other vehicle Yp, the counter value indicating “no regulatory compliance” is counted up (+1 count) (S8). On the other hand, if there is no avoidance action in the priority other vehicle Yp, the counter value indicating “regulatory compliance” is counted up (+1 count) (S9).

  At the same time, based on the travel information of the non-priority own vehicle Xm, it is determined whether or not the non-priority own vehicle Xm complies with road regulations (S10). Here, it is determined whether or not the non-priority own vehicle Xm is temporarily stopped at the stop line L. When the non-prioritized own vehicle Xm deviates from the road regulation, the counter value indicating “no regulation compliance” is counted up (+1 count) (S11). On the other hand, when the non-priority own vehicle Xm complies with the road regulations, the counter value indicating “regulatory compliance” is counted up (+1 count) (S12).

  Then, each of the counter values “no regulation compliance” and “with regulation compliance” is additionally stored in the travel history information storage unit 10c as the travel history information of the host vehicle X at the intersection I and is made into a database (S13). In addition, after storing the travel history information, statistical processing may be performed on the travel history information.

  On the other hand, as a result of the determination in S2, as shown in FIG. 3, in the case of the priority host vehicle Xp in which the host vehicle X travels as a priority vehicle, is the travel history information of the intersection I stored in the travel history information storage unit 10c? It is determined whether or not (S21). If the traveling history information of the intersection I is stored, the traveling history information of the intersection I is extracted and referred to (S22).

  If the traveling history information of the intersection I is not stored, it approximates this intersection I (that is, similar in terms of road structure, presence of pedestrian bridges and median strips, installation conditions of road appendages, etc.) It is determined whether traveling history information is stored in the traveling history information storage unit 10c (S23). If the travel history information of the approximate intersection is stored, the travel history information of the approximate intersection is extracted and referred to (S24).

  After S22, 24, a road regulation compliance level is calculated according to the extracted travel history information (S25). This road regulation observance level is an index representing the degree (degree) of regulation observance, and the greater the value, the better the tendency to comply with regulations. The road regulation compliance level here is appropriately calculated, for example, statistically, empirically, or ergonomically according to the values and balances of the counter values “no regulation compliance” and “with regulation compliance”.

  Subsequently, it is determined whether or not the calculated road regulation compliance level satisfies a specified level (above the specified level) (S26). This prescribed level is a set value set, for example, statistically, empirically or ergonomically. In addition, if the sum of the counter values is not equal to or greater than a predetermined value, it is not preferable in terms of accuracy, so that the specified level is not satisfied.

  When the road regulation observance level satisfies the specified level, driving assistance using road-to-vehicle information is implemented (S27). Specifically, when the non-priority other vehicle Ym entering the intersection I is detected by the approaching vehicle detection sensor 22 and the detection information is acquired as road-to-vehicle information via the roadside device 21, the HMI system 12 is activated. The non-priority other vehicle Ym exists on the non-priority road Rm, the non-priority other vehicle Ym is approaching without stopping (jumps out), and the collision possibility TTC (Time To Collision) etc.

  On the other hand, when the travel history information of the approximate intersection is not stored (No in S23) and the road regulation compliance level does not satisfy the specified level (No in S26), driving assistance using road-to-vehicle information is used. In other words, the support mode is changed so that the degree of driving support becomes 0 (S27).

  As described above, in the driving support system 1 of the present embodiment, when the priority host vehicle Xp enters the intersection, the driving history information related to the driving history when the host vehicle Xp has traveled in the past as the non-priority host vehicle Xm is referred to. Only when the regulatory compliance level is calculated and the road regulatory compliance level satisfies the specified level, driving support using road-to-vehicle information is performed, whereas when the specified level is not satisfied, driving support is not performed. That is, the driving assistance mode is changed based on the travel history information. As a result, the road regulation awareness is strongly reflected in the travel history of the non-priority host vehicle Xm, so that it is possible to perform driving support in consideration of the road regulation awareness.

  Further, in the present embodiment, as described above, the road regulation compliance level is calculated based on the travel history information, and the driving support is performed only when the road regulation compliance level satisfies the specified level. Play.

  In other words, when the host vehicle X travels as the non-priority host vehicle Xm, the driver is expected to accumulate a good driving history in anticipation of an improvement in the driving support implementation rate, and the road regulations are in good compliance. Drive to become. Therefore, the driver's awareness of road regulation can be improved, and the tendency to comply with road rules when traveling as a non-priority vehicle is improved. As a result, it is possible to reduce the need for the priority vehicle to take avoidance action, to suppress sudden deceleration on the priority road Rp that can be driven with priority, and to smooth traffic. . In addition, driving assistance to the priority host vehicle Xp can be suitably provided with less overconfidence and dependence on driving assistance and less relaxation. In addition, it is possible to provide driving assistance only to drivers who have a good road regulation compliance tendency.

  6 is a diagram illustrating an intersection situation for explaining another example of the travel history recording performed in the driving support system of FIG. 1, and FIG. 7 is a diagram illustrating another example of driving support performed in the driving support system of FIG. It is a figure which shows the intersection condition for In the present embodiment, as shown in FIG. 3, in addition to being able to provide a meeting service, as shown in FIG. 7, based on the presence of a non-priority other vehicle Ym that makes a right turn at an intersection I2, A support service (so-called right turn service) that provides driving support to the vehicle Xp can be provided.

  In this case, as shown in FIG. 6, in the travel history information, whether or not the non-priority own vehicle Xm has turned right when it is not a green signal (but only when signal information can be acquired), non-priority. It is memorize | stored in the driving | running | working history information storage part 10c as information regarding at least 1 of whether the own vehicle Xm stopped in the intersection I2 in the middle of a right turn, and the priority other vehicle Yp. In addition, as shown in FIG. 7, when the host vehicle X is the priority host vehicle Xp, driving assistance that alerts the situation of the non-priority other vehicle Ym that turns right is performed.

  In the present embodiment, the travel history information is aggregated at the intersection I (point), but may be aggregated by the same support service. For example, the travel history information may be aggregated by the encounter service or the right turn service. May be. In this case, in S21, it is determined whether or not travel history information for the same support service is stored in the travel history information storage unit 10c. In S22, the travel history information is extracted and referenced. Thus, when the own vehicle X travels for the first time at the intersection I, or when the intersection I is immediately after the start of providing the support service, the travel history information is not stored in the travel history information storage unit 10c. The form is particularly effective.

  In the present embodiment, driving support is performed only when the host vehicle X is the priority host vehicle Xp, but driving support may also be performed when the host vehicle X is the non-priority host vehicle Xm. In this case, for example, at the intersection I, the roadside machine 21 and the approaching vehicle detection sensor 22 are installed on each of the priority road Rp and the non-priority road Rm. When the host vehicle X is the non-prioritized host vehicle Xm, driving assistance is always performed regardless of the travel history information. By the way, as driving assistance for non-priority own vehicle Xm, in the case of the encounter service, driving assistance that alerts the suspension restriction can be cited, and in the case of right turn service, the situation of the priority other vehicle that goes straight One example is driving assistance that calls attention.

  As mentioned above, although preferred embodiment of this invention was described, the drive assistance system which concerns on this invention is not restricted to the said drive assistance system 1 which concerns on embodiment, The range which does not change the summary described in each claim It may be modified by or applied to others.

  For example, in the above embodiment, driving assistance is performed at the intersections I and I2. However, if priority vehicles and non-priority vehicles exist, the place where driving assistance is performed is not limited to the intersection. In the above embodiment, the priority road Rp and the non-priority road Rm are defined from a legal viewpoint. For example, the priority road Rp and the non-priority road Rm may be defined from the viewpoint of the road structure such as the road width. Sometimes defined in terms of perspective. Therefore, the intersection to which the encounter service of the present invention is applied may be, for example, an intersection where all the intersecting roads are provided with a temporary stop restriction, or an intersection where all the intersecting roads are not provided with a temporary stop restriction. Furthermore, when the vehicle turns right, turns left, and changes lanes, the priority vehicle and the non-priority vehicle are defined by law regardless of the driving behavior.

  In addition, for example, in an area where the infrastructure 23 (roadside machine 21 and approaching vehicle detection sensor 22) is widely spread or where the infrastructure 23 has not been installed and deployed, it takes a considerable amount of time to store the travel history information. A travel history when traveling as a non-priority vehicle at an intersection other than an intersection where driving assistance is performed may be stored as travel history information.

  In S4 in the above embodiment, the travel information of the priority other vehicle Yp is acquired by the inter-vehicle communication device 3, but the travel information of the priority other vehicle Yp is acquired by the road-to-vehicle communication device 2 via the infrastructure 23. May be. Further, the travel history information may be information on at least one of the driving experience of the driver, the number of times of traveling at the intersection I, the danger when the vehicle deviates from the road regulations, and the number of accident occurrences at the intersection I.

  If a driver identification means such as a smart tag is provided and the driver of the host vehicle X can be identified, the travel history information is stored for each driver in S13, and limited to the driver in S22 and S24. History information may be referred to. Moreover, in the said embodiment, the grade and kind of driving assistance, assistance time, etc. may be changed based on driving | running | working history information, and what is necessary is just to change a assistance aspect.

  In the above embodiment, the HMI system 12 provides driving support such as alerting, but the roadside device 21 may provide driving support such as providing information. That is, the driving support means may be mounted on a vehicle other than the own vehicle (for example, the roadside machine 21 or the like). In this case, driving support may be performed on the first vehicle as the priority vehicle. In addition, the travel information of the non-priority host vehicle Xm is acquired by the sensors 6 to 7 and the travel history information of the host vehicle X is stored in the travel history information storage unit 10c of the ECU 10. Travel information may be acquired and the travel history information of the host vehicle X may be stored in the roadside device 21. In other words, the information storage means may be mounted on a vehicle other than the own vehicle (for example, the roadside machine 21 or the like). It only has to be done.

  DESCRIPTION OF SYMBOLS 1 ... Driving assistance system, 10 ... ECU (driving assistance means, information storage means), I, I2 ... Intersection, Rm ... Non-priority road, Rp ... Priority road, X ... Own vehicle (first vehicle), Xm ... Non-priority Own vehicle (own vehicle as non-priority vehicle), Xp ... priority own vehicle (own vehicle as priority vehicle), Ym ... non-priority other vehicle (non-priority vehicle).

Claims (5)

Driving support means for carrying out driving support based on the presence of a non-priority vehicle for the host vehicle as the priority vehicle;
Information storage means for storing travel history information related to travel history when the host vehicle has traveled in the past as a non-priority vehicle;
The driving support means calculates a road regulation compliance level based on the travel history information stored in the information storage means, and the driving support is performed only when the road regulation compliance level satisfies a specified level. A driving support system, wherein the driving support mode is changed. The travel history information includes the state of compliance with the road regulations of the host vehicle when the host vehicle has traveled in the past as a non-priority vehicle, and the host vehicle when the host vehicle has traveled in the past as a non-priority vehicle. The driving support system according to claim 1 , wherein the driving support system is information related to at least one of avoidance actions of the priority vehicle. The priority vehicle is a vehicle traveling on a priority road that is not provided with a temporary stop regulation at an intersection,
The non-priority vehicle, the driving support system according to claim 1 or 2, wherein the pause regulated in the intersection is a vehicle traveling non-priority road provided. The priority vehicle is a straight vehicle that goes straight at an intersection,
The non-priority vehicle, the driving support system according to claim 1 or 2, characterized in that a right-turning vehicle to turn right at the intersection. Driving support means for performing driving support based on the presence of a non-priority vehicle for the first vehicle as the priority vehicle;
Information storage means for storing travel history information related to travel history when the first vehicle has traveled in the past as a non-priority vehicle;
The driving support means calculates a road regulation compliance level based on the travel history information stored in the information storage means, and the driving support is performed only when the road regulation compliance level satisfies a specified level. A driving support system, wherein the driving support mode is changed.

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