JP5786288B2 - Driving support device for turning right, driving support method for turning right - Google Patents

Description

  The present invention relates to a right turn travel support device and a right turn travel support method.

  When road traffic information is obtained via road-to-vehicle communication and the host vehicle is waiting for a right turn, it is determined whether or not a right turn is possible before the oncoming straight vehicle reaches the intersection. When it is determined that this is possible, there is one that outputs warning information for an oncoming vehicle (see Patent Document 1).

JP 2008-198162 A

However, in the case of a configuration that determines whether or not a right turn is possible without considering the presence or absence of an oncoming right turn vehicle, the timing of warning information output and the degree of alerting do not match the driver's sense, The driver may feel uncomfortable.
The subject of this invention is making the timing of alerting at the time of a right turn, and the degree of alerting approach a driver | operator's sense.

Turn right at the driving assistance apparatus according to the invention, when the vehicle turns right at an intersection, it is determined whether there is a possibility of interference between opposing rectilinear vehicle, it determines that the vehicle may interfere with the opposing straight vehicle When you do, alert the driver. At that time, acquired from the infrastructure system provided the presence of the opposing right-turning vehicle to the roadside,-out based on the presence or absence of pairs toward right-turning vehicle, when the opposing right-turning vehicle is present, compared to when the opposing right-turning vehicle absent Te, advancing the timing of alert that against the opposing straight vehicle. Even if it is determined that there is a possibility that the host vehicle interferes with the oncoming vehicle, no alert is issued when the driver is braking.

According to turn right when driving support apparatus according to the present invention, the timing of alert at right folding, can be brought close to the feeling of the driver. Further, when the driver is braking, it can be determined that the driver has not started a right turn, so no alert is given at this time. Thereby, unnecessary alerting is suppressed and the driver is not bothered.

It is a schematic block diagram of a right turn driving assistance system. It is a schematic block diagram of an infrastructure system. It is a flowchart which shows the driving assistance process at the time of a right turn. It is a figure which shows the calculation method of the right turn required time Tr. It is an example of the table used for calculation of correction amount (alpha). It is a conceptual diagram of arrival required time Tg. It is a normal car scene with only one vehicle on the right. It is a scene of a large car with only one opposite right turn vehicle. Opposing right turn vehicles are multiple scenes.

Hereinafter, embodiments of the present invention will be described with reference to the drawings.
<< first embodiment >>
"Constitution"
FIG. 1 is a schematic configuration diagram of a right turn traveling support system.
FIG. 2 is a schematic configuration diagram of the infrastructure system.

The infrastructure system 10 includes a DSSS sensor 11, a signal controller 12, an information relay / determination device 13, an optical beacon 14, and a DSRC beacon 15. On the other hand, the in-vehicle navigation system 20 includes an optical beacon antenna 21, a DSRC antenna 22, a CAN 23, a controller 24, a monitor 25, and a speaker 26.
Here, DSSS (driving safety support systems) is a safe driving support system, and DSRC (Dedicated Short Range Communication) is dedicated narrow area communication which is one of two-way wireless communication technologies.

The DSSS sensor 11 detects an oncoming vehicle entering the intersection and transmits the detection result to the information relay / determination device 13.
The signal controller 12 displays the scheduled signal time information of the range determined at the time when the signal level is determined by the specified period, the sensitive control at the time of the first rise, and at the time of the operation mode transition. Output to the information relay / determination device.

  The information relay / determination device 13 instructs the optical beacon 14 and the DSRC beacon 15 to determine whether or not the service can be provided based on a command from the lower device. Further, when an abnormality is detected in the own device or a connected roadside device, the optical beacon 14 and the DSRC beacon 15 are instructed to be unable to provide a service. In addition, static information such as road alignment information received from the lower device is registered in the optical beacon 14 and the DSRC beacon 15. Further, signal information for the route to be provided is extracted from the signal information received from the signal controller 12 and registered in the optical beacon 14 and the DSRC beacon 15. Also, obstacle detection event expression information is generated from the output information of the DSSS sensor 11 and registered in the optical beacon 14 and the DSRC beacon 15. Here, the obstacle detection event expression information includes an arrival required time Tg until the oncoming straight vehicle reaches the intersection. This required time Tg will be described later. Further, the obstacle detection event expression information includes oncoming right turn vehicle information such as the presence / absence of the oncoming right turn vehicle, the vehicle type, and the number of vehicles.

  The optical beacon 14 determines whether or not the service can be provided based on the command from the information relay / determination device 13 and the presence or absence of registration information. In addition, if an abnormality of the own device is detected, the service cannot be provided. Further, during service operation, downlink information is generated based on registration information from the information relay / determination device 13, and downlink information is provided in response to an uplink request for a vehicle. Further, the elapsed time from the time when the signal information is registered is measured, and the signal information is counted down every 100 ms. Moreover, the elapsed time from the time when the obstacle detection event expression information is registered is measured, and the information acquisition elapsed time is counted up every 100 ms. In addition, position location support for detecting the vehicle position (distance to the stop line) is performed.

  The DSRC beacon 15 determines whether or not the service can be provided based on the command from the information relay / determination device 13 and the presence / absence of registration information. In addition, if an abnormality of the own device is detected, the service cannot be provided. Further, during service operation, downlink information is generated based on the registration information from the information relay / determination device 13 and the downlink information is provided. Further, the elapsed time from the time when the signal information is registered is measured, and the signal information is counted down every 100 ms. Moreover, the elapsed time from the time when the obstacle detection event expression information is registered is measured, and the information acquisition elapsed time is counted up every 100 ms.

  The optical beacon antenna 21 transmits uplink information requesting DSSS information to the optical beacon 14 when passing through the optical beacon 14, and DSSS information (system information, road alignment information, signal information) through road-to-vehicle communication with the optical beacon 14. , Signal event expression information, obstacle detection information, obstacle detection event expression information) and the received DSSS information is transmitted to the controller 24.

  The DSRC antenna 22 performs DSSS information (system information, signal information, signal event expression information, obstacle detection information, obstacle detection event expression information) by road-to-vehicle communication with the DSRC beacon 15 within the communication area of the DSRC beacon 15. Are continuously received, and the received DSSS information is transmitted to the controller 24.

  The CAN 23 is a driver's brake operation information (master cylinder pressure information, wheel cylinder pressure information, brake pedal stroke amount information, braking force command value information in brake-by-wire), or driver's steering operation information (steering). Angle information, steering torque information, etc.), and winker operation information is output to the controller.

  Based on the system information received from the optical beacon 14, the controller 24 determines the provision state of the right turn driving support service and performs service-in. Further, the position of the host vehicle is determined from the system information received from the optical beacon 14 and the road alignment information, and the travel distance after the position determination is calculated. In addition, a departure from the service target road is detected from the road alignment information and the traveling direction of the host vehicle, and a service out determination is performed when the departure is in the middle. Further, the signal remaining number is counted down from the time when the signal information is received. Further, it is determined from the logical area information of the system information received from the DSRC beacon 15 whether or not the vehicle is a logical area in which the information of the DSRC beacon 15 is valid. In addition, the necessity of driving support at the time of right turn is determined based on the signal state, oncoming vehicle detection information, the distance from the intersection to the right turn destination, the speed of the host vehicle, the deceleration, and the like. And when driving assistance is required when turning right, the driver is alerted via the monitor 25 and the speaker 26.

Next, a description will be given of a right turn driving support process executed by the controller 24 every predetermined time (for example, 10 msec).
FIG. 3 is a flowchart showing a right turn travel support process.
First, in step S101, distribution data from the optical beacon 14 and the DSRC beacon 15 is received.

  In a succeeding step S102, it is determined whether or not the host vehicle is traveling in a right turn exclusive lane or the right turn signal is ON. Here, if the travel lane is not dedicated to the right turn and the right turn signal is OFF, the host vehicle determines that the vehicle will not turn right and returns to a predetermined main program. On the other hand, if the host vehicle is traveling on the right turn lane or if the right turn signal is ON, it is determined that the host vehicle desires a right turn, and the process proceeds to step S103.

In step S103, it is determined whether there is an oncoming straight-ahead vehicle. Here, if there is no opposite straight vehicle, it is determined that the vehicle can turn right as it is, and the process returns to a predetermined main program. On the other hand, if the on-coming vehicle is present, it is determined that it is necessary to determine right-right interference, and the process proceeds to step S104.
In step S104, a right turn required time Tr until the right turn of the host vehicle is completed is calculated.

FIG. 4 is a diagram illustrating a method of calculating the right turn required time Tr.
First, on the map coordinates, the node point indicating the current position of the host vehicle is P1, the node point indicating the outflow position to the right turn destination route is P2, and the distance Lr between P1 and P2 is calculated. The distance Lr may be a linear distance between P1 and P2 or a curved distance when passing through the reference route. Also, the longer straight line distance and curved distance may be selected (select high). Then, as shown in the following formula (1), a right turn required time Tr is calculated. Here, ar is a general acceleration when the host vehicle starts from a stopped state or an extremely low speed state for a right turn, and a value of about 0.18 to 0.22 G, for example, is substituted.

  In a succeeding step S105, it is determined whether or not there is an opposite right turn vehicle waiting for a right turn in the opposite lane. Here, if there is no opposite right turn vehicle, the process proceeds to step S108 described later. On the other hand, if there is an opposite right turn vehicle, the process proceeds to step S106.

In step S106, the correction amount α for the right turn required time Tr is calculated according to the vehicle type and the number of opposite right-turn vehicles.
FIG. 5 is an example of a table used for calculating the correction amount α.
First, when there is only one opposing right turn vehicle and a normal vehicle, the correction amount α is set to 1 sec, for example. In the case where there is only one opposing right turn vehicle and a large vehicle, the correction amount α is set to 2 seconds, for example. When there are a plurality of (two or more) opposite right-turning vehicles, the correction amount α is set to 3 seconds, for example. Note that the correction amount α is set to 0 when the opposite right-turn vehicle is a single two-wheeled vehicle.

In the following step S107, as will be described below, the right turn required time Tr corrected by adding the correction amount α is set as a new right turn required time Tr.
Tr ← Tr + α
In the subsequent step S108, it is determined whether or not the right turn required time Tr is equal to or longer than the required arrival time Tg. Here, if the determination result is “Tr <Tg”, it is determined that interference with the oncoming vehicle (right-handed interference) can be avoided, and the process directly returns to the predetermined main program. On the other hand, if the determination result is “Tr ≧ Tg”, it is determined that there is a possibility of causing interference (straight direct contact) with the oncoming vehicle, and the process proceeds to step S109.

Here, the required travel time Tg will be described.
FIG. 6 is a conceptual diagram of the required arrival time Tg.
The required travel time Tg is the time until the oncoming straight vehicle reaches the intersection, but when a plurality of oncoming straight vehicles are running continuously, after one oncoming straight vehicle passes the intersection, The time (gap time) until the next oncoming straight vehicle reaches the intersection. The information relay / determination device 13 calculates the time required for arrival Tg based on the speed and position of each oncoming vehicle, generates obstacle detection event expression information, and transmits it via the optical beacon 14 and the DSRC beacon 15. To do.

  In step S109, it is determined whether or not the brake of the host vehicle is OFF. Specifically, it is determined that the brake is OFF when the amount of brake operation is smaller than a predetermined threshold th. Here, if the brake is ON, it is determined that the host vehicle has not started a right turn, and the process directly returns to the predetermined main program. On the other hand, if the brake is OFF, it is determined that the host vehicle has started a right turn, and the process proceeds to step S110.

In step S110, the driver is alerted via the monitor 25 and the speaker 26, and then the process returns to the predetermined main program. That is, by notifying that attention should be paid to the oncoming vehicle, the vehicle waits for a right turn.
Although the alerting is completely stopped when the brake is on, the present invention is not limited to this. For example, the alerting may be limited by reducing the display content of the alerting on the monitor 25 or lowering the degree of emphasis, or reducing the alerting notification volume on the speaker 26.

<Action>
First, when the host vehicle makes a right turn (the determination in S102 is “Yes”), if there is no oncoming vehicle (the determination in S103 is “No”), the vehicle can turn right as it is. Do not do. On the other hand, when there is an oncoming vehicle (S103: “Yes”), a right turn required time Tr until the right turn of the host vehicle is completed is calculated (S104).

  When the required turn time Tr is shorter than the required arrival time Tg of the oncoming vehicle delivered from the DSRC beacon 15 (determination in S108 is “No”), the driver is not alerted. On the other hand, when the right turn required time Tr is equal to or longer than the required arrival time Tg (determination in S108 is “Yes”), it is determined that attention should be paid to the oncoming vehicle, and the driver is alerted (S110). Thereby, the driver can step on the start of the right turn.

  Moreover, if the driver is paying attention to the oncoming vehicle, the driver may be bothered. Therefore, it is determined whether or not the own vehicle starts a right turn according to the brake operation state of the driver. If it is determined that the own vehicle has not started a right turn, the alerting is restricted (stopped). Specifically, if the driver's brake is ON (determination in S109 is “No”), it is determined that the host vehicle has not started a right turn and restricts alerting. Can be suppressed. However, if the driver's brake is OFF (the determination in S109 is “Yes”), it is determined that the host vehicle has started a right turn and alerts (S110). Can stay.

  By the way, when judging the possibility of interference with the oncoming vehicle without considering the presence / absence, type, number, etc. of oncoming right-turning vehicles, the timing of alerting and the degree of alerting do not match the driver's feelings The driver may feel uncomfortable. Therefore, information on the vehicle on the opposite right turn is acquired by road-to-vehicle communication, and the timing for alerting the driver and the degree of alerting are set based on the presence / absence of the vehicle on the opposite right, the type and number of vehicles.

  Specifically, the correction amount α is calculated based on the presence / absence of the oncoming right turn vehicle, the vehicle type, and the number of vehicles (S106), and the calculated correction amount α is added to the right turn required time Tr to correct the increase (S107). Accordingly, the larger the correction amount α, the earlier the timing for alerting the oncoming vehicle.

Here, calculation of the correction amount α will be described.
First, when there is only one opposing right turn vehicle and a normal vehicle, the correction amount α is set to 1 sec, for example. In the case where there is only one opposing right turn vehicle and a large vehicle, the correction amount α is set to 2 seconds, for example. When there are a plurality of (two or more) opposite right-turning vehicles, the correction amount α is set to 3 seconds, for example.
FIG. 7 shows a scene of a normal car with only one on-hand turning vehicle.
FIG. 8 shows a scene of a large vehicle with only one opposite right turn vehicle.
FIG. 9 shows a plurality of scenes in which an opposite right turn vehicle is present.

  First, when there is an oncoming right turn vehicle, the right turn required time Tr is corrected to be increased by increasing the correction amount α compared to when there is no opposite right turn vehicle (α = 0). This is because if there is an opposite right turn vehicle, the rear of the vehicle becomes a blind spot, and it is difficult for the driver of the host vehicle to confirm the opposite straight vehicle. Therefore, the right turn required time Tr is corrected to be increased, thereby making it easier to alert the oncoming vehicle. Thereby, it is possible to bring the timing of alerting closer to the driver's feeling. When the opposite right turn vehicle is a two-wheeled vehicle, there is no blind spot made by the two-wheeled vehicle, so the correction amount α is set to zero.

  Further, when the opposite right-turn vehicle is a large vehicle, the right turn required time Tr is corrected to be increased by increasing the correction amount α as compared with a normal vehicle. This is because if the opposite right-turn vehicle is a large vehicle, it will become more difficult to confirm the opposite straight vehicle. Therefore, the right turn required time Tr is corrected to be increased, thereby making it easier to alert the oncoming vehicle. Thereby, it is possible to bring the timing of alerting closer to the driver's feeling.

  Furthermore, when there are a plurality of opposite right-turn vehicles, the right turn required time Tr is corrected to be increased by increasing the correction amount α as compared with the case of only one vehicle. This is because if there are two or more opposite right-turning vehicles, it will become more difficult to confirm the on-coming vehicle. Therefore, by increasing and correcting the right turn required time Tr, it becomes easy to alert the oncoming vehicle. Thereby, it is possible to bring the timing of alerting closer to the driver's feeling.

<Modification>
Although the right turn required time Tr is corrected to increase in order to advance the timing of alerting, it is not limited to this, and it is corrected to decrease by subtracting the correction amount α from the required required time Tg. Also good. In other words, the timing of alerting is performed by comparing the magnitude relationship between the right turn required time Tr and the required arrival time Tg, and therefore is performed by at least one of the correction for increasing the right turn required time Tr or the correction for decreasing the required turn time Tg.

  Further, in order to increase the degree of alerting, the display content of the alerting is increased on the monitor 25 or the emphasis degree is increased, or the alerting notification volume is increased by the speaker 26. Therefore, for example, the correction amount α is replaced with the degree of alerting, and the display content, the degree of emphasis, and the notification volume are determined according to the degree of alerting.

"effect"
As described above, the process in step S108 corresponds to the “right direct interference determination unit”, the processes in steps S105 to S107 and S110, and the monitor 25 and the speaker 26 correspond to the “attention calling unit”, and the process in step S101. In addition, the optical beacon antenna 21 and the DSRC beacon antenna 22 correspond to “opposing right turn vehicle information acquisition means”. Further, the processing in step S104 corresponds to “right turn required time calculating means”, and the processing in step S101, the optical beacon antenna 21 and the DSRC beacon antenna 22 correspond to “required arrival time acquiring means”.

(1) When the host vehicle makes a right turn at an intersection, a right-straight-interference determining unit that determines the possibility of interference with the opposite straight vehicle, and the host vehicle determined by the right-straight-interference determining unit may interfere with the opposite straight vehicle. An alerting means for alerting the driver based on the characteristics, and an oncoming right turn vehicle information acquisition means for acquiring oncoming right turn vehicle information including the presence or absence of an oncoming right turn vehicle by road-to-vehicle communication, the alerting means comprising: The timing for alerting the driver or the degree of alerting is set based on the presence or absence of the opposite right turn vehicle acquired by the opposite right turn vehicle information acquisition means.

  In this way, by setting the timing of alerting the driver or the degree of alerting based on the presence or absence of an oncoming right turn vehicle, the timing of alerting and the degree of alerting at the time of the right turn Can be approached.

(2) When the oncoming right turn vehicle is present, the alerting means accelerates the timing of alerting the oncoming straight vehicle compared to when the oncoming right turn vehicle does not exist, or attention Increase the degree of arousal.
Thereby, when there is an opposite right turn vehicle, the timing of alerting and the degree of alerting can be brought close to the driver's feeling.

(3) The oncoming right turn vehicle information acquisition means acquires oncoming right turn vehicle information including the vehicle type of the oncoming right turn vehicle, and the alerting means is a normal vehicle when the oncoming right turn vehicle is a large vehicle. In comparison, the timing for alerting the oncoming vehicle is advanced, or the degree of alerting is increased.
Thereby, when the oncoming right turn vehicle is a large vehicle, the timing of alerting and the degree of alerting can be brought close to the driver's feeling.

(4) The opposite right turn vehicle information acquisition means acquires opposite right turn vehicle information including the number of opposite right turn vehicles, and the alerting means increases the number of opposite right turn vehicles as the number of opposite right turn vehicles increases. Advance the timing of all alerts or increase the degree of alerts.
Thereby, when there are a plurality of opposite right-turning vehicles, the timing of alerting and the degree of alerting can be brought close to the driver's feeling.

(5) Right turn required time calculation means for calculating a right turn required time required until the right turn of the host vehicle is completed, and arrival required to obtain the required time required for the oncoming vehicle to reach the intersection by road-to-vehicle communication Time acquisition means, and when the right turn required time calculated by the right turn required time calculation means is equal to or longer than the required travel time acquired by the required travel time acquisition means, the host vehicle Is determined to possibly interfere with the oncoming vehicle, the alerting means corrects the right turn required time calculated by the right turn required time calculating means and corrects the arrival time acquired by the required arrival time acquiring means. The timing for alerting the following vehicle is advanced by at least one of decreasing the required time.

  In this way, by comparing the required time for the right turn and the required time for arrival, it is possible to easily and reliably determine the possibility that the host vehicle will interfere with the oncoming vehicle. In addition, by increasing the right turn required time or correcting the arrival required time, it is possible to easily and arbitrarily set the timing for calling the driver or the degree of the warning.

(6) When the host vehicle makes a right turn at the intersection, the possibility of interference with the oncoming straight vehicle is determined, and the driver is alerted based on the possibility of the own vehicle interfering with the oncoming straight vehicle. Then, oncoming right turn vehicle information including the presence / absence of an oncoming right turn vehicle is acquired by road-to-vehicle communication, and the timing for alerting the driver or the degree of alerting is set based on the presence / absence of the oncoming right turn vehicle.

  In this way, by setting the timing of alerting the driver or the degree of alerting based on the presence or absence of an oncoming right turn vehicle, the timing of alerting and the degree of alerting at the time of the right turn Can be approached.

DESCRIPTION OF SYMBOLS 10 Infrastructure system 11 Sensor 12 Signal controller 13 Information relay / determination apparatus 14 Optical beacon 15 Beacon 20 Car-mounted navigation system 21 Optical beacon antenna 22 Antenna 22 Beacon antenna 24 Controller 25 Monitor 26 Speaker Tg Arrival time th Threshold value Tr Right turn time

Claims (6)

A right-straight interference judging means for judging whether or not there is a possibility of interfering with the oncoming straight vehicle when the own vehicle turns right at the intersection;
Alerting means for alerting the driver when it is determined by the right-straight-interference determining means that the host vehicle may interfere with the oncoming straight-ahead vehicle;
Oncoming right turn vehicle information acquisition means for acquiring oncoming right turn vehicle information including the presence or absence of an oncoming right turn vehicle from an infrastructure system provided on the roadside ,
The alerting means based-out of the presence or absence of the opposing right-turning vehicle obtained in the previous SL opposing right-turning vehicle information acquisition unit, when the opposing right-turning vehicle is present, compared to when the opposing right-turning vehicle is not present, with advancing the timing of the alert to pair with the opposite straight vehicle, the vehicle by the right straight interference determination means be determined that can interfere with opposing straight vehicle, the driver is braking A right turn travel support device characterized in that the warning is not sometimes issued . The alerting means based-out of the presence or absence of the opposing right-turning vehicle obtained in the previous SL opposing right-turning vehicle information acquisition unit, when the opposing right-turning vehicle is present, compared to when the opposing right-turning vehicle is not present, The right turn driving support apparatus according to claim 1, wherein the degree of alerting to the oncoming vehicle is increased. The oncoming right turn vehicle information acquisition means acquires oncoming right turn vehicle information including a vehicle type of the oncoming right turn vehicle,
The said alerting means advances the timing which performs alerting with respect to the oncoming straight ahead vehicle when the oncoming right turn vehicle is a large vehicle as compared with a normal vehicle. The travel support device for turning right as described. The opposite right turn vehicle information acquisition means acquires opposite right turn vehicle information including the number of the opposite right turn vehicles,
4. The right-turn driving support apparatus according to claim 1, wherein the alerting means advances the timing of alerting the opposing straight vehicle as the number of the opposing right-turn vehicles increases. A right turn required time calculating means for calculating a right turn required time required for completing a right turn of the host vehicle;
The required travel time acquisition means for acquiring the required travel time until the oncoming straight vehicle reaches the intersection from the infrastructure system provided on the roadside, and
The right-straight-interference determining means may cause the host vehicle to interfere with the oncoming straight-ahead vehicle when the right turn required time calculated by the right turn required time calculating means is equal to or longer than the required travel time acquired by the required travel time acquiring means. Judging that
The alerting means is adapted to increase the travel time required for the right turn calculated by the travel time calculation means for the right turn, and to decrease the travel time required for the travel time acquired by the travel time acquisition means. 5. The right turn travel support device according to any one of claims 1 to 4, wherein the timing of alerting the vehicle is advanced. When the vehicle turns right at the intersection with the right-straight interference determination means provided in the right-turn driving support device, it is determined whether or not there is a possibility of interference with the oncoming straight vehicle,
By the right straight interference determination means, when the vehicle has determined that there is a possibility to interfere with opposing straight vehicle by alerting means the right turn at driving support device comprises, performs alerted to OPERATION person There,
By the opposite right turn vehicle information acquisition means provided in the right turn traveling support device, the opposite right turn vehicle information including the presence or absence of the opposite right turn vehicle is acquired from the infrastructure system provided on the roadside ,
By the alerting means,-out based on the presence or absence of pairs toward right-turning vehicle, when the opposing right-turning vehicle is present, compared to when the opposing right-turning vehicle is not present, the reminder that pair to the common straight vehicle The timing to perform is advanced , and even if it is determined by the right-straight-interference determining means that the own vehicle may interfere with the on-coming vehicle, the alert is not performed when the driver is braking. Driving support method when turning right.

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