JP5464885B2 - Parallel running warning device, vehicle and program - Google Patents

Description

  The present invention relates to a parallel running warning device, a vehicle, and a program.

  In the overtaking procedure on roads where the driving lane and the overtaking lane are provided in parallel, such as on an expressway, the vehicle to be overtaken needs to overtake at a speed higher than that of the vehicle running in the driving lane. .

  On the other hand, the truck is equipped with a speed limiter (limiter), and the upper limit of the vehicle speed is determined. Generally, in Japan, the speed limit on a highway is 100 kilometers per hour (100 km / h), so the speed limit device for trucks has an upper limit of 90 km / h.

  Therefore, when the preceding truck is traveling at the maximum vehicle speed, the following trucks trying to overtake this truck will indicate the intention to overtake the preceding car. It is necessary to urge the preceding vehicle to slow down.

  However, such an intention display method has not been established, and each driver merely performs an intention display by a unique method such as blinking a hazard lamp. Therefore, there is no way of confirming whether or not the intention of overtaking is surely transmitted to the preceding vehicle in the truck to be overtaken.

  Under such circumstances, the truck to be overtaken starts to assume that the willingness to pass has passed to the preceding vehicle, but there may be a situation in which the will has not been transmitted to the preceding vehicle.

  In such a case, a situation occurs in which a truck whose lane has been changed in the overtaking lane and a truck that is traveling in the traveling lane run in parallel for a while. Eventually, the parallel running state continues until the driver of the overtaken truck notices the presence of the overtaken truck and decelerates.

  Such a parallel running state hinders the running of a vehicle that can run at a higher vehicle speed than a truck without a speed limiting device, such as a passenger car. Therefore, such a parallel running state is not preferable because it causes a traffic jam.

  Here, Patent Document 1 discloses a technique for removing a parallel running state when one vehicle is accelerated or decelerated for the purpose of eliminating the driver's blind spot when the vehicle is in a parallel running state. Has been. Patent Document 2 discloses a technique for determining whether or not the host vehicle is traveling in an overtaking lane.

JP 2003-237407 A JP 2003-208700 A

  In the technique of Patent Document 1, if the vehicle control that escapes the parallel running state when one of the vehicles decelerates is applied, the above-mentioned parallel running state at the time of overtaking of the truck may be removed. Man analogized.

  Further, by combining the technique of Patent Document 1 and the technique of Patent Document 2, the present applicant examined the possibility of realizing the following vehicle control. That is, if the presence of another vehicle is detected on the right side of the host vehicle while the host vehicle is traveling in a lane that is not an overtaking lane (that is, in the travel lane), the host vehicle is decelerated. As a result, it was considered that vehicle control for removing the above-described parallel running state at the time of overtaking of the truck could be realized.

  According to the road traffic law in Japan, the overtaking lane is on the right side of the driving lane. Therefore, in this specification, explanation will be made based on the road traffic law in Japan. Therefore, in the case of applying the rule that the overtaking lane is on the left side with respect to the traveling lane, it can be similarly explained by replacing the positional relationship of the overtaking lane with respect to the traveling lane in the description of the present specification.

  As described above, the present applicant, by combining the technique of Patent Document 1 and the technique of Patent Document 2, escapes the parallel running state when a truck traveling in a normal traveling lane is overtaking by another truck. However, I realized that there were two problems to be solved at this time.

  The first problem is that if the vehicle running parallel to the right side of the host vehicle is not a truck and is a passenger vehicle not equipped with a speed limiter, there is no need to perform the deceleration control as described above. Also, unnecessary deceleration control is not preferable because it causes traffic congestion. Therefore, it is necessary to determine whether the vehicle running in parallel on the right side is a truck or a passenger car. However, this is not assumed in the technique of Patent Document 1.

  The second problem is that in the vehicle control for escaping the above-mentioned parallel running state, whether or not the own vehicle is traveling in the overtaking lane because the own vehicle is traveling in the normal traveling lane. It is not necessary to judge. On the other hand, it is necessary to determine whether or not the host vehicle is traveling in the traveling lane on the left side of the overtaking lane. However, in the technique of Patent Document 2, it is only possible to determine whether or not the host vehicle is traveling in an overtaking lane, and when there are a plurality of traveling lanes, in which traveling lane the host vehicle travels. It is not possible to judge whether or not

  Accordingly, it has been found that the object cannot be achieved by simply combining the technique of Patent Document 1 and the technique of Patent Document 2. That is, when the techniques of Patent Documents 1 and 2 are simply combined, “when the host vehicle is not traveling in the overtaking lane and the vehicle is on the right lane of the host vehicle, the host vehicle is decelerated for the time being. It is only a control procedure.

  According to this, it is unknown whether the right lane of the host vehicle is an overtaking lane, and it is also unknown whether the vehicle type of the other vehicle running in parallel with the host vehicle is a truck or a passenger car. Under such an unclear situation, the own vehicle results in performing deceleration control on the dark clouds if there is a vehicle running in parallel with the own vehicle. In this case, many unnecessary deceleration controls occur, which becomes a cause of serious traffic congestion more than when the parallel running state continues.

  Therefore, it is difficult to realize vehicle control for removing the parallel running state at the time of overtaking of the truck by simply combining the technique of Patent Document 1 and the technique of Patent Document 2.

  The present invention has been made under such a background, and an object thereof is to provide a parallel running warning device, a vehicle, and a program capable of smoothly overtaking each other with a speed limiting device. To do.

  The first aspect of the present invention is a viewpoint as a parallel running warning device. That is, the parallel running warning device of the present invention detects the presence of an overtaking vehicle traveling on the overtaking lane side as seen from the traveling lane of the own vehicle, and detects the overtaking vehicle type detecting means for detecting the overtaking vehicle type, and the overtaking vehicle type. The vehicle type detected by the detection means is a predetermined vehicle type, and the time when the overtaking vehicle type detection means detects the presence of the overtaking vehicle exceeds the first predetermined time or exceeds the first predetermined time, and the presence of the overtaking vehicle. Alarm means for issuing an alarm when the vehicle speed of the host vehicle is over the first predetermined value or exceeds the first predetermined value within the time during which the vehicle is detected.

  For example, the overtaking vehicle type detection means may detect an inter-vehicle distance detection means that detects an inter-vehicle distance between the host vehicle and the overtaking vehicle, and an adjacent inter-vehicle distance detection means detects an inter-vehicle distance that is equal to or less than a predetermined value or less than a predetermined value. And a means for determining that the passing vehicle is the predetermined vehicle type.

  Further, the alarm means continues the alarm until an alarm stop instruction is given, and there is no alarm stop instruction even though the alarm is continuously performed for the second predetermined time or longer or beyond the second predetermined time. When the vehicle speed of the host vehicle is greater than or equal to the second predetermined value or exceeds the second predetermined value, it is preferable to give an instruction to decelerate the host vehicle.

  Furthermore, it is preferable that the alarm means outputs an alarm again when the parallel running state of the host vehicle continues even after the third predetermined time after the alarm is stopped by the alarm stop instruction.

  And a means for receiving advance information on overtaking from the overtaking vehicle and a means for transmitting advance information on overtaking from the own vehicle to the overtaking vehicle. Can be notified.

  The second aspect of the present invention is a viewpoint as a vehicle. That is, the vehicle of the present invention includes the parallel running warning device of the present invention and means for forcibly decelerating the vehicle speed after the warning is output by the parallel running warning device.

  Alternatively, the vehicle of the present invention is running in parallel for a predetermined time or more or exceeding a predetermined time, the own vehicle is exceeding a predetermined speed or exceeds a predetermined speed, and the speed of the passing vehicle is the speed of the own vehicle. It has a control part which issues a warning or / and forcibly decelerates the vehicle speed on condition that it is above or above the speed and below or below a predetermined value.

  The third aspect of the present invention is a viewpoint as a parallel running warning method. That is, the parallel running warning method of the present invention detects the presence of an overtaking vehicle traveling on the overtaking lane side as seen from the traveling lane of the own vehicle, and detects the overtaking vehicle type detecting step for detecting the overtaking vehicle type, and the overtaking vehicle type. The vehicle type detected by the processing of the detection step is a predetermined vehicle type, and the time during which the presence of the overtaking vehicle is detected by the processing of the overtaking vehicle type detection step exceeds the first predetermined time or exceeds the first predetermined time. And an alarm step for issuing an alarm when the vehicle speed of the host vehicle is greater than or equal to the first predetermined value or exceeds the first predetermined value within the time during which the presence of the overtaking vehicle is detected.

  For example, as the processing of the overtaking vehicle type detection step, as a result of the processing of the adjacent inter-vehicle distance detection step for detecting the inter-vehicle distance between the own vehicle and the overtaking vehicle and the processing of the adjacent inter-vehicle distance detection step, the inter-vehicle distance less than or equal to a predetermined value. Determining that the overtaking vehicle is a predetermined vehicle type when the distance is detected.

  In addition, as a process of the alarm step, the alarm is continued until the alarm stop instruction is issued, and the alarm stop instruction is performed even though the alarm is continuously performed for the second predetermined time or longer or beyond the second predetermined time. If the vehicle speed of the host vehicle is greater than or equal to the second predetermined value or exceeds the second predetermined value, there may be provided a step of giving an instruction to decelerate the host vehicle.

  At this time, the alarm step processing includes a step of outputting an alarm again when the parallel running state of the host vehicle continues even after the third predetermined time after the alarm is stopped by the alarm stop instruction. Can do.

  And a step of receiving advance information on overtaking from the overtaking vehicle and a step of transmitting advance information on overtaking from the own vehicle to the overtaking vehicle. It is possible to have a step of notifying that the advance information has been received by the process.

  The fourth aspect of the present invention is a viewpoint as a program. That is, the program of the present invention is installed in the information processing apparatus, thereby realizing the calculation function and / or control function in the parallel running alarm apparatus of the present invention in the information processing apparatus.

  According to the present invention, smooth overtaking can be performed between tracks including a speed limiting device.

It is a block block diagram of the parallel running alarm device which concerns on embodiment of this invention. It is a figure which shows the vehicle which concerns on embodiment of this invention which mounted the parallel running warning device of FIG. It is a flowchart which shows operation | movement of the warning part of the parallel running warning apparatus of FIG. FIG. 4 is a diagram for explaining the processing of step S1 in the flowchart of FIG. 3, and is a diagram illustrating a case where an adjacent vehicle (passing vehicle) is a truck. FIG. 4 is a diagram for explaining the process of step S1 in the flowchart of FIG. 3, and shows a case where an adjacent vehicle (passing vehicle) is a passenger car.

(About the structure of the parallel running warning device 1 which concerns on embodiment of this invention)
A parallel running warning device 1 according to an embodiment of the present invention and a configuration of the host vehicle having the device 1 will be described with reference to FIGS. 1 and 2. As shown in FIG. 1, the parallel running warning device 1 mainly includes a sensor 2, an adjacent inter-vehicle distance detection unit 3, an alarm unit 4, an alarm display unit 5, and an inter-vehicle communication unit 6. In addition, as shown in FIG. 2, these components are mounted on the own vehicle (truck) 10.

  The sensor 2 detects an adjacent vehicle 11 that is a passing vehicle on the right side of the host vehicle 10 and detects an inter-vehicle distance from the adjacent vehicle 11. As an implementation example of the sensor 2, there is a radar system that obtains a distance between the own vehicle 10 and the adjacent vehicle 11 using electromagnetic waves, ultrasonic waves, or reflected waves of infrared light. Further, the sensor 2 distinguishes between a vehicle traveling in the overtaking lane and a vehicle traveling in the same traveling lane as that of the host vehicle 10, and a lane separated from the traveling lane of the host vehicle 10 by one lane. In order to distinguish between a traveling vehicle and a vehicle traveling in the adjacent lane, and in order to distinguish the type of the adjacent vehicle, the following measures are taken. That is, the mounting position of the sensor 2 is arranged on the side of the host vehicle 10, and the output direction is a direction perpendicular to the front-rear direction of the host vehicle 10. The sensor 2 is installed at a height of 80 cm or more from the ground, preferably 1 m or more and 3.5 m or less.

  The detection output of the sensor 2 is input to the adjacent inter-vehicle distance detection unit 3. The adjacent inter-vehicle distance detection unit 3 converts the detection output of the sensor 2 into adjacent inter-vehicle distance information as numerical data and outputs the information to the alarm unit 4.

  The alarm display unit 5 inputs the alarm output output from the alarm unit 4 and the output for notifying information when overtaking or overtaking (hereinafter referred to as “pre-passing execution pre-information”). It is converted into a display form that can be recognized by the driver and displayed. The display form includes image information, text information, and / or sound information such as sound information and signal sound. Or the display form which combined these various display forms may be sufficient.

  The inter-vehicle communication unit 6 exchanges various information between the host vehicle 10 and the adjacent vehicle 11. Here, in the parallel running warning device 1, the inter-vehicle communication unit 6 receives the overtaking execution advance information transmitted from the overtaking vehicle such as the adjacent vehicle 11 to the own vehicle 10, and also from the own vehicle 10 to the overtaking vehicle. It is for sending overtaking advance information. The sensor 2, the adjacent inter-vehicle distance detection unit 3, the alarm unit 4, the alarm display unit 5, the inter-vehicle communication unit 6, the vehicle ECU (detailed later) and the like constitute a control unit of the host vehicle 10.

(About operation of parallel running warning device 1)
Next, operation | movement of the parallel running warning device 1 is demonstrated with reference to FIG.3, FIG.4, FIG.5. FIG. 3 is a flowchart showing a processing procedure of the alarm unit 4. As shown in FIG. 3, the warning unit 4 grasps that there is a vehicle running in parallel based on the adjacent inter-vehicle distance information from the adjacent inter-vehicle distance detection unit 3, and the adjacent inter-vehicle distance is less than a predetermined value. The vehicle type is determined based on whether or not there is (step S1).

  Here, the process of step S1 is demonstrated with reference to FIG. 4, FIG. FIG. 4 is an example when the adjacent vehicle 11 is a large vehicle such as a truck 11 </ b> A with respect to the host vehicle 10. FIG. 5 is an example in the case where the adjacent vehicle 11 is a passenger car 11 </ b> B that is not a large vehicle with respect to the host vehicle 10. The vehicle width of the truck 11A is larger than the vehicle width of the passenger car 11B. Therefore, when the truck 11A and the passenger car 11B are traveling in the center of the overtaking lane, the adjacent inter-vehicle distance M between the truck 11A and the host vehicle 10 is between the passenger car 11B and the host vehicle 10. It is smaller than the distance N between adjacent vehicles. When there are three or more lanes, there is no problem even if two trucks run side by side in the leftmost and rightmost lanes. In such a case, the distance between adjacent vehicles becomes larger than N.

  Thus, the warning unit 14 can detect whether the vehicle type of the adjacent vehicle 11 is the truck 11A or the passenger car 11B by comparing the size of the adjacent vehicle distance with the adjacent vehicle distance M or N. Further, the reflection amount of the radar may be detected and the information may be used for determining the vehicle type. If the reflection amount is considered in addition to the distance between adjacent vehicles, the determination accuracy of the vehicle type increases. Since the sensor 2 is disposed at a high position, the amount of reflection from the passenger car 11B having a low vehicle height is close to zero. On the other hand, the amount of reflection from the truck 11A having a high vehicle height is very large.

  As described above, if the vehicle type of the adjacent vehicle 11 is not a large vehicle, that is, the passenger car 11B, there is no need to perform the subsequent processing. For this reason, if it is No at Step S1, alarm part 4 will not perform the subsequent processing.

  On the other hand, if the vehicle type of the adjacent vehicle 11 is a large vehicle, for example, the truck 11A (Yes in Step S1), the alarm unit 4 determines whether or not the time during which the distance between adjacent vehicles is detected continues for a predetermined time t1 or more. Determine (step S2). Here, the predetermined time t1 is, for example, 5 seconds. That is, if the time for detecting the distance between adjacent vehicles is less than 5 seconds, the parallel running state is unlikely to cause a traffic jam, so that the subsequent processing is less necessary. That is, the overtaking operation by the adjacent vehicle 11 is quickly performed, and the parallel running state is canceled within 5 seconds. For this reason, if it is No at Step S2, alarm part 4 will not perform the subsequent processing. This predetermined time t1 is preferably set in advance or can be adjusted or set later in consideration of the circumstances of each country or each region.

  On the other hand, if the time during which the adjacent inter-vehicle distance is detected continues for the predetermined time t1 or more (Yes in step S2), the alarm unit 4 then detects the vehicle 10 within the time during which the adjacent inter-vehicle distance is detected. It is determined whether or not the vehicle speed is equal to or greater than a predetermined value # 1 (step S3). Here, the predetermined value # 1 of the vehicle speed is, for example, 60 km / h. That is, if the vehicle speed is less than 60 km / h, there is a high possibility that the vehicle is not traveling on the highway. In addition, even when traveling on an expressway, the vehicle is traveling at a low speed due to traffic jams. Under such circumstances, there is no need to perform subsequent processing. For this reason, if it is No at Step S3, alarm part 4 will not perform the subsequent processing.

  On the other hand, if the vehicle speed within the time during which the distance between adjacent vehicles is detected is equal to or greater than the predetermined value # 1 (Yes in step S3), the alarm unit 4 confirms whether or not reception of overtaking execution prior information by inter-vehicle communication has been confirmed. Is determined (step S4). Here, the reception confirmation process of the overtaking implementation prior information by the inter-vehicle communication performed by the inter-vehicle communication unit 6 will be described.

  For example, an overtaking notification button (not shown) provided in the driver's seat of the truck 11A or the like when the driver of the truck 11A, which is the adjacent vehicle 11 shown in FIG. Press. When the vehicle-to-vehicle communication unit 6 provided in the truck 11 </ b> A detects pressing of the button, the vehicle-to-vehicle communication unit 6 transmits the overtaking advance information to surrounding vehicles.

  Note that electromagnetic waves with weak power are used for inter-vehicle communication at this time. For this reason, it is assumed that the advance overtaking advance information does not reach other vehicles far away that are not related to overtaking. Alternatively, GPS (Global Positioning System) and inter-vehicle communication may be linked so that the vehicle to be overtaken and the vehicle to be overtaken confirm each other's positional information and establish communication.

  The inter-vehicle communication unit 6 of the host vehicle 10 that has received the overtaking prior information transmitted from the overtaking vehicle transmits the information to the alarm unit 4. Receiving this information, the alarm unit 4 displays that on the alarm display unit 5. When the driver who refers to the sound information from the alarm display unit 5 and / or the display information of the alarm display unit 5 notices the presence of the truck 11A to overtake the host vehicle 10, the driver's seat is provided. The user presses a button (not shown, hereinafter referred to as “confirmation button”) for outputting a signal indicating that the overtaking execution prior information has been confirmed. When the inter-vehicle communication unit 6 detects the pressing of the confirmation button, the vehicle-to-vehicle communication unit 6 transmits confirmation information of the overtaking implementation prior information to surrounding vehicles.

  Note that weak electromagnetic waves are also used for inter-vehicle communication at this time. For this reason, it is assumed that confirmation information of the overtaking implementation prior information does not reach other distant vehicles that are not related to overtaking. Alternatively, GPS and inter-vehicle communication may be linked so that the vehicle to be overtaken and the vehicle to be overtaken confirm each other's positional information and establish communication. Accordingly, when the inter-vehicle communication unit 6 of the truck 11A receives the confirmation information of the overtaking execution prior information from the own vehicle 10, the inter-vehicle communication unit 6 transmits the confirmation information to the alarm unit 4 of the truck 11A.

  In addition, when the alarm unit 4 of the host vehicle 10 detects that the driver of the host vehicle 10 has pressed the confirmation button, the alarm unit 4 stores this as information for confirming that the pre-execution information has been received. Based on this storage, the process of step S4 is performed.

  In the process of step S4, if the driver of the host vehicle 10 has pressed the follow-up confirmation button, there is no need to perform the subsequent processes. This is because the driver of the host vehicle 10 decreases the traveling speed at his / her own discretion. For this reason, if it is No at Step S4, alarm part 4 will not perform the subsequent processing.

  In this way, if any of the processes in steps S1, S2, S3, and S4 is Yes, the alarm unit 4 outputs an alarm (step S5). That is, for example, the alarm unit 4 displays information such as “There is an overtaking vehicle. Please decelerate” on the alarm display unit 5 and / or informs the user of it by voice. As described above, this alarm form is sound information such as image information, text information, and / or sound information, signal sound, and the like. Or the display form which combined two or more of these various display forms may be sufficient.

  Subsequently, if the driver has not issued an instruction to stop the alarm for a predetermined time t2 or more (Yes in step S6) and the vehicle speed of the host vehicle 10 is equal to or higher than the predetermined value # 2 (Yes in step S7), the alarm unit 4 Deceleration is instructed to a vehicle ECU (Electric Control Unit) (not shown) of the vehicle 10 (step S8). That is, when the driver notices the display on the alarm display unit 5, the driver presses an instruction button (not shown, hereinafter referred to as “alarm stop instruction button”) that stops an alarm provided in the driver's seat or the like. When the alarm unit 4 detects the pressing of the alarm stop instruction button, the alarm unit 4 stops the alarm output (step S11). Thereafter, the driver of the host vehicle 10 is expected to decrease the traveling speed.

  However, the alarm unit 4 does not press the alarm stop instruction button by the driver for a predetermined time t2 or more (Yes in step S6), and the vehicle speed of the host vehicle 10 at that time is equal to or higher than the predetermined value # 2 (in step S7). Yes), the alarm output is continued and the vehicle ECU is instructed to decelerate (step S8). Here, the predetermined time t2 is, for example, 5 seconds. The predetermined value # 2 is, for example, 80 km / h to 90 km / h, which is close to the upper limit value of the speed limiting device.

  That is, it is difficult for the adjacent vehicle 11 to pass the own vehicle 10 if the vehicle speed of the own vehicle 10 is not less than the predetermined value # 2 and the driver does not notice the alarm for the predetermined time t2 or more. Therefore, only in such a case, the alarm unit 4 forcibly decelerates the host vehicle 10 by outputting a deceleration instruction to the vehicle ECU (step S9). Thereafter, the driver notices the alarm due to the shock of deceleration, and the alarm is stopped by pressing the alarm stop instruction button. On the other hand, if the host vehicle 10 is decelerated and the vehicle speed is less than the predetermined value # 2 (Yes in step S10), this flow ends. If NO in step S10, the process returns to step S9 and continues deceleration.

  In addition, even when the alarm is stopped in step S11, the driver may further continue the parallel running state. In order to deal with such a case, it is determined whether or not the parallel running state has been resolved after a predetermined time t3 (step S12). This determination is performed using the detection output of the sensor 2. That is, when it is continuously detected that the distance between adjacent vehicles obtained from the sensor 2 is shorter than a predetermined value, it is determined whether the value is equal to or longer than the predetermined time t3. Here, the predetermined time t3 is, for example, about ten or more seconds. If No in step 12, the process returns to step S5 and the alarm is output again.

(Program embodiment)
The arithmetic function and / or control function of the parallel running warning device 1 is a general-purpose information processing device (CPU (Central Processing Unit), DSP (Digital Signal) that operates according to a predetermined program.
Processor), a microprocessor (microcomputer), or the like. For example, a general-purpose information processing apparatus has a memory, a CPU, an input / output port, and the like. The CPU of the general-purpose information processing apparatus reads and executes a control program as a predetermined program from a memory or the like. Thereby, the calculation function and / or control function of the parallel running warning device 1 is realized in the general-purpose information processing device.

  Here, the calculation function and / or control function of the parallel running warning device 1 are, for example, the control function of the sensor 2 in the adjacent inter-vehicle distance detection unit 3, the sensor output of the sensor 2 in the adjacent inter-vehicle distance detection unit 3, and the adjacent inter-vehicle distance. These are a calculation function for calculating information, a control function for executing the processing of the flowchart of FIG. 3 in the alarm unit 4, a display control function in the alarm display unit 5, a communication control function in the inter-vehicle communication unit 6, and the like. As for other functions, functions that can be realized by software can be realized by a general-purpose information processing apparatus and a program.

  Even if the control program executed by the general-purpose information processing apparatus is stored in the memory or the like of the general-purpose information processing apparatus before the parallel running alarm apparatus 1 is shipped, the control program executed after the parallel running alarm apparatus 1 is shipped. Alternatively, it may be stored in a memory of a general-purpose information processing apparatus. Further, a part of the control program may be stored in a memory of a general-purpose information processing apparatus after the parallel running warning device 1 is shipped. The control program stored in the memory or the like of a general-purpose information processing apparatus after the parallel running alarm device 1 is shipped is an installation of what is stored in a computer-readable recording medium such as a CD-ROM. Or what was downloaded via transmission media, such as the internet, may be installed.

  The control program includes not only a program that can be directly executed by a general-purpose information processing apparatus, but also a program that can be executed by being installed on a hard disk or the like. Also included are those that are compressed or encrypted.

(About effects related to parallel running warning device 1)
Next, the effect which concerns on the parallel running warning apparatus 1 is demonstrated. The warning unit 4 outputs a warning only when the distance between adjacent vehicles is equal to or less than a predetermined value or less than a predetermined value. Thereby, a warning can be output excluding the case where the adjacent vehicle 11 is other than a large vehicle such as the passenger car 11B. According to this, since an unnecessary deceleration action can be avoided, it is possible to avoid a situation in which frequent deceleration actions cause a traffic jam.

  Moreover, the warning part 4 can avoid useless processing by giving a warning only when the traveling state of the host vehicle 10 satisfies a predetermined condition. For example, when the adjacent vehicle 11 completes overtaking promptly, the alarm output is useless. In such a case, the alarm output can be prevented from being performed. If the vehicle speed of the host vehicle 10 is equal to or less than the predetermined value # 1 or less than the predetermined value # 1, the vehicle 10 is traveling on a general road, or is traveling at a low speed due to traffic congestion even when traveling on an expressway. is there. If the vehicle 10 is traveling at a low speed even when traveling on a general road or an expressway, there is no possibility that the vehicle speed of the host vehicle 10 has reached the upper limit value of the speed limiting device, and the alarm output is unnecessary. Therefore, in such a case, the alarm output can be prevented from being performed.

  The alarm unit 4 continues the alarm until an instruction to stop the alarm is issued. At this time, the alarm stop instruction is issued even though the alarm is continuously performed for the predetermined time t2 or more or beyond the predetermined time t2. If the vehicle speed of the host vehicle 10 is not less than the predetermined value # 2 or exceeds the predetermined value # 2, the host vehicle 10 is decelerated. According to this, the adjacent vehicle 11 can smoothly perform the overtaking action even when the driver of the host vehicle 10 traveling at a vehicle speed equal to or higher than the predetermined value # 2 or exceeding the predetermined value # 2 is not aware of the alarm.

  In addition, the alarm unit 4 outputs an alarm again when the parallel running state of the host vehicle 10 continues even after a predetermined time t3 after the alarm is stopped by the alarm stop instruction. According to this, since a warning can be given again to the driver who forgets or ignores the warning, a reliable warning can be given.

  In addition, the inter-vehicle communication unit 6 receives the advance information on the overtaking from the overtaking vehicle and transmits the advance information on the overtaking from the own vehicle 10 to the overtaking vehicle, whereby the own vehicle 10 and the overtaking vehicle are transmitted. Can be recognized in advance. Thereby, after the driver of the own vehicle 10 and the driver of the overtaking vehicle have mutually agreed, the overtaking operation can be performed smoothly and safely.

  In addition, by implementing the calculation function and / or control function of the parallel running warning device 1 by installing a program in a general-purpose information processing device, it is possible to easily cope with specification changes and mass production of the parallel running warning device 1. Can do.

  The parallel running warning device 1 first outputs a warning without sudden deceleration control. This has the following effects. That is, the parallel running warning device 1 cannot determine in which traveling lane the host vehicle 10 is traveling in the host vehicle 10 traveling on an expressway having a plurality of traveling lanes. For example, in a highway having two lanes and one overtaking lane, when the host vehicle 10 is traveling in the outermost traveling lane, the adjacent vehicle 11 traveling in the central traveling lane It is impossible to eliminate the fact that the vehicle is mistakenly regarded as an overtaking vehicle traveling in the overtaking lane.

  However, the parallel running warning device 1 does not execute the deceleration control suddenly, but only outputs a warning. Therefore, even if it is mentioned above, if the driver gives a false alarm and a notice warning stop instruction for the alarm output by the parallel running alarm device 1, no problem will occur. Note that the alarm output may be temporarily stopped once by pressing the alarm stop instruction button for a long time. If comprised in this way, when drive | working the left side of two driving lanes, after step S9 and S10, if it is No in step S10, after that, a deceleration and a warning will not arise, and it will go smoothly. You can travel. Such a complete stop may be canceled when a lane change is detected by detecting the steering angle of the steering wheel.

  In addition, even if the trucks are traveling in adjacent lanes, the situation where the trucks continue to run in parallel for a long time may hinder the passage of passenger cars that can run faster than the trucks in the lane. This is not preferable. Therefore, as shown in the flow of FIG. 3 described above, it is useful that the parallel running warning device 1 outputs a warning as long as parallel running continues even if the trucks running in the adjacent traveling lanes are parallel running. .

(Modification)
The embodiment of the present invention can be variously modified without departing from the gist thereof. For example, the inter-vehicle communication unit 6 may be omitted. According to this, the process of step S4 in the flowchart of FIG. 3 is not performed. However, since the other processes in the flowchart of FIG. 3 are performed, the effect relating to the parallel alarm device 1 is not changed.

  In addition, the host vehicle 10 is running in parallel for a predetermined time or more, or exceeds a predetermined time, the host vehicle is exceeding a predetermined speed or exceeds a predetermined speed, and the speed of the passing vehicle is higher than the speed of the host vehicle. Or it can have a control part which issues a warning or / and forcibly decelerates the vehicle speed on condition that the speed is exceeded and below or below a predetermined value.

  In the flowchart of FIG. 3, the deceleration control according to steps S6, S7, and S8 may be omitted, and only the alarm output control may be performed. According to this, if the state in which the driver does not notice the alarm continues, there may be a situation in which the overtaking is not performed smoothly. However, it is only necessary to prevent the driver from not being aware of the alarm by taking measures such as making the alarm output stronger. On the contrary, the alarm may not be output and the vehicle may be decelerated when parallel running continues for a predetermined time.

  Further, in the flowchart of FIG. 3, in the determination in step S <b> 1, “less than a predetermined value?” Is set to “below a predetermined value?”, And “continue for a predetermined time t <b> 1?” In step S <b> 2 In step S3, “whether the predetermined value # 1 or more?” Is “exceeded the predetermined value # 1?”, And “continue more than the predetermined time t2” in step S6 is “continue beyond the predetermined time t2?” The “predetermined value # 2 or more?” In step S7 may be set to “exceeded the predetermined value # 2?”.

  Further, although the predetermined value # 1 of the vehicle speed in step S3 has been described as “for example, 60 km / h”, if the maximum value of the predetermined value # 1 is less than the upper limit value “for example, 90 km / h” of the speed limiter. Any value is acceptable. That is, if the vehicle to be overtaken is less than the upper limit value of the speed limiter, the vehicle to be overtaken can pass at a higher vehicle speed than the vehicle to be overtaken. Note that the alarm output is unnecessary if the overtaking vehicle can output a speed exceeding the upper limit value of the speed limiter. Alternatively, the predetermined value # 1 may be equal to the predetermined value # 2. Further, the minimum value of the predetermined value # 1 is set to about 60 km / h which is the maximum speed of a general road in Japan so that it can be determined whether or not the host vehicle 10 is traveling on a highway. It is preferable.

  Further, the lower the vehicle speed predetermined value # 2 in step S7 is set lower than the upper limit value of the speed limiter, the more the own vehicle 10 to be decelerated. In this case, a vehicle having a speed much slower than the upper limit value of the speed limiter is included, so that an overtaking vehicle speed is provided, which leads to safe overtaking. For this reason, it is preferable that the predetermined value # 2 of the vehicle speed in step S7 is not a value close to the upper limit value of the speed limiting device but a value smaller than the upper limit value by 10 km / h to 15 km / h, for example, about 80 km / h.

  Moreover, the parallel running warning device 1 may use various information that can be acquired by the inter-vehicle communication unit 6. For example, the inter-vehicle communication unit 6 can acquire the vehicle speed information of the vehicle on the overtaking side. Thereby, the ratio between the vehicle speed of the host vehicle 10 and the vehicle speed of the vehicle on the overtaking side can be used. That is, the warning unit 4 acquires the adjacent inter-vehicle distance information by the sensor 2 and also acquires the ratio between the vehicle speed of the host vehicle 10 by the inter-vehicle communication unit 6 and the vehicle speed of the other vehicle to be overtaken. If the ratio is substantially close to “1”, it can be predicted that the parallel running state will continue.

  Therefore, when the ratio is close to “1”, for example, when the ratio (Y / X) between the vehicle speed X of the host vehicle 10 and the vehicle speed Y of the overtaking vehicle is 1 ≦ Y / X <1.1, One condition for alarm output may be used. In this condition, for example, in the flowchart of FIG. 3, the processing of “continuation of detection time predetermined time t1 or more?” In step S2 may be replaced with “vehicle speed ratio = 1 or more and less than 1.1?”. According to this, it is possible to immediately detect whether or not the host vehicle 10 and the adjacent vehicle 11 are in a parallel running state even if the predetermined time t1 has not elapsed. The upper limit of the Y / X value may be Y / X ≦ 1.1 and Y / X ≦ 1.07, or Y / X <1.12 and Y / X ≦ 1.13. . Alternatively, in addition to the replacement of step S2, step S7 may be replaced with a similar vehicle speed ratio.

  Alternatively, a camera device may be used as the sensor 2 and an image analysis device may be used as the adjacent inter-vehicle distance detection unit 3. According to this, an image of the adjacent vehicle 11 can be taken by the camera device as the sensor 2, and this image can be analyzed by the image analysis device as the adjacent inter-vehicle distance detection unit 3 to detect the vehicle type and the adjacent inter-vehicle distance. .

  However, it has been described above that the vehicle type of the adjacent vehicle 11 and the inter-vehicle distance between the own vehicle 10 and the adjacent vehicle 11 are detected using the inexpensive radar-type sensor 2 without using an expensive camera device or image analysis device. This is one of the main effects of the parallel running warning device 1 employing the radar system.

  Moreover, although it demonstrated that the vehicle type of the adjacent vehicle 11 was detected with the distance between adjacent vehicles, various methods are applicable about the detection method of a vehicle type. As described above, the image analysis method using the camera device is one of them, but other than that, attention may be paid to the difference in vehicle height between the truck and the passenger car. That is, as described above, the sensor 2 is provided at a relatively high position of the host vehicle 10 that is a truck. According to this, the passenger car having a low vehicle height is hardly detected by the sensor 2, and only the truck having the vehicle height substantially equal to the own vehicle 10 is detected by the sensor 2. The parallel running warning device 1 may detect the vehicle type of the adjacent vehicle 11 by the on / off of the sensor 2 instead of the inter-vehicle distance in this way.

  In addition, when a camera device is used as the sensor 2 and an image analysis device is used as the adjacent inter-vehicle distance detection unit 3, it is known which lane the host vehicle 10 is traveling on a road having a plurality of traveling lanes. It can also be specified by image analysis technology. Therefore, when a camera device or an image analysis device is used as the sensor 2 and the adjacent inter-vehicle distance detection unit 3, the traveling lane of the host vehicle 10 is specified, and the false alarm is caused by the tracks traveling in the adjacent traveling lane as described above. It is also possible to control to eliminate this.

  In the case of No in step S12 in the flowchart of FIG. 3, when returning to step S5 and performing the alarm again, a stronger alarm than the previously performed alarm may be performed. More powerful alarms include, for example, increasing the alarm sound and making the alarm display more noticeable. In the above-described embodiment, both the own vehicle 10 and the adjacent vehicle 11A are large vehicles such as trucks, but either one or both may be other than large vehicles, for example, ordinary private vehicles.

  In addition, there is a case where the truck 11A attempts to pass the own vehicle 10 on a road other than a highway, which is a single lane on one side. In such a case, if the parallel running is long, the risk that the vehicle in the opposite lane collides with the truck 11A from the front is greatly increased. In particular, in order to prepare for such a case on an uphill, the predetermined value # 1 in step S3 is a low speed. In such a case, the determination of the vehicle type is often unnecessary. Therefore, instead of steps S1 and S2, when “is there a parallel running vehicle?” And “is present”, after steps S3 and S4, the flow after step S5 or steps S6 and after step S6 is performed. May be. In addition, since such overtaking is particularly dangerous on an uphill, this control may be performed when the vehicle ECU reports that the host vehicle 10 is traveling on an uphill.

DESCRIPTION OF SYMBOLS 1 ... Parallel running warning device, 2 ... Sensor (vehicle type detection means), 3 ... Adjacent inter-vehicle distance detection part (vehicle type detection means), 4 ... Alarm part (alarm means), 5 ... Alarm display part (alarm means), 6 ... Inter-vehicle communication unit (reception means, transmission means), 10 ... own vehicle, 11 ... adjacent vehicle, 11A ... truck, 11B ... passenger car

Claims (5)

A parallel running warning device mounted on a vehicle equipped with a speed limiting device,
An overtaking vehicle type detecting means for detecting the presence of an overtaking vehicle traveling on the overtaking lane side as seen from the driving lane of the own vehicle, and detecting the type of the overtaking vehicle;
The vehicle type detected by the overtaking vehicle type detection means is a vehicle type with a predetermined speed limit similar to that of the own vehicle, and the time during which the overtaking vehicle type detection means detects the presence of the overtaking vehicle is a first predetermined time or more An alarm is issued when the vehicle speed of the host vehicle exceeds the first predetermined value or exceeds the first predetermined value within the time during which the presence of the overtaking vehicle is detected while exceeding the first predetermined time. Alarm means;
Comprising
Parallel running alarm device characterized by that. The parallel running warning device according to claim 1,
Means for receiving advance information on overtaking from an overtaking vehicle;
Means for sending advance information from the own vehicle to the overtaking vehicle;
With
The alarm means notifies that the receiving means has received advance information on overtaking.
Parallel running alarm device characterized by that. The parallel running alarm device according to claim 1 or 2 ,
Means for forcibly decelerating the vehicle speed after output of an alarm by the parallel running alarm device;
Comprising
A vehicle characterized by that. A vehicle comprising a speed limiting device,
The vehicle is running in parallel for a predetermined time or over a predetermined time, the own vehicle is over the predetermined speed or over the predetermined speed, and the overtaking vehicle is a vehicle with the same speed limit as the own vehicle, Having a control unit that issues a warning or / and forcibly decelerates the vehicle speed on condition that the speed is equal to or higher than the speed of the host vehicle or exceeding the predetermined value and less than or less than a predetermined value;
A vehicle characterized by that.   A program that, when installed in an information processing device, realizes the arithmetic function and / or control function of the parallel running alarm device according to claim 1.

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