JP5274984B2 - Driving support system - Google Patents

Description

  The present invention relates to a driving support system that supports safe driving of a driver traveling at an intersection by road-to-vehicle communication between an in-vehicle device mounted on a vehicle and a roadside device installed on the roadside.

In recent years, various driving support systems have been proposed to prevent accidents at intersections. For example, Patent Document 1 discloses a driving support configured by a road device installed near an intersection and an on-vehicle device (for example, an in-vehicle navigation device) that has map data and a function of displaying a map image. A system has been proposed. In this driving support system, on the road device, a captured image around the intersection is acquired and transmitted to the vehicle-mounted device. Next, in the vehicle-mounted device, the captured image around the intersection transmitted from the road device is acquired, and the position and traveling direction of the vehicle and the pedestrian existing in the captured image are calculated based on the captured image and the map data. Detecting vehicles and pedestrians that are traveling at the intersection and whose distance from the vehicle is a predetermined value or less. And the mark which shows the detected vehicle and pedestrian is displayed in the position on the map image according to the position of a vehicle and a pedestrian. Thereby, the user can grasp the existence of vehicles and pedestrians around the intersection.
JP 2007-334449 A

  However, since the screen of the display unit is small in the vehicle-mounted device such as the vehicle-mounted navigation device, when the vehicle and pedestrian marks are displayed on the map image as in Patent Document 1, these marks are also displayed small. . For this reason, it may be difficult to grasp the situation where vehicles and pedestrians displayed on the map image exist. In addition, when the vehicle and pedestrian information is erroneously recognized, there is a risk that safe driving may be hindered.

  The present invention was created in view of the problems in the prior art, and provides a driving support system that allows a user to quickly determine the risk of traveling of the vehicle when the vehicle enters an intersection. The purpose is to do.

  In order to solve the above-described problems of the prior art, the driving support system according to the present invention enables communication between a roadside device installed at a predetermined position near an intersection and a vehicle-mounted device having a function of displaying an image. In the connected driving support system, the roadside device is created based on a transmission unit that transmits information, an imaging unit that captures an image of the vicinity of the intersection, and an image captured by the imaging unit. Control means for transmitting the moving body information of a moving body existing in each lane of the roadway and the sidewalk around the intersection through the transmitting means, and the vehicle-mounted device receives the receiving means and the receiving means. Corresponding to each lane of the roadway and sidewalk around the intersection with respect to the traveling of the own vehicle determined based on the vehicle information received by the receiving means and the position and traveling direction of the own vehicle Table in the frame to be Characterized in that the the driving support information and a control means for displaying on the screen of the display unit.

  In the present invention, in the roadside machine, an image around the intersection is acquired, and based on the image, the moving body information of the moving body existing in each lane of the roadway and the sidewalk around the intersection is created and transmitted. This moving body information is created for each lane and is composed of data such as the presence and type of a moving body in a predetermined lane. Then, in the vehicle-mounted device, the risk level for each lane with respect to the travel of the vehicle is determined based on the received moving body information and the position and traveling direction of the vehicle, and the risk level is displayed in a frame corresponding to the lane. The driving support information is displayed on the screen of the display means. The display of the risk level is changed depending on the risk level, and is displayed in a signal format such as blue, yellow, and red. In this way, since the frame corresponding to each lane of the roadway and the sidewalk is displayed, and the danger level of each lane is displayed in the frame, the user is related to the driving of the own vehicle. It is possible to judge the danger of the lane to be performed in a short time.

  Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings.

  FIG. 1 is a block diagram showing a configuration of a driving support system according to an embodiment of the present invention.

  The driving support system 1 of the present embodiment includes a roadside device 10 installed at a predetermined position near an intersection, and an onboard device 100 that is mounted on a vehicle and connected to the roadside device 10 via wireless communication. .

  The roadside machine 10 of the present embodiment includes an intersection camera 11, a captured image data storage unit 12, an intersection data storage unit 13, a captured image data analysis unit 14, a cautionary object information creation unit 15, and a first light as an intersection data transmission unit. A beacon transmitter 16, a second optical beacon transmitter 17 serving as a target object information transmitter, and a roadside device controller 18 are provided.

  In addition, the vehicle-mounted device 100 according to the present embodiment includes a beacon information receiving unit 110, a beacon information storage unit 120, a vehicle traveling direction detection unit 130, an attention object information analysis unit 140, a driving support information creation unit 150, a display unit 160, and an in-vehicle unit. A device controller 170 is provided.

  FIG. 2 shows an example in which the roadside machine 10 is installed at an intersection. At the intersection shown in FIG. 2, the road in the vertical direction intersects the road in the horizontal direction, and the road in the vertical direction has a roadway and a sidewalk. Of the roads in the vertical direction, the left lane of the road is lane A, lane B, and lane C, and the right lane is lane D, lane E, and lane F. Further, a sidewalk adjacent to the left lane is referred to as lane a, and a sidewalk adjacent to the right lane is referred to as lane b. In the present embodiment, an example will be described in which an automobile and a motorcycle (including a motor-driven bicycle) among vehicles travel in the left lane of the roadway, and a bicycle and a pedestrian among the vehicles travel or walk on a sidewalk.

  In the roadside machine 10 of the present embodiment, the intersection camera 11 is constituted by, for example, a CCD camera, and images the periphery of the intersection at predetermined time intervals to generate a captured image (captured image data) around the intersection. As shown in FIG. 2, four intersection cameras 11 are provided at one intersection (11a, 11b, 11c, and 11d). Each of the intersection cameras 11a to 11d is installed, for example, at a traffic signal at the intersection, and photographs a predetermined range in a predetermined direction around the intersection (for example, a range from the center of the intersection to 50 m).

  The captured image data storage unit 12 is configured by a large-capacity storage device, and sequentially stores captured images around the intersection generated by the intersection camera 11.

  The intersection data storage unit 13 stores data (intersection data) related to the intersection where the roadside machine 10 is installed. The intersection data includes the number and type of lanes constituting the road around the intersection (right turn lane, left turn lane, straight lane, etc.), the number of the lane where the first and second optical beacon transmitters 16 and 17 are installed, And the distance etc. between the 1st and 2nd optical beacon transmitters 16 and 17 are included.

  The captured image data analysis unit 14 extracts vehicles and pedestrians (attention objects) present on the roadway and the sidewalk around the intersection from the captured image around the intersection stored in the intersection data storage unit 13, and these cautions. The type (vehicle, pedestrian), position (lane number, distance from the center of the intersection) and speed of the object are detected. Note that the captured image data analysis unit 14 of the present embodiment detects an automobile, a motorcycle, or a bicycle as the type of vehicle.

  The attention object information creation unit 15 is based on the detection result of the captured image data analysis unit 14 and includes the presence / absence, type, distance from the center of the intersection, and speed for each roadway and sidewalk lane around the intersection. Attention object data is created, attention object data of a predetermined lane determined in advance for each lane is extracted, and attention object information is created.

  The first optical beacon transmitter 16 is installed on the roadway around the intersection, and transmits the intersection data stored in the intersection data storage unit 13 with light (for example, infrared rays) every predetermined time. As shown in FIG. 2, each of the first optical beacon transmitters 16 a to 16 c is installed at a predetermined position before the intersection (under the intersection in FIG. 2) of each lane (lane A, lane B, and lane C). The intersection data corresponding to the lane is transmitted to the vehicle traveling on each lane. For example, if it is the 1st optical beacon transmitter 16c installed in the lane C, the intersection data according to the lane C will be transmitted toward the vehicle which drive | works the lane C.

  Similar to the first optical beacon transmitter 16, the second optical beacon transmitter 17 is installed on the roadway around the intersection, and the attention object information created by the attention object information creation unit 15 is transmitted at predetermined time intervals ( For example, infrared rays are transmitted. As shown in FIG. 2, each of the second optical beacon transmitters 17 a to 17 c is a predetermined position before the intersection of each lane (lane A, lane B, and lane C) and closer to the intersection than the first optical beacon transmitter 16. The lane target object information is transmitted to vehicles traveling in each lane. For example, in the case of the second optical beacon transmitter 17c installed in the lane C, the attention object information of the lane C is transmitted to the vehicle traveling on the lane C.

  The roadside machine control unit 18 controls the operation performed in the roadside machine 10, that is, takes an image around the intersection, creates information on vehicles and pedestrians on the roadway and sidewalk around the intersection, and the like. The control related to transmitting the attention object information and the intersection data is performed. Further, the roadside machine control unit 18 has a memory (not shown), and data of predetermined lanes set in each lane used when the attention object information generation unit 15 generates the attention object information ( Hereinafter, this data is referred to as “set lane data”.

  Next, the configuration of the vehicle-mounted device 100 of the present embodiment will be described with reference to FIG.

  In the vehicle-mounted device 100 according to the present embodiment, the beacon information receiving unit 110 receives beacon information (intersection data, attention object information) transmitted from the first and second optical beacon transmitters 16 and 17 of the roadside device 10. . For example, when a vehicle on which the vehicle-mounted device 100 is mounted (hereinafter referred to as the own vehicle) is traveling in the lane C, the beacon information receiving unit 110 of the own vehicle has the first and second optical beacons on the lane C. The beacon information transmitted from the transmitters 16c and 17c is received (see FIG. 2). Since the intersection data includes the number of the lane in which the first optical beacon transmitter 16 is installed, the traveling lane of the own vehicle (the position of the own vehicle) can be acquired by receiving the intersection data. .

  The beacon information storage unit 120 stores the beacon information received by the beacon information reception unit 110. The vehicle traveling direction detection unit 130 detects the traveling direction of the host vehicle.

  Attention object information analysis section 140 is determined from the traveling lane of the own vehicle acquired from the intersection data stored in beacon information storage section 120 and the traveling direction of the own vehicle detected by vehicle traveling direction detection section 130. The attention object data of the lane or the sidewalk lane is extracted from the attention object information stored in the beacon information storage unit 120, and the roadway and the sidewalk lane around the intersection for the traveling of the own vehicle based on the attention object data. Determine the degree of risk for each.

  The driving support information creation unit 150 creates a frame corresponding to a roadway and a sidewalk lane based on the attention object information stored in the beacon information storage unit 120, and the risk level determined by the attention object information analysis unit 140 The driving support information in which the mark indicating “” is displayed in the corresponding frame is created.

  The display unit 160 is configured by a liquid crystal display (LCD) panel, an organic EL panel, or the like, and displays the driving support information created by the driving support information creating unit 150 on the screen.

  The onboard equipment control part 170 controls each said part, produces driving assistance information, and displays the information on a screen. Moreover, the onboard equipment control part 170 has memory (not shown), and the criteria data used when the danger level is determined in the attention object information analysis part 140 are stored.

  In the driving support system 1 according to the present embodiment configured as described above, the roadside unit 10 captures an image around the intersection, and the vehicle exists on the roadway and the sidewalk around the intersection based on the photographed image around the intersection. And information (attention object information) of pedestrian (attention object) is created and transmitted. In the vehicle-mounted device 100, the attention object information transmitted from the roadside device 10 is received, and based on the attention object information and the position and traveling direction of the own vehicle, the roadway and the sidewalk around the intersection with respect to the traveling of the own vehicle. Determine the danger level for each lane. The driving support information in which the determined risk level for each lane is displayed in a frame corresponding to the lane is created and displayed on the screen of the display unit 160.

  As described above, in the driving support system 1 of the present embodiment, when the vehicle enters the intersection, the driving support information (FIGS. 3 to 5 and the like) that contributes to the case where the user determines the risk of the vehicle traveling is determined. Reference).

  3 to 5 show an example of driving support information displayed on the screen of the display unit 160.

  FIG. 3 is a diagram showing an example of driving support information displayed when the vehicle travels in the right turn lane C and makes a right turn at an intersection. The vehicle position mark 31 and the driving support information 40 are displayed on the map image 30. Are displayed overlapping. This driving support information 40 includes frames 41, 42 and 43 corresponding to all the lanes (lane D, lane E and lane F) of the lane (right lane) facing the lane (left lane) in which the host vehicle is traveling. And a frame 44 corresponding to the right sidewalk (lane b). Further, a mark 42a (marked by a white circle in FIG. 3) indicating the degree of danger “safe” is displayed in the frame 42 corresponding to the lane E, and the degree of danger “danger” is displayed in the frame 43 corresponding to the lane F. A mark 43a (mark indicated by a black circle in FIG. 3) is displayed, and a mark 44a (mark indicated by a black circle in FIG. 3) indicating the degree of danger “danger” is displayed on the frame 44 corresponding to the lane b. ing. Note that no mark indicating the degree of danger is displayed in the frame 41 corresponding to the lane D. The driving support information 40 warns the user that the lane F and the lane b are dangerous for the traveling of the host vehicle.

  FIG. 4 is a diagram showing an example of driving support information displayed when the vehicle travels on lane A of the left turn lane and makes a left turn at the intersection. The vehicle position mark 31 and the driving support are displayed on the map image 30. Information 50 is displayed overlapping. This driving support information 50 includes frames 51, 52 and 53 corresponding to all lanes (lane D, lane E and lane F) of the lane facing the lane in which the vehicle is traveling, and the left sidewalk (lane a). Has a frame 55 corresponding to. In addition, a mark 51a (marked by a hatched circle in FIG. 4) indicating the danger level “caution” is displayed in the frame 51 corresponding to the lane D, and the risk level “ A mark 55a indicating “danger” (mark indicated by a black circle in FIG. 4) is displayed. In addition, in the frames 52 and 53 corresponding to the lane E and the lane F, the mark indicating the degree of danger is not displayed. The driving support information 50 warns the user that the lane a and the lane D are dangerous with respect to the traveling of the vehicle, and the lane a is more dangerous than the lane D.

  FIG. 5 is a diagram showing an example of driving support information displayed when the vehicle travels straight on the lane B of the straight lane and goes straight on the intersection. The vehicle position mark 31 and driving support are displayed on the map image 30. Information 60 is displayed overlapping. This driving support information 60 has frames 61, 62 and 63 corresponding to all the lanes (lane D, lane E and lane F) of the lane facing the lane in which the host vehicle is traveling. In addition, a mark 61a (mark indicated by a hatched circle in FIG. 5) indicating the danger level “caution” is displayed in the frame 61 corresponding to the lane D. In addition, in the frames 62 and 63 corresponding to the lane E and the lane F, no mark indicating the degree of danger is displayed. In the driving support information 60, the user is warned that the lane D needs attention with respect to the traveling of the host vehicle.

  Hereinafter, an example of a processing flow of processing from taking an image around an intersection performed in the control unit 18 of the roadside machine 10 to transmitting attention object information in the driving support system 1 according to the present embodiment will be shown. A description will be given with reference to FIG. 6 and FIG. 7 showing an example of attention object information.

  In the first step S21, the intersection camera 11 captures an image of the vicinity of the intersection and generates a captured image around the intersection.

  In the next step S <b> 22, images around the intersection photographed by the intersection camera 11 are sequentially stored in the photographed image data storage unit 12.

  In the next step S23, the photographed image data analysis unit 14 extracts attention objects (vehicles and pedestrians) existing around the intersection from the images around the intersection stored in the photographed image data storage unit 12.

  In the next step S24, the captured image data analysis unit 14 determines the type of the extracted attention object (automobile, motorcycle, bicycle, and pedestrian) by image recognition processing.

  In the next step S25, the captured image data analysis unit 14 detects the position of the extracted attention object (the lane number of the lane where the attention object exists, the distance from the center of the intersection).

  In the next step S26, the captured image data analysis unit 14 detects the speed of the attention object from the change in the position of the extracted attention object based on the images around the plurality of intersections.

  In the next step S27, the attention object information creation unit 15 determines whether or not there is an attention object for each roadway and sidewalk lane around the intersection, based on the detection result of the captured image data analysis unit 14, and the center of the intersection. The target object data consisting of the distance and the speed is created. For example, in the attention object data of FIG. 7A, there is an attention object in lane D, the type is “automobile”, the distance is “30 m” from the center of the intersection, and the speed is “25 km / h”. ". Further, the attention object data in FIG. 7B indicates that there is an attention object in lane a, the type is “pedestrian”, and the distance is “15 m” from the center of the intersection. .

  In the next step S28, the attention object information creation unit 15 refers to the intersection data stored in the intersection data storage unit 12 and the set lane data stored in the memory of the control unit 18, and the driving support information Data for creating a frame (hereinafter, this data is referred to as “frame creation data”) is created for each lane. For example, for left turn lane A in FIG. 2, frame creation data corresponding to lane D, lane E, lane F, and lane a is created, and for straight lane B, lane D, lane E, and lane F are created. Corresponding frame creation data is created, and for right turn lane C, frame creation data corresponding to lane D, lane E, lane F, and lane b is created.

  In the next step S29, the attention object information creation unit 15 refers to the set lane data stored in the memory of the control unit 18, and creates data indicating a risk level in the driving support information. (This data is hereinafter referred to as “mark creation data”) for each lane. For example, for right turn lane A in FIG. 2, the attention object data of lane D and lane a is extracted to create mark creation data, and for straight lane B, the attention object data of lane D is extracted. Then, the mark creation data is created, and for the right turn lane C, the attention object data of lane D, lane E, lane F, and lane b is extracted to create the mark creation data.

  In the next step S30, the attention object information creation unit 15 combines the frame creation data and the mark creation data for each lane, and adds the number of each lane as the information providing destination to add the attention object of each lane. Create information. For example, FIG. 7A shows attention object information for lane C, FIG. 7B shows attention object information for lane A, and FIG. 7C shows attention object information for lane B. Yes.

  Then, in the next step S31, the attention object information of each lane is transmitted every predetermined time via the corresponding second optical beacon transmitter 17. For example, attention object information for lane A is transmitted via the second optical beacon transmitter 17a on lane A, and attention object information for lane B is transmitted via the second optical beacon transmitter 17b on lane B. The target object information for lane C is transmitted via the second optical beacon transmitter 17c on lane C.

  Note that the processing from step S21 to step S31 described above is performed every time the intersection camera 11 captures the vicinity of the intersection.

  Next, processing when transmitting intersection data performed in the control unit 18 of the roadside machine 10 in the driving support system 1 according to the present embodiment will be described with reference to FIG. 8 showing an example of the processing flow.

  In the first step S41, the intersection data of each lane (lane number, lane type, distance from the first optical beacon transmitter 16 to the second optical beacon transmitter 17) is read from the intersection data storage unit 14.

  In the next step S42, the intersection data of each lane is transmitted every predetermined time via the corresponding first optical beacon transmitter 16. For example, the intersection data for lane A is transmitted via the first optical beacon transmitter 16a on lane A, and the intersection data for lane B is transmitted via the first optical beacon transmitter 16b on lane B. Is transmitted via the first optical beacon transmitter 16c on the lane C.

  Next, the processing flow from the reception of the attention object information and the intersection data performed in the control unit 170 of the vehicle-mounted device 100 in the driving support system 1 according to the present embodiment to the display of the driving support information is shown in the processing flow. Description will be made with reference to FIG. 9 showing an example and FIG. 10 showing an example of determination criterion data. As a precondition, it is assumed that the own vehicle is traveling on any one of the lanes A to C on the roadway around the intersection. Further, it is assumed that a map image around the intersection is displayed on the screen of the display unit 160.

  In the first step S51, it is determined whether or not the intersection data transmitted from the first optical beacon transmitter 16 is received by the beacon information receiving unit 120 (YES) or not (NO). If the determination result is YES, the intersection data is stored in the beacon information storage unit 120, and the process proceeds to step S52.

  In the next step S52, the traveling lane number of the own vehicle is detected from the lane number of the intersection data stored in the beacon information storage unit 120.

  In the next step S53, it is determined whether or not the attention object information transmitted from the second optical beacon transmitter 17 is received (YES) or not (NO). If the determination result is YES, the attention object information is stored in the beacon information storage unit 120, and the process proceeds to step S54.

  In the next step S54, the target object is referred to by referring to the number of the traveling lane of the own vehicle and the lane number (number of the information providing destination lane) added to the target object information stored in the beacon information storage unit 120. It is determined whether the information is provided for the vehicle (YES) or not (NO).

  In this step S54, for example, when it is detected that the vehicle is traveling in the lane C, when attention object information of lanes other than the lane C is received from the second optical beacon transmitter 17c in the lane C, or in the lane C When the attention object information transmitted from the second optical beacon transmitter 17 in the other lane is received, it is determined as NO. If the determination result is NO, it is determined that it is inappropriate to provide the driving support information using the received attention object information, and this process is terminated. On the other hand, when the attention object information of the lane C is received from the second optical beacon transmitter 17c of the lane C, it is determined as YES. If the determination result is YES, the process proceeds to step S55.

  In the next step S55, a signal for specifying the traveling direction of the host vehicle such as a left turn, a right turn, or a straight traveling is received from a vehicle state detection sensor (not shown), and the traveling direction of the host vehicle is detected.

  In the next step S56, the attention object information analysis unit 140 refers to the lane number and type of the road around the intersection included in the intersection data stored in the beacon information storage unit 120, and the traveling lane number of the own vehicle. Thus, the attention object data (part or all of the mark creation data) of the lane corresponding to the traveling direction of the vehicle is extracted from the attention object information stored in the beacon information storage unit 120.

  Specifically, when it is detected that the vehicle travels in lane C and makes a right turn at an intersection, the caution object data of lane E, lane F, and lane b is stored in the beacon information storage unit 120. Extract from object information. In addition, when it is detected that the vehicle travels in lane C and goes straight through the intersection, the attention object data in lane D is extracted. Thus, the lane from which the attention object data should be extracted is set as the “potential danger lane” with respect to the traveling lane and the traveling direction of the own vehicle.

  In the next step S57, the attention object information analysis unit 140 refers to the determination criterion data stored in the memory of the control unit 170 to determine the risk level of each potential danger lane for driving the vehicle. To do.

  For example, when it is detected that the vehicle travels in lane C and makes a right turn at an intersection, it is dangerous with reference to the criterion data (see FIG. 10) for lane E, lane F, and lane b that are potential danger lanes. Determine the degree. The lane E is “safe” because there is no cautionary object, and the lane F is determined to be “dangerous” because there is a motorcycle and the speed exceeds 30 km / h. Further, since there is a bicycle in the lane b, it is determined as “dangerous”.

  In the next step S58, the driving support information creation unit 150 draws frames corresponding to the lanes of the roadway and the sidewalk based on the attention object information (frame creation data) stored in the beacon information storage unit 120. Based on the determined risk level, the driving support information is created by drawing a mark indicating the risk level in the corresponding frame.

  In the next step S59, the driving support information is displayed on the screen of the display unit 160 (see FIGS. 3 to 5). Thereafter, when a predetermined time has elapsed, the driving support information is erased from the screen of the display unit 160.

  As described above, according to the driving support system 1 of the present embodiment, the roadside device 10 and the vehicle-mounted device 100 can be connected by optical communication, and the roadside device 10 captures an image around the intersection, and Attention object sent from roadside unit 10 in vehicle-mounted device 100 by creating and sending attention object information of attention object (vehicle, pedestrian) existing on roadway and sidewalk lane around intersection based on image A mark indicating the degree of risk by receiving the object information, determining the degree of risk for each roadway and sidewalk lane around the intersection with respect to the traveling of the own vehicle based on the object information of interest, the traveling lane and traveling direction of the own vehicle Is displayed on the screen of the display unit 160. The driving support information is displayed in the frame corresponding to the lane.

  As described above, in the driving support system 1 according to the present embodiment, the frame corresponding to each lane of the roadway and the sidewalk is displayed, and the driving assistance information 40 (or simple) that displays the risk level for each lane in the frame is easy to understand. , 50, 60) are displayed on the screen of the display unit 160 of the vehicle-mounted device 100, the user can quickly determine the danger of the lane related to the traveling of the vehicle.

  Further, in the driving support system 1 of the present embodiment, the driving support information created based on the captured image overlooking the intersection is displayed on the display unit 160 of the vehicle-mounted device 100. Even if the oncoming lane and the adjacent sidewalk are not visible from the window of the car, it is possible to know the danger of the oncoming lane and the sidewalk.

  Furthermore, in the driving support system 1 of the present embodiment, the roadside unit 10 converts the captured image data around the intersection into data (attention object data) in a form that can be easily used by the vehicle-mounted device 100, and further, the traveling of the host vehicle. Since the lane data (mark creation data) for which it is preferable to determine the risk level of the lane is summarized, the processing performed in the in-vehicle device 100 can be greatly reduced, and the burden on the in-vehicle device 100 is reduced. be able to.

  In the above-described embodiment, the case where the roadway and the sidewalk exist only on the road in the vertical direction has been described as an example. However, the present invention is not limited thereto, and the roadway and the sidewalk also exist on the road in the left-right direction. The same applies to the case. Moreover, although the case where the 1st and 2nd optical beacon transmitters 16 and 17 were installed only in the left lane of the up-and-down direction road was demonstrated as an example, it is not restricted to this, The up-down direction right-side lane and left and right The same applies to the case where the first and second optical beacon transmitters are installed in both lanes in the direction.

  In the above-described embodiment, the determination criteria used when determining the risk level are the contents shown in FIG. 10, but other determination criteria may be used. For example, the content of the determination criterion may be changed according to the type of the attention object. In addition, the risk of the sidewalk is determined not only by the presence or absence of bicycles and pedestrians (in other words, the distance to the intersection), but also by criteria such as determining the speed including the speed of automobiles and motorcycles. May be.

  In the above-described embodiment, the difference in risk level is represented by the color of the mark indicating the risk level. However, the difference in risk level may be expressed in a display form other than the color. For example, the difference in the risk level may be expressed by blinking the mark.

  In the embodiment described above, lane D and lane a are set as potential danger lanes when the vehicle travels on lane A of the left turn lane and turns left at the intersection. In addition to lane D and lane a, lane A may be set.

  When Lane A is included as a potential danger lane, the danger level of Lane A is determined by the presence or absence of a motorcycle. That is, when there is a motorcycle in lane A, there is a possibility that the motorcycle will be involved when the vehicle turns to the left. Therefore, it is determined that the motorcycle is “dangerous”, and there is no motorcycle in lane A. Is determined to be “safe”.

  FIG. 11 is a diagram illustrating an example of driving support information displayed when the own vehicle travels in lane A of the left turn lane and makes a left turn at the intersection in the above-described example. In FIG. 11, the attention object information shown in FIG. 7B includes the attention object in Lane A, the type of the object is a motorcycle, the distance is 30 m from the center of the intersection, and the speed is The driving support information created based on the attention object information to which the attention object data of 25 km / h is added is shown.

  As shown in FIG. 11, the driving support information 70 is the same as the driving support information 50 shown in FIG. 4, for each of all lanes (lane D, lane E, and lane F) in the lane facing the lane in which the vehicle is traveling. And frames 75 corresponding to the left sidewalk (lane a). However, the difference from the driving support information 50 shown in FIG. 4 is that the frame 75 corresponding to the lane a also serves as a frame for displaying the risk degree of the lane A. Further, a mark 75a (mark indicated by a black circle in FIG. 11) indicating the degree of danger “danger” is displayed in the frame 75 corresponding to the lane a and the lane A.

It is a block diagram which shows the structure of the driving assistance system which concerns on one Embodiment of this invention. It is a figure which shows an example of the structure of an intersection, and the installation position of a roadside machine. It is a figure which shows an example of the driving assistance information displayed when the own vehicle drive | works the lane C of the right turn lane at the intersection shown in FIG. 2, and makes a right turn at the intersection. It is a figure which shows an example of the driving assistance information displayed when the own vehicle drive | works the lane A of the left turn lane at the intersection shown in FIG. 2, and makes a left turn at the intersection. It is a figure which shows an example of the driving assistance information displayed when the own vehicle drive | works the lane B of a straight lane at the intersection shown in FIG. 2, and goes straight on the intersection. It is a flowchart which shows an example of the process after imaging | photography the image of the periphery of an intersection performed in the control part of a roadside machine among the driving assistance systems which concern on this embodiment until it transmits attention object information. 7A is a diagram showing an example of attention object information for lane C, FIG. 7B is a diagram showing an example of attention object information for lane A, and FIG. It is a figure which shows an example of the attention object information with respect to. It is a flowchart which shows an example of a process when transmitting the intersection data performed in the control part of a roadside machine among the driving assistance systems which concern on this embodiment. It is a flowchart which shows an example of a process after receiving the attention object information and intersection data which are performed in the control part of onboard equipment among the driving assistance systems which concern on this embodiment until it displays driving assistance information. It is a figure which shows an example of the criteria used when determining the risk for every lane. It is a figure which shows the other example of the driving assistance information displayed when the own vehicle drive | works the lane A of the left turn lane at the intersection shown in FIG. 2, and makes a left turn at the intersection.

Explanation of symbols

1 ... Driving support system,
10 ... roadside machine,
11, 11a, 11b, 11c, 11d ... intersection camera (photographing means),
13 ... intersection data storage unit,
14: Photographed image data analysis unit (image data analysis means),
15 ... Attention object information creation unit (mobile body information creation means),
16, 16a, 16b, 16c, 16d ... 1st optical beacon transmitter,
17, 17a, 17b, 17c, 17d ... second optical beacon transmitter (transmitting means),
18 ... Roadside machine control unit (control means for roadside machine),
40, 50, 60, 70 ... driving support information,
41, 42, 43, 44, 51, 52, 53, 55, 61, 62, 63, 71, 72, 73, 75 ... frame,
42a, 43a, 44a, 51a, 55a, 61a, 71a, 75a ... marks indicating the degree of danger,
100: Onboard equipment,
110 ... beacon information receiving unit (receiving means, vehicle position acquiring means),
130 ... Vehicle traveling direction detector (traveling direction detector),
140 ... attention object information analysis part (mobile body information analysis means),
150 ... Driving support information creation unit (driving support information creation means),
160... Display section (display means)
170: OBE control unit (control means for OBE).

Claims (6)

A driving support system in which a roadside device installed at a predetermined position in the vicinity of an intersection and an in-vehicle device having a function of displaying an image are connected to be communicable,
The roadside machine
A transmission means for transmitting information;
Photographing means for photographing the intersection and its surroundings;
Control means for transmitting the moving body information of the moving body existing in each lane of the roadway and the sidewalk around the intersection created based on the image photographed by the photographing means through the sending means,
The in-vehicle device is
Display means;
Receiving means for receiving the mobile object information;
The risk for each lane of the roadway and sidewalk around the intersection with respect to the traveling of the vehicle determined based on the moving body information received by the receiving means and the position and traveling direction of the vehicle is within the frame corresponding to the lane. A driving support system comprising: control means for displaying the driving support information displayed on the screen of the display means. The roadside machine further extracts a moving body existing on a roadway and a sidewalk around the intersection from the image photographed by the photographing means, and detects image data analysis means for detecting the type, position and speed of the moving body,
Based on the detection result of the image data analysis means, create moving body data comprising the presence / absence of the moving body, the type, the distance to the intersection and the speed for each lane of the roadway and sidewalk around the intersection, Mobile body information creating means for creating the mobile body information composed of the mobile body data of a predetermined lane predetermined for each lane,
The driving support system according to claim 1, wherein the control unit of the roadside device transmits the mobile body information created by the mobile body information creation unit via the transmission unit. The vehicle-mounted device further includes vehicle position acquisition means for acquiring the vehicle position;
Traveling direction detection means for detecting the traveling direction of the host vehicle;
Extracting the moving body data for the own vehicle position acquired by the vehicle position acquisition means and the traveling lane of the own vehicle detected by the traveling direction detection means from the moving body information received by the receiving means, and the moving body data Based on the vehicle information analysis means for determining the degree of risk for each roadway and sidewalk lane around the intersection with respect to the traveling of the vehicle,
Based on the moving body information received by the receiving means, a frame corresponding to a roadway and a sidewalk lane is created, and a mark indicating the degree of risk determined by the moving body information analyzing means is displayed in the corresponding frame. Driving assistance information creating means for creating the driving assistance information;
The driving support system according to claim 2, wherein the control unit of the vehicle-mounted device displays the driving support information created by the driving support information creating unit on a screen of the display unit.   The driving support system according to claim 3, wherein the moving body information analyzing unit determines that the moving body is dangerous when a distance to the intersection of the moving body is equal to or less than a predetermined value.   The driving support information creation means creates a frame corresponding to all the lanes on the opposite lane around the intersection and the sidewalk lane on the opposite lane side when the vehicle is traveling in a right turn lane. When traveling on a left turn lane, create a frame corresponding to all the lanes on the opposite lane around the intersection and the sidewalk lane on the opposite side of the opposite lane, and when the vehicle is traveling on a straight lane, The driving support system according to claim 3, wherein a frame corresponding to all of the lanes of the opposite lane around the intersection is created.   4. The driving support system according to claim 3, wherein the driving support information creating unit changes a display mode of a mark indicating the risk level according to the risk level determined by the mobile body information analysis unit.

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