JP5332808B2 - Driving support system - Google Patents

Description

  The present invention relates to a driving support system that supports driving of a vehicle at an intersection.

  Conventionally, as a driving support system for supporting driving of a vehicle at an intersection, for example, as described in Japanese Patent Laid-Open No. 11-53686, the distance to the stop limit position (temporary stop position) of the intersection and the traveling state of the vehicle Based on this, a driving state at a stop limit position is predicted, an appropriateness of the driving state of the vehicle is determined, and a warning is given to the driver. According to this device, it is possible to effectively prompt the driver to stop at the vehicle stop limit position.

Japanese Patent Laid-Open No. 11-53686

  However, in the above-described system, depending on the passing mode of the vehicle (the distance between the vehicles, the running speed, the observance status of the temporary stop, etc.), if an intervention in the running such as the speed control is performed, the subsequent vehicle or the like is suddenly braked. There is a risk of inviting. As a result, there is a problem that it is not possible to provide driving support suitable for the vehicle passage mode.

  Therefore, the present invention has been made to solve such a technical problem, and an object of the present invention is to provide a driving support system that can perform driving support in accordance with a vehicle passage mode.

That is, the driving support system according to the present invention is a driving support system that supports driving of a vehicle at an intersection, and is detected by a passing mode detecting unit that detects a passing mode of the vehicle passing through the intersection and a passing mode detecting unit. based on the passage aspect of a vehicle, and a support mode setting means for setting the assist mode for the vehicle, assist mode setting means, as the number of vehicles often pass, providing information without control intervention in the vehicle This is characterized in that the control intervention is performed on the vehicle as the number of vehicles passing therethrough decreases .

According to the present invention, the passage mode detection means detects the passage mode of the vehicle passing through the intersection, and the support mode for the vehicle is set based on the vehicle passage mode detected by the support mode setting means. It is possible to provide driving assistance that meets the requirements . Contact name passing mode of the vehicle herein includes spacing of the vehicle, running speed, and compliance pause.

According to the present invention, as the number of passing vehicles increases, information is provided without performing control intervention on the vehicles, and as the number of passing vehicles decreases, control intervention is performed on the vehicles. , while suppressing the influence on the following vehicle due to the reduction to hard braking generation of Kyusei dynamic by the control intervention, it is possible to perform appropriate driving assistance.

In the driving support system according to the present invention, it is preferable that the support mode setting means sets the support mode for the vehicle based on the number ratio of the vehicle that fails to perform the stop or the vehicle that does not perform the stop of the yellow / red signal. . In addition, it is preferable that the support form setting means further sets the support form for the vehicle based on the passing speed of the vehicle or the dependence of the driver of the vehicle on the driving support system.

  ADVANTAGE OF THE INVENTION According to this invention, the driving assistance system which can perform the driving assistance according to the passage mode of a vehicle can be provided.

It is a schematic structure figure of a roadside device of a driving support system concerning an embodiment of the present invention. It is a top view which shows the condition where a roadside apparatus is applied in an intersection. It is a schematic block diagram of the vehicle-mounted apparatus of the driving assistance system which concerns on embodiment of this invention. It is a figure which shows the relationship between the legal compliance status of a passing vehicle, and a driving assistance level. It is a flowchart which shows operation | movement of a vehicle-mounted apparatus.

  Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings. The driving support system according to the present embodiment includes, for example, a roadside device 1 installed on the road side and an in-vehicle device 2 installed on the vehicle.

  FIG. 1 is a schematic configuration diagram of a roadside device of a driving support system according to an embodiment of the present invention. For example, as shown in FIG. 2, the roadside device 1 is a device that is installed in the vicinity of the temporary stop position SL of the intersection T and performs driving support for the vehicle M passing through the intersection T. The roadside device 1 includes a passage mode detection sensor 11 and a controller 12.

  The passing mode detection sensor 11 detects the passing mode of the vehicle M passing through the intersection T. For example, as shown in FIG. 2, the passing mode detection sensor 11 is erected at the front position of the vehicle M entering the intersection T. The mode of passage of the entering vehicle M is detected, and the detected result is output to the controller 12.

  The controller 12 controls the entire roadside apparatus 1 and is mainly configured by a computer including a CPU (Central Processing Unit), a ROM (Read Only Memory), and a RAM (Random Access Memory), for example. The controller 12 includes a communication unit 13, a communication control unit 14, a transmission / reception signal processing unit 15, a regulation information management unit 16, a regulation compliance analysis unit (legal compliance analysis unit) 17, and a support level setting unit (support type setting unit) 18. Have.

  The communication unit 13 performs transmission / reception of information signals (that is, road-to-vehicle communication) with the vehicle M traveling in the communication area, and inputs a signal received by the antenna 19 to the communication control unit 14. The communication data output from the communication control unit 14 through 19 is transmitted to the vehicle M. Note that the communication data output from the communication control unit 14 includes signal information of a traffic light (not shown), temporary stop restriction information, and a support level permitted by the roadside device 1.

  The communication unit 13 and the antenna 19 are installed in the vicinity of the traveling path on which the vehicle M travels, for example, above or on the side of the traveling path, and are capable of spot communication with the traveling vehicle M. An optical beacon is preferably used as the communication unit 13 and the antenna 19, but other than the optical beacon may be used.

  The communication control unit 14 controls transmission and reception in the communication unit 13 and records communication data. The transmission / reception signal processing unit 15 performs transmission / reception signal processing related to road-to-vehicle communication. The regulation information management unit 16 stores and manages regulation information including signal information of traffic lights installed at the intersection T and temporary stop regulation information. Further, the regulation information management unit 16 provides each regulation information to the regulation compliance analysis unit 17.

  The legal compliance analysis unit 17 analyzes and determines the legal compliance status of the passing vehicle M based on the passing mode of the vehicle M detected by the passing mode detection sensor 11 and the legal information provided from the legal information management unit 16. To do.

  The support level setting unit 18 sets a driving support level according to the legal compliance status of the vehicle M based on the result analyzed by the legal compliance analysis unit 17. For example, as shown in FIG. 4, the assistance level setting unit 18 sets the driving assistance level based on whether or not the passing vehicle is stopped and the ratio of the number of vehicles. The driving support level set by the support level setting unit 18 is a support level permitted by the roadside device 1.

  FIG. 4 is a diagram illustrating the relationship between the legal compliance status of the passing vehicle and the driving support level. In FIG. 4, the horizontal axis represents the driving support level, and the vertical axis represents the ratio of the number of non-performing vehicles at a stop or the number of non-performing vehicles at a yellow / red signal. As shown in FIG. 4, when the ratio of the number of non-performing vehicles at a stop or the ratio of the number of non-performing vehicles at a yellow / red signal is high, the driving support level is set low and information is provided to passing vehicles.

  Then, as the ratio of the number of non-performing vehicles at a temporary stop or the ratio of the number of non-performing vehicles at a yellow / red signal is reduced, the support level is raised, and the transition from information provision to alerting and further warning. When the ratio of the number of non-performing vehicles at a temporary stop or the ratio of the number of non-performing vehicles with a yellow / red signal is low, the driving support level is set high and intervention control is performed.

  The setting of the driving support level is not necessarily limited to the relationship shown in FIG. For example, even if the ratio of the number of non-performing vehicles is high, if the passing speed of the vehicle is low, the possibility of a rear-end collision is low, and if the driver's overdependence on the system is low, the support level is higher than that shown in FIG. It is also possible to pull up one or two steps.

  In addition, this driving support level changes according to changes in the legal compliance status of passing vehicles. For example, if the state of compliance with passing vehicles has been improved during driving support at a low level, the level is raised so as to allow a high level of support. On the other hand, if the state of compliance with passing vehicles becomes worse during implementation with high-level driving support, the level is lowered so as to permit only at a low level. If the legal compliance situation is not improved at all, low level driving assistance will be continued.

  The roadside device 1 configured as described above detects the passage mode of the vehicle M passing through the intersection T, analyzes the compliance status of the passing vehicle M, and further classifies the intersection T classified by day of the week, time zone, weather, and the like. Create a database of legal compliance status and update it daily. Examples of the legal compliance status database include the ratio of vehicles that stop before the temporary stop position SL, the passing speed of unstopped vehicles, and the like in the case of temporary stop regulation. In addition, in the case of signal information, the ratio of vehicles that stop according to the road law with a yellow / red signal, the passing speed of unstopped vehicles, and the like can be mentioned.

  FIG. 3 is a schematic configuration diagram of an in-vehicle device of the driving support system according to the embodiment of the present invention. The in-vehicle device 2 is installed in the vehicle M, acquires information through road-to-vehicle communication with the roadside device 1, and executes driving support for the own vehicle based on the acquired information. The in-vehicle device 2 includes a driving support ECU (Electronic Control Unit) 20, a road-to-vehicle communication device 30, a brake ECU 31, a display 32, a speaker 33, and a buzzer 34.

  The driving support ECU 20 controls the entire vehicle, and is configured mainly by a computer including a CPU (Central Processing Unit), a ROM (Read Only Memory), and a RAM (Random Access Memory), for example. The road-to-vehicle communication device 30 communicates with the roadside device 1 on the infrastructure side, transmits information on the own vehicle to the roadside device 1 through the antenna 35, and receives communication data transmitted from the roadside device 1.

  The brake ECU 31 performs brake control of the vehicle M, and when the control intervention is performed as driving assistance, the brake ECU 31 receives a control signal from the driving assistance ECU 20 and executes forced braking of the vehicle M. The display 32 displays the information of the GPS 36, and also displays signal information, an instruction to stop at the temporary stop position, and the like to the driver. The speaker 33 informs the driver of signal information, an instruction to stop at the pause position, and the like. The buzzer 34 warns the driver with an alarm sound when, for example, the driver does not stop at the temporary stop position, or when entering the intersection without ignoring the signal.

  The in-vehicle device 2 further includes a GPS 36, a map database 37, a vehicle speed sensor 38, a brake SW (Switch) 39, and a winker SW 40. The GPS 36 receives a GPS (Global Positioning System) satellite signal for detecting the position of the own vehicle, and detects the position of the own vehicle based on the received GPS satellite signal. The GPS 36 is connected to the driving support ECU 20 and outputs position information of the own vehicle to the driving support ECU 20.

  The map database 37 stores, for example, information on a map on which the host vehicle is traveling, road surface gradient information, and the like. The vehicle speed sensor 38 has a function of detecting the vehicle speed of the host vehicle and outputting the detected vehicle speed to the driving support ECU 20 as a vehicle speed signal. The vehicle speed sensor 38 is attached to a wheel, for example, and detects the vehicle speed by measuring the rotational speed of the wheel.

  The brake SW 39 is installed, for example, on a brake pedal, detects the brake operation amount of the host vehicle, and outputs the detection result to the driving support ECU 20. The blinker SW40 functions as a general direction indicator.

  The driving support ECU 20 includes a communication control unit 21, a transmission / reception signal processing unit 22, a driving support calculation unit 23, a driving support level setting unit 24, and an HMI (Human Machine Interface) control unit 25. The communication control unit 21 controls transmission and reception in the road-to-vehicle communication device 30. The transmission / reception signal processing unit 22 processes transmission / reception signals related to road-to-vehicle communication.

  The driving support calculation unit 23 calculates driving support for the host vehicle using a driving support algorithm based on the signal information and the temporary stop regulation information received by the road-to-vehicle communication device 30. The driving assistance level setting unit 24 sets the driving assistance level of the own vehicle based on the own vehicle equipment status and the assistance level received from the roadside device 1, and outputs the driving assistance level to the driving assistance ECU 20.

  And driving assistance ECU20 receives a driving assistance level, and performs driving assistance in the range of the level. In addition, the driving support ECU 20 receives communication data from the roadside device 1 and determines whether or not the driving support ECU 20 matches the operation status of the driving support system (for example, whether the driver stops at the temporary stop position SL). The HMI control unit 25 controls the display 32, the speaker 33, and the buzzer 34.

  Next, the operation of the in-vehicle device 2 will be described with reference to FIG. This control process of the in-vehicle device 2 is repeatedly executed at a predetermined cycle by the driving support ECU 20 of the vehicle M approaching the intersection T, for example.

  First, in the process of S11, communication data is acquired by road-to-vehicle communication. At this time, the vehicle M acquires communication data through communication with the roadside device 1. Note that the communication data includes the support level set by the support level setting unit 18 in addition to the signal information of the traffic lights at the intersection T and the suspension stop information. In the process of S12 following the process of S11, it is determined whether or not the vehicle is proceeding to the intersection T.

  If it is determined that the vehicle is not proceeding to the intersection T, the control process ends. On the other hand, when it determines with progressing to the intersection T, a control process progresses to S13 and the own vehicle stop prediction calculation is performed. At this time, for example, the driving support ECU 20 predicts and calculates the stop of the host vehicle based on the distance to the temporary stop position SL before the intersection T, the speed of the host vehicle, and the like.

  In the process of S14 following the process of S13, it is determined whether or not to stop. At this time, the driving assistance ECU 20 determines whether the host vehicle is likely to stop at the temporary stop position based on the result of the host vehicle stop prediction calculation. If it is determined to stop, the control process returns to S12. On the other hand, when it is determined that it is unlikely to stop, the control process proceeds to S15, and the support level is acquired from the communication data. At this time, the driving assistance ECU 20 extracts the assistance level included in the communication data acquired from the roadside device 1.

  In the process of S16 following the process of S15, a support level is set. At this time, the driving support level setting unit 24 sets the extracted support level as the driving support level of the own vehicle. In the process of S17 following the process of S16, driving assistance for signal information is executed. At this time, the driving support ECU 20 performs driving support of the signal information based on the driving support level set in S16.

  In the process of S18 following the process of S17, it is determined whether or not the support end condition is satisfied. If it is determined that the support end condition is not satisfied, the control process returns to S17. On the other hand, when it is determined that the support end condition is satisfied, the control process proceeds to S19, and the driving support end process at the intersection is performed. Then, when the process of S19 is finished, a series of control processes are finished.

  According to the driving support system according to the present embodiment, the legal compliance status of the vehicle M is analyzed based on the passing mode of the vehicle M detected by the passing mode detection sensor 11, and the driving support level for the vehicle M is determined based on the analysis result. Therefore, it is possible to perform appropriate driving support according to the laws and regulations of the passing vehicle M. As a result, it is possible to provide driving assistance that matches the mode of passage of the vehicle M.

  Therefore, at an intersection where there are many passing vehicles M complying with the regulations, driving assistance is performed at a high support level such as intervention control for the passing vehicles M, and at the intersection where there are many passing vehicles M that do not comply with the regulations very much. Driving assistance can be performed at a low assistance level such as providing information to M. Therefore, it is possible to reduce the occurrence of a sudden braking vehicle due to the operation of the driving support system, and to suppress the influence on the following vehicle or the like due to the sudden braking.

  In addition, the driver's overdependence on the system can be suppressed by providing appropriate driving support to the driver who does not obey the law intentionally or intentionally. Furthermore, effective and appropriate driving assistance can be implemented even for drivers who have overlooked signs and traffic lights due to factors such as oversight, inadvertentness, and obsolescence. As a result, it is easy to achieve a smooth traffic flow.

  In addition, embodiment mentioned above demonstrated an example of the driving assistance system which concerns on this invention, and the driving assistance system which concerns on this invention is not limited to what was described in this embodiment. The driving assistance system according to the present invention may be a modification of the driving assistance system according to the embodiment or application to other things so as not to change the gist described in each claim.

  For example, in the above-described embodiment, an example in which driving assistance is performed by setting a driving assistance level based on the legal compliance status of the vehicle M has been described, but the present invention is not limited thereto. For example, when the number of detected vehicles is large, the support form setting means provides information without performing control intervention on the vehicles, and on the other hand, performs control intervention on the vehicles when the number of detected vehicles is small. It is good. By not performing control intervention when the number of vehicles detected in this way is large, it is possible to reduce the occurrence of sudden braking vehicles and to suppress the influence on subsequent vehicles and the like.

DESCRIPTION OF SYMBOLS 1 ... Roadside apparatus, 2 ... In-vehicle apparatus, 11 ... Passing mode detection sensor, 17 ... Regulatory compliance analysis part (legal compliance analysis means), 18 ... Support level setting part (support form setting means), 20 ... Driving assistance ECU.

Claims (3)

A driving support system for driving a vehicle at an intersection,
Passage mode detection means for detecting the passage mode of the vehicle passing through the intersection;
Assistance form setting means for setting a assistance form for the vehicle based on the passage form of the vehicle detected by the passage form detection means;
Equipped with a,
The support form setting means provides information without performing control intervention on the vehicle as the number of passing vehicles increases, and performs control intervention on the vehicle as the number of passing vehicles decreases. Driving support system. 2. The driving support according to claim 1, wherein the support form setting means sets a support form for the vehicle based on a ratio of the number of non-performing stop vehicles in a temporary stop or a non-performing stop vehicle of a yellow / red signal. system. The support form setting means further on the basis of the dependence on the driving support system of the passing speed or the driver of the vehicle of the vehicle, driving according to claim 2, characterized in that you set support mode for the vehicle Support system.

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