JP5446306B2 - Driving assistance device - Google Patents

Driving assistance device Download PDF

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JP5446306B2
JP5446306B2 JP2009032653A JP2009032653A JP5446306B2 JP 5446306 B2 JP5446306 B2 JP 5446306B2 JP 2009032653 A JP2009032653 A JP 2009032653A JP 2009032653 A JP2009032653 A JP 2009032653A JP 5446306 B2 JP5446306 B2 JP 5446306B2
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host vehicle
vehicle
driving support
signal
state
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JP2010191518A (en
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克実 土田
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トヨタ自動車株式会社
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Description

  The present invention relates to a driving support device that supports driving of a vehicle.

  As a conventional driving support device, for example, as described in Patent Document 1, information on an optimal way of passing an intersection is provided to a driver based on a vehicle running state (vehicle speed) and a traffic light state. What is made is known.

JP 2002-373396 A

  As a system that supports driving so that the vehicle passes through the intersection optimally as in the above-described prior art, the vehicle is accelerated (accelerator ON) so that the vehicle can pass through the intersection with a green light to improve fuel efficiency. There are a system and a system that issues an alarm when the vehicle is in an accelerator-on state in order to prevent the vehicle from entering the intersection with a red light. However, when such two systems coexist, driving assistance that interferes with each other may be performed, causing the driver to be confused.

  The objective of this invention is providing the driving assistance apparatus which can suppress that two driving assistances interfere and a driver is confused.

According to the present invention, when the host vehicle travels while maintaining the current vehicle speed, when the host vehicle enters the traffic signal intersection with a red signal, the host vehicle can pass in a state of a green signal before the signal signal changes to a red signal. The first driving support means for accelerating the host vehicle in the section in front of the traffic signal, and when the host vehicle is estimated to enter the traffic signal in a red signal state from the current running state of the host vehicle, Implementation support for determining the implementation details of the driving support so as not to implement the second driving support means when the first driving support means and the second driving support means for promoting deceleration of the host vehicle in the preceding section are implemented Determining means , wherein the first driving support means urges the vehicle to stop the acceleration operation in a section where the vehicle speed does not exceed the speed limit and is a predetermined distance before the traffic light. To do. Note that when the first driving support means prompts acceleration of the host vehicle, the vehicle speed of the host vehicle does not exceed the speed limit and rapid acceleration is not performed. Further, it is desirable to encourage the acceleration operation to end in a section up to a predetermined distance before the traffic light so that the host vehicle does not accelerate at a timing immediately before passing the traffic light.

In such a driving support device, if it is estimated that if the host vehicle maintains the current speed as it is, the host vehicle will enter the traffic light in a red signal state, the first driving support means will cause the host vehicle to The acceleration of the host vehicle is urged in the section in front of the traffic light so that the vehicle can pass in the state of a green light. On the other hand, in the above case, it is presumed that the host vehicle enters the traffic light in a red signal state, and therefore, the deceleration of the host vehicle is also urged by the second driving support means in the section before the traffic signal. Therefore, in the present invention, when the first driving support means is implemented, the second driving support means is not implemented, thereby preventing the interference between the first driving support means and the second driving support means. . Thereby, it can suppress that a driver causes confusion. Furthermore, the first driving support means can stop the acceleration at the timing of the approach straight line at the traffic signal intersection by ending the acceleration operation in a section that is a predetermined distance before the traffic signal intersection. .

  Preferably, the implementation support determining means determines whether or not the own vehicle can pass the traffic light in a green state when the own vehicle is accelerated based on the current running state of the own vehicle and accelerates the own vehicle. If it is determined that the host vehicle can pass the traffic light in a green signal state, it is decided to implement the first driving support means, and when the host vehicle is accelerated, the host vehicle passes the traffic signal in a green signal state. When it is determined that the vehicle cannot pass, the second driving support means is determined to be implemented. When the host vehicle is accelerated, it is possible to easily prevent interference between the first driving support unit and the second driving support unit by determining whether the host vehicle can pass through the traffic light in a green signal state. .

Preferably, the second driving support means is configured such that when it is estimated that the own vehicle enters the traffic signal in a red signal state, the time until the own vehicle reaches the traffic signal is less than a predetermined value and the own vehicle is When the accelerator is in an ON state, the host vehicle is prompted to decelerate. As the second driving support means, it is particularly effective to promote deceleration of the host vehicle when the host vehicle is in the accelerator ON state .

  According to the present invention, it is possible to prevent the driver from being confused because interference between the two driving assists is prevented. As a result, the two driving assists can be effectively coexisted.

FIG. 1 is a block diagram showing a schematic configuration of an embodiment of a driving support apparatus according to the present invention. It is a conceptual diagram which shows an example of the accelerator indicator shown in FIG. FIG. 2 is a flowchart showing a driving support processing procedure executed by an ECU shown in FIG. 1. FIG. It is a timing diagram which shows an example of the relationship between the light color of a traffic light, the vehicle speed of the own vehicle, and the accelerator state of the own vehicle. It is a flowchart which shows the detail of the process sequence of the red signal approach prevention function by the alarm shown in FIG.

  DESCRIPTION OF EMBODIMENTS Hereinafter, a preferred embodiment of a driving support apparatus according to the present invention will be described in detail with reference to the drawings.

  FIG. 1 is a block diagram showing a schematic configuration of an embodiment of a driving support apparatus according to the present invention. In the figure, a driving support device 1 of the present embodiment is a device that is mounted on a vehicle and that supports driving of the vehicle at an intersection (a traffic signal intersection) where a traffic light is installed.

  The driving support device 1 includes an infrastructure sensor 2, a vehicle speed sensor 3, an accelerator opening sensor 4, an accelerator indicator 5, an alarm device 6, and an ECU (Electronic Control Unit) 7.

  The infrastructure sensor 2 is a device that receives and acquires infrastructure information transmitted from an infrastructure device 8 (see FIG. 4) such as an optical beacon installed on a road. The infrastructure information includes, for example, traffic signal information (traffic signal type, signal cycle, display time, etc.) and road information (road gradient, road curvature, distance to stop line, etc.).

  The vehicle speed sensor 3 is a sensor that detects the vehicle speed of the host vehicle. The accelerator opening sensor 4 is a sensor that detects the accelerator opening of the host vehicle.

  The accelerator indicator 5 is a device that displays the accelerator opening of the host vehicle. An example of the accelerator indicator 5 is shown in FIG. The accelerator indicator 5 shown in the figure displays the current accelerator opening (see P) and the target accelerator opening range (see Q) in levels. The current accelerator opening and target accelerator opening may be displayed numerically.

  The ECU 7 includes a CPU, a memory such as a ROM and a RAM, an input / output circuit, and the like. The ECU 7 inputs the infrastructure information acquired by the infrastructure sensor 2, the detection values of the vehicle speed sensor 3 and the accelerator opening sensor 4, performs predetermined processing, and sets the target accelerator opening range from the accelerator indicator 5 to the current accelerator opening. Or a warning sound is generated from the alarm device 6.

  FIG. 3 is a flowchart showing a driving support processing procedure executed by the ECU 7. In the figure, first, based on the traffic signal information and road information acquired by the infrastructure sensor 2 and the vehicle speed detected by the vehicle speed sensor 3, the host vehicle accelerates (accelerates ON) to cause the host vehicle to light a traffic light intersection ahead. In step S51, it is determined whether or not At this time, the determination is performed by a known method using traffic signal information such as a signal cycle, road information such as a road gradient and a distance to a stop line, and vehicle speed data. The acceleration guidance at this time is such that the vehicle speed does not exceed the speed limit, and natural acceleration is achieved without sudden acceleration. In addition, it is desirable that the acceleration operation is terminated in a section that is a predetermined distance before the traffic signal intersection so as not to accelerate at the timing immediately before the traffic signal intersection enters.

  When it is determined that the host vehicle can accelerate through the traffic signal intersection ahead by a green signal by accelerating and guiding the host vehicle, the acceleration guidance function by the accelerator indicator 5 as shown in FIG. Acceleration is urged in the section before the traffic signal intersection (step S52). For example, as shown in FIG. 4, when the host vehicle travels while maintaining the current vehicle speed V, the host vehicle enters the traffic signal intersection with a red signal (see the broken line). When the vehicle is accelerated by acceleration and the vehicle can pass through the traffic signal intersection with a green light (see solid line), the accelerator indicator 5 displays the target accelerator opening at a higher level (see FIG. 2).

  On the other hand, if it is determined that the vehicle is not able to exit the traffic signal intersection ahead with a green light even if the vehicle is accelerated and guided, a red traffic light entry prevention function is implemented by warning. Deceleration or stop is urged in the previous section (step S53).

  The details of the processing procedure of the red signal entry prevention function by the alarm are shown in FIG. In the figure, based on the traffic signal information and road information acquired by the infrastructure sensor 2 and the vehicle speed detected by the vehicle speed sensor 3, when the host vehicle travels while maintaining the current vehicle speed, It is determined whether or not the vehicle enters with a signal (step S61). At this time, when it is determined that the own vehicle does not enter the traffic light intersection with a red light, this processing is terminated.

  When it is determined that the host vehicle enters the traffic light intersection with a red light, based on the road information acquired by the infrastructure sensor 2 and the vehicle speed detected by the vehicle speed sensor 3, the time TTC (until the host vehicle reaches the traffic signal intersection) It is determined whether or not (Time To Crossroad) has reached the alarm timing equivalent time Tc (step S62). The alarm timing is set in advance to be performed a predetermined time (for example, several seconds) before the host vehicle reaches the traffic signal intersection. When it is determined that the time TTC until the host vehicle reaches the traffic signal intersection has reached the alarm timing equivalent time Tc, this processing is terminated.

  If it is determined that the time TTC until the host vehicle reaches the traffic signal intersection has not reached the alarm timing equivalent time Tc, whether or not the host vehicle is in the accelerator ON state based on the detection signal of the accelerator opening sensor 4 Is determined (step S63). When it is determined that the host vehicle is not in the accelerator ON state, this process is terminated. When it is determined that the host vehicle is in the accelerator ON state, an alarm sound is generated by the alarm device 6 (step S64).

  Therefore, as shown in FIG. 4, when the host vehicle travels while maintaining the current vehicle speed V, the host vehicle is expected to enter the traffic signal intersection with a red signal (see the broken line), and the host vehicle reaches the traffic signal intersection. When the time TTC until TTC has not reached the alarm timing equivalent time Tc and the host vehicle is in the accelerator ON state, the driver decelerates or stops in the section just before the traffic light intersection with the alarm from the alarm device 6 To encourage.

  In the above, the above-described procedure S52 of the infrastructure sensor 2, the vehicle speed sensor 3, the accelerator indicator 5, and the ECU 7 is the step for accelerating the acceleration of the host vehicle in the section in front of the traffic signal so that the host vehicle can pass the traffic signal in a green signal state. 1 constitutes driving support means. The above-described procedure S53 of the infrastructure sensor 2, the vehicle speed sensor 3, the accelerator opening sensor 4, the alarm device 6 and the ECU 7 is performed when the own vehicle is estimated to enter the traffic light in a red signal state from the current running state of the own vehicle. The second driving support means for accelerating the deceleration of the host vehicle is configured in the section in front of the traffic light. The procedure S51 of the infrastructure sensor 2, the vehicle speed sensor 3, and the ECU 7 is an implementation support determination unit that determines the implementation details of the drive support so that the second drive support unit is not implemented when the first drive support unit is implemented. Configure.

  As described above, in the present embodiment, when it is determined that the host vehicle can exit the traffic signal intersection with a green signal when the host vehicle is accelerated and guided at an appropriate speed, the acceleration indicator function of the accelerator indicator 5 is provided. Enable the implementation and disable the implementation of the red light entry prevention function by alarm. Also, even if the host vehicle is accelerated and guided at an appropriate speed, if it is determined that the host vehicle cannot pass through the traffic light intersection with a green light, the implementation of the red signal entry prevention function by warning is enabled and the accelerator indicator 5 is used. Disable the implementation of the acceleration guidance function.

  In other words, since the acceleration guidance function by the accelerator indicator 5 and the red signal entry prevention function by warning are not performed at the same time, the vehicle turns red even though the driver looks at the accelerator indicator 5 and turns on the accelerator. It is prevented that it is warned that it is approaching with. Thereby, since interference with the acceleration guidance function by the accelerator indicator 5 and the red signal approach prevention function by warning is prevented, it is possible to avoid the driver's confusion. As a result, it is possible to effectively implement two driving assistances, that is, an acceleration guidance function by the accelerator indicator 5 and a red signal approach prevention function by an alarm.

DESCRIPTION OF SYMBOLS 1 ... Driving assistance device, 2 ... Infrastructure sensor (1st driving assistance means, 2nd driving assistance means, implementation assistance determination means), 3 ... Vehicle speed sensor (1st driving assistance means, 2nd driving assistance means, implementation assistance determination means) 4) Accelerator opening sensor (second driving support means), 5 ... Accelerator indicator (first driving support means), 6 ... Alarm (second driving support means), 7 ... ECU (first driving support means, Second driving support means, implementation support determination means).

Claims (3)

  1. When the host vehicle travels while maintaining the current vehicle speed, when the host vehicle enters the traffic signal intersection with a red signal, the host vehicle can pass through the traffic signal in the state of a green signal before changing to the red signal. First driving support means for accelerating acceleration of the host vehicle in a section before the traffic light;
    Second driving support means for accelerating deceleration of the host vehicle in a section before the traffic signal when the host vehicle is estimated to enter the traffic signal in a red signal state from the current running state of the host vehicle;
    When the first driving support means is implemented, an implementation support determining means for determining the implementation details of the driving support so as not to implement the second driving support means ,
    The first driving support means urges that the acceleration operation of the host vehicle be terminated in a section in which the vehicle speed of the vehicle does not exceed the speed limit and is a predetermined distance before the traffic light. apparatus.
  2.   The implementation support determining means determines whether or not the host vehicle can pass the traffic light in a green state when the host vehicle is accelerated based on the current running state of the host vehicle. When it is determined that the host vehicle can pass through the traffic light in a state of a green signal when the vehicle is accelerated, it is determined to implement the first driving support means, and the host vehicle is accelerated when the host vehicle is accelerated. 2. The driving support device according to claim 1, wherein when it is determined that the host vehicle cannot pass through the traffic light in a green signal state, the second driving support means is determined to be implemented.
  3. When it is estimated that the own vehicle enters the traffic signal in a red signal state, the second driving support means has a time until the own vehicle reaches the traffic signal being a predetermined value or less and the own vehicle The driving support device according to claim 1, wherein when the vehicle is in an accelerator-on state, the vehicle is prompted to decelerate .
JP2009032653A 2009-02-16 2009-02-16 Driving assistance device Active JP5446306B2 (en)

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP5459277B2 (en) 2011-08-24 2014-04-02 トヨタ自動車株式会社 Driving assistance device
JP5459276B2 (en) 2011-08-24 2014-04-02 トヨタ自動車株式会社 Driving assistance device
JP2013097621A (en) * 2011-11-01 2013-05-20 Toyota Motor Corp Drive support device
JP5397452B2 (en) * 2011-11-01 2014-01-22 トヨタ自動車株式会社 Driving assistance device
JP2013097620A (en) * 2011-11-01 2013-05-20 Toyota Motor Corp Driving support device
JP6192499B2 (en) * 2013-11-13 2017-09-06 三菱電機株式会社 Display image generation device, display device, and display image generation method
JP2019204440A (en) * 2018-05-25 2019-11-28 トヨタ自動車株式会社 Automatic driving system and control method for automatic driving system
CN109887278A (en) * 2019-02-25 2019-06-14 百度在线网络技术(北京)有限公司 Crossing travelling-crane method, device and the terminal of vehicle

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JPH1076922A (en) * 1996-09-02 1998-03-24 Honda Motor Co Ltd Driving operation support device
JP2006018587A (en) * 2004-07-01 2006-01-19 Matsushita Electric Ind Co Ltd Signal control system
JP2006329078A (en) * 2005-05-26 2006-12-07 Fujitsu Ten Ltd Safety control device and method of drive assisting device
JP4462274B2 (en) * 2007-01-31 2010-05-12 住友電気工業株式会社 Road-to-vehicle communication system and optical beacon
JP5056174B2 (en) * 2007-05-31 2012-10-24 住友電気工業株式会社 Vehicle driving support system, driving support device, vehicle, and vehicle driving support method
JP2008296798A (en) * 2007-06-01 2008-12-11 Denso Corp Control device for vehicle
JP4825173B2 (en) * 2007-06-27 2011-11-30 三菱電機株式会社 Obe

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