JP6032059B2 - In-vehicle device and driving support system - Google Patents

Description

  The present invention relates to an in-vehicle device that supports driving of a vehicle, and a driving support system including the in-vehicle device.

  2. Description of the Related Art Conventionally, a device that transmits and receives information by optical communication between devices of the same type mounted on other vehicles (that is, between vehicles) is known (for example, Patent Document 1). Patent Document 1 includes a light emitter that transmits communication light related to optical communication, and a light receiver that receives communication light transmitted by the light emitter, and sends a message to other vehicles by blinking the light emitter. A system for sending and receiving such a message by a receiver of another vehicle is disclosed.

  Note that optical communication has higher directivity than communication using radio waves, so it can easily identify and communicate with the other party, and can communicate even when the radio wave environment has deteriorated. It is known that there are advantages that can be made.

  In addition, conventionally, when vehicles that enter the intersection exchange information such as the vehicle position by communication between vehicles, if there is another vehicle that may enter the intersection at the same time, drive the presence of other vehicles There is known an apparatus for informing a person who is informed (for example, Patent Document 2).

JP 2005-182268 A JP 2008-197740 A

  As described above, optical communication has the advantage that communication can be performed by easily identifying the other party and the advantage that communication can be performed even in a state where the radio wave environment is deteriorated. It is also conceivable to use optical communication for vehicle-to-vehicle communication using such devices.

  However, in this case, it is difficult to provide the driver with accurate route change timings such as a timing at which the route can be changed to the side crossing the direction of travel of the oncoming straight vehicle at the intersection and a timing at which the route change is prohibited. The problem arises that sometimes Details are as follows. Here, an explanation will be given by taking an example of an area where left-hand traffic is legal. In areas where right-hand traffic is legal, right and left are reversed.

  When the host vehicle is waiting for a right turn at an intersection and there are two or more opposite lanes, and there is a vehicle waiting for a right turn (hereinafter referred to as an opposite right turn vehicle) in the opposite lane, this opposite right turn vehicle is blocked. In some cases, the communication light from the own vehicle does not reach a vehicle such as a straight-ahead vehicle or a left-turn vehicle behind the opposite right-turn vehicle. In this case, since the optical communication cannot be performed between the own vehicle and the vehicle behind the opposite right turn vehicle, the own vehicle cannot obtain information such as the vehicle position from the vehicle behind the opposite right turn vehicle. Therefore, the position of the vehicle behind the opposite right-turning vehicle cannot be determined on the own vehicle side, and the timing for changing the course cannot be accurately proposed to the driver.

  The present invention has been made in view of the above-described conventional problems, and its purpose is to accurately determine the timing of the course change to the side that intersects the traveling direction of the oncoming straight vehicle at the intersection while using optical communication. An object of the present invention is to provide an in-vehicle device and a driving support system that can be proposed to a driver.

First invention according to the vehicle transfer machine is mounted on another vehicle, it receives the light from the light emitting unit that emits light obtained by superimposing information, the information which was superposed on the light and superimposes the information A vehicle-mounted device (1) that transmits light to another vehicle using a light emitting unit (13) that emits light in front of the vehicle, and is disposed at the rear of the vehicle, from the rear to the rear side of the vehicle. The second light receiving unit (16) that receives light emitted from the light emitting unit of the rear other vehicle existing in the predetermined angle range, and the direction of the light emitted from the rear other vehicle, A light-emitting source vehicle direction specifying unit (176) for specifying the position of the other vehicle behind the vehicle and a light-emission control unit (174) for controlling the light-emitting unit are provided. Light that is superimposed on the information superimposed on the light emitted from the vehicle and the information of the position of the other vehicle behind Is characterized in that light is emitted toward the front of the Luo vehicle.

  According to this, when the light emitted by the light emitting part of the rear other vehicle is received by the second light receiving unit, the position of the rear other vehicle relative to the position of the own vehicle can be identified by the light emitting source vehicle direction identifying unit, Information indicating the presence of the rear side vehicle of the host vehicle can be transmitted to the oncoming vehicle in front of the host vehicle. In addition, if the presence of the rear side vehicle of the own vehicle can be specified, it is possible to accurately determine the timing of the specific course change of the oncoming vehicle of the own vehicle. It is also possible to transmit information to the oncoming vehicle in front of the host vehicle. And the vehicle which received these information from the oncoming vehicle can perform the alert | report about the timing of a specific course change with sufficient precision based on such information. Therefore, even when optical communication with the vehicle behind the oncoming vehicle cannot be performed, it is possible to accurately notify the timing of the specific course change. As a result, while using optical communication, it is possible to propose to the driver the timing for changing the course to the side crossing the traveling direction of the oncoming straight vehicle at the intersection with high accuracy.

A second invention according to the OPERATION support system, one vehicle and the other vehicle and each mounted in-vehicle equipment by (1), the optical communication by the light obtained by superimposing information, mounted on the other vehicle A vehicle-to-vehicle communication system (100) for displaying driving support information on a display device (2), wherein an in-vehicle device of one vehicle is disposed at a rear portion of one vehicle and extends from the rear to the rear side of the one vehicle. Based on the direction of the light emitted from the on-vehicle device of the rear other vehicle and the second light receiving unit (16) that receives the light emitted from the on-vehicle device of the rear other vehicle existing in the predetermined angle range, The light emitting source vehicle direction specifying part (176) for specifying the position of the other vehicle behind the vehicle relative to the position of the vehicle and the light emitted from the vehicle mounted on the vehicle behind the other vehicle are superimposed on the light emitted from the vehicle mounted on the other vehicle behind Information is superimposed on the light and directed to the front of one vehicle A light emitting unit (13) that emits light, and a light emission control unit (174) that controls the light emitting unit, and the in-vehicle device of the other vehicle in the lane facing one vehicle is disposed at the front of the other vehicle, The display device is controlled based on the first light receiving portion (15) that receives light emitted from the light emitting portion of one vehicle and information superimposed on the light from one vehicle received by the first light receiving portion. A display control unit (182) that performs this operation, and a host vehicle standby state estimation unit (181) that estimates whether or not the host vehicle is in a standby state trying to enter the side crossing the traveling direction of the oncoming straight vehicle. The light emission control unit causes light emitted from the light emitting unit to the other vehicle to be emitted by superimposing information obtained by adding the position of the rear other vehicle to information superimposed on the light emitted from the vehicle-mounted device of the other vehicle behind. The display control unit of the other vehicle is When it is estimated that the vehicle is in a standby state, based on the information superimposed on the light emitted from one of the vehicles, the vehicle in the lane adjacent to the lane on which the one vehicle travels. The information is displayed on the display device as driving support information.

  According to this, when the light emitted from the light emitting unit of the other vehicle behind is received by the second light receiving unit, the position of the other vehicle behind the vehicle relative to the position of one vehicle can be specified by the light emitting source vehicle direction specifying unit. Information indicating the presence of the rear side vehicle of one vehicle can be transmitted to the other vehicle corresponding to the oncoming vehicle in front of the one vehicle. In addition, if the presence of the rear side vehicle of one vehicle can be specified, it is possible to accurately determine the timing of the specific course change of the oncoming vehicle, so information on the timing of the specific course change of the oncoming vehicle of one vehicle Can be transmitted to the other vehicle corresponding to the oncoming vehicle in front of one vehicle. And the other vehicle which received these information from the oncoming vehicle can perform the alert | report about the timing of a specific course change with sufficient accuracy based on such information. Therefore, even when the other vehicle cannot perform optical communication with the vehicle behind the oncoming vehicle, it is possible to accurately notify the timing of the specific course change. As a result, while using optical communication, it is possible to propose to the driver the timing for changing the course to the side crossing the traveling direction of the oncoming straight vehicle at the intersection with high accuracy.

A third invention according to the car mounting device is mounted to each of the plurality of vehicles, transmitter for transmission using an optical information (12), receiving for receiving information transmitted using a light transmitter The transmitter (14) includes a light emitting unit (13) that emits light in front of the host vehicle, and the receiver is a predetermined unit in front of the host vehicle. A first light receiving part (15) for receiving light up to an angle range of the first and a second light receiving part (16) for receiving light up to a predetermined angle range from the rear to the rear side of the vehicle. When the light emitted from the light emitting unit of the other vehicle is received by the second light receiving unit, the information of the other vehicle transmitted using the light is used as the light emitted from the light emitting unit of the own vehicle. A specific route that estimates a specific route change that is the route change of the vehicle to the side that intersects the direction of travel of the oncoming straight vehicle at the intersection. When the light emitted from the light emitting unit of the change estimating unit (181) and the other vehicle is received by the second light receiving unit, the other light source of the light is identified by specifying the position of the light source of the light A light source vehicle direction specifying unit (176) that specifies at least whether the light source vehicle direction, which is the direction of the vehicle with respect to the vehicle, is the rear side or the rear side, and is transmitted when relaying. The other vehicle information is transmitted in addition to the light source vehicle direction of the other vehicle specified by the light source vehicle direction specifying unit, and the specific route change is estimated by the specific route change estimation unit, When the light emitted from the light emitting unit of the oncoming vehicle, which is another vehicle facing the vehicle, is received by the first light receiving unit, the timing for changing the specific course based on the information on the oncoming vehicle transmitted using the light. A notification unit (182) for reporting information on It is characterized in.

  According to this, it is possible to specify that the other vehicle is an oncoming vehicle by receiving the light emitted from the light emitting unit of the other vehicle with the first light receiving unit. Further, when the light emitted from the light emitting unit of the other vehicle is received by the second light receiving unit, the light emitting source vehicle direction specifying unit can specify the light emitting source vehicle direction of whether the other vehicle is a subsequent vehicle or a rear side vehicle. .

  Since it is possible to specify the presence of the vehicle behind the vehicle from the direction of the light-emitting vehicle relative to the vehicle, information indicating the vehicle behind the vehicle can be transmitted to the oncoming vehicle. become. In addition, if the presence of the rear side vehicle of the own vehicle can be specified, it is possible to accurately determine the timing of the specific course change of the oncoming vehicle of the own vehicle. It is also possible to transmit information to the oncoming vehicle. And the vehicle which received these information from the oncoming vehicle can perform the alert | report about the timing of a specific course change with sufficient precision based on such information. Therefore, even when optical communication with the vehicle behind the oncoming vehicle cannot be performed, it is possible to accurately notify the timing of the specific course change.

  Further, it is possible to specify the presence of a vehicle on the rear side of the oncoming vehicle from the light emitting source vehicle direction received from the oncoming vehicle. Even in this case, the position of the blind spot vehicle can be specified even if optical communication with the vehicle behind the oncoming vehicle (hereinafter, blind spot vehicle) cannot be performed. Notification can be performed with high accuracy.

  Furthermore, since the above-mentioned relay is performed, the direction of the light source vehicle with respect to the vehicle in the lane adjacent to the traveling lane is not limited to the blind vehicle in the lane adjacent to the traveling lane of the oncoming vehicle, but also the presence of the blind spot in the adjacent lane. Can be identified by receiving the message indirectly by relay. Therefore, also in this respect, even when optical communication with the vehicle behind the oncoming vehicle cannot be performed, it is possible to accurately notify the timing of the specific course change.

  As a result, while using optical communication, it is possible to propose to the driver the timing for changing the course to the side crossing the traveling direction of the oncoming straight vehicle at the intersection with high accuracy.

A fourth invention according to OPERATION support system is characterized in that it comprises a vehicle-mounted device of the third invention which is mounted to each of the plurality of vehicles. Therefore, it is possible to propose to the driver with high accuracy the timing of the course change to the side that intersects the traveling direction of the oncoming straight vehicle at the intersection while using optical communication.

1 is a diagram illustrating an example of a schematic configuration of a driving support system 100. FIG. It is a figure which shows an example of a schematic structure of the vehicle equipment. It is a figure for demonstrating the mounting position in the vehicle of the light emission part 13, the 1st light-receiving part 15, and the 2nd light-receiving part 16. FIG. The range in which the first light receiving unit 15 and the second light receiving unit 16 receive the communication light will be described. 3 is a functional block diagram illustrating an example of a schematic configuration of a control unit 17. FIG. 4 is a flowchart illustrating an example of a flow of visible light communication processing in a control unit 17. 7 is a flowchart illustrating an example of a flow of other vehicle support-related processing in the control unit 17. It is a flowchart which shows an example of the flow of the own vehicle support relevant process in the control part.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. The embodiment shown below is an embodiment corresponding to an area where the left-hand traffic is legalized, and in the area where the right-hand traffic is legalized, the left and right are reversed from the following embodiments.

(Embodiment 1)
FIG. 1 is a diagram illustrating an example of a schematic configuration of a driving support system 100 to which the present invention is applied. A driving support system 100 shown in FIG. 1 includes an in-vehicle device 1 mounted on each of a plurality of vehicles.

  The vehicle HV in FIG. 1 is a vehicle waiting for a right turn at an intersection, and the vehicle A1 is an oncoming vehicle waiting for a right turn in the opposite lane of the vehicle HV. Vehicles A2, A3, and A4 are vehicles following the vehicle A1 that are arranged behind the vehicle A1, and are arranged on the same lane as the vehicle A1 in the order of the vehicles A2, A3, and A4. The vehicle B1 is a straight-ahead vehicle that travels in an adjacent lane in the same traveling direction as the vehicles A1 to A4, and is an opposed straight-ahead vehicle for the vehicle HV. The vehicle B2 is a succeeding vehicle of the vehicle B1. The vehicle C is a straight traveling vehicle or a left turn vehicle traveling in the adjacent lane of the vehicles B1 to B2 in the same traveling direction as the vehicles A1 to A4. Here, it is assumed that the vehicles B1 to B2 and the vehicle C are vehicles behind the vehicle A1 for the vehicle HV (that is, vehicles with blind spots).

  In the present embodiment, it is assumed that the in-vehicle device 1 is mounted on the vehicle HV, the vehicles A1 to A4, the vehicles B1 to B2, and the vehicle C unless otherwise specified.

  Here, a schematic configuration of the vehicle-mounted device 1 will be described with reference to FIG. As shown in FIG. 2, the in-vehicle device 1 is connected to the display device 2 and the audio output device 3 so that signals (information) can be exchanged. As an example, the in-vehicle device 1, the display device 2, and the audio output device 3 may be connected by an in-vehicle LAN that conforms to a communication protocol such as CAN (controller area network). Moreover, the vehicle equipment 1 is provided with the external input interface (I / F) 11, the transmitter 12, the receiver 14, and the control part 17, as shown in FIG.

  The display device 2 is capable of full color display, for example, and can be configured using a liquid crystal display, an organic EL display, a plasma display, or the like. The audio output device 3 includes a speaker or the like, and outputs a warning sound or the like based on an instruction from the in-vehicle device 1.

  The external input I / F 11 is an interface for the control unit 17 to acquire vehicle state information from an ECU or a sensor mounted on the host vehicle. For example, it is assumed that vehicle state information is input to the external input I / F 11 from an ECU or a sensor mounted on the host vehicle via an in-vehicle LAN or the like that complies with a communication protocol such as CAN.

  Examples of vehicle status information include vehicle speed signals obtained by wheel speed sensors, acceleration / deceleration signals obtained by acceleration / deceleration sensors, turn signal switch signals, steering angle sensor signals, and ignition power on / off signals. Etc.

  The transmitter 12 is an optical communication transmitter that performs communication using light as a medium, and includes a light emitting unit 13. The light-emitting unit 13 is a light-emitting device that transmits communication light used for optical communication (that is, emits light on which information is superimposed), and is formed of, for example, a high-intensity light-emitting diode that transmits visible light or infrared light. In the present embodiment, the following description will be given by taking as an example the case where the optical communication is visible light communication using visible light.

  The receiver 14 is an optical communication receiver that performs communication using light as a medium, and includes a first light receiving unit 15 and a second light receiving unit 16. The 1st light-receiving part 15 and the 2nd light-receiving part 16 are light receivers which receive the communication light used for the optical communication from the front and back, respectively. The first light receiving unit 15 and the second light receiving unit 16 may be configured to use, for example, an imaging device using a two-dimensional MOS (Metal Oxide Semiconductor) image sensor with a high frame rate.

The first light receiving unit 15 and the second light receiving unit 16 can receive information by detecting blinking of the light emitting unit 13. For example, a photodiode or a phototransistor may be used as the first light receiving unit 15 and the second light receiving unit 16, but in the present embodiment, the following description will be given by taking the case of using the imaging device as an example.

  Here, the mounting positions of the light emitting unit 13, the first light receiving unit 15, and the second light receiving unit 16 in the vehicle will be described with reference to FIG. The light emitting unit 13 is mounted in front of the host vehicle so that the center line of the directivity of communication light faces the front of the host vehicle. The light emitting unit 13 may be configured to be disposed, for example, in a front bumper of the own vehicle.

  The 1st light-receiving part 15 is mounted ahead of the own vehicle so that the communication light from the front and front side of the own vehicle may be received. The first light receiving unit 15 may be configured to be disposed, for example, in a front bumper of the own vehicle, or may be configured to be arranged side by side with the light emitting unit 13, or may be arranged vertically with the light emitting unit 13. It is good also as a structure arrange | positioned. In addition, the 1st light-receiving part 15 is corresponded to the front camera of a claim.

  The second light receiving unit 16 is mounted behind the host vehicle so as to receive communication light from the rear or rear side of the host vehicle. The second light receiving unit 16 may be configured to be disposed on the rear bumper of the own vehicle, for example.

  Subsequently, the range of receiving the communication light of the first light receiving unit 15 and the second light receiving unit 16 will be described with reference to FIG. 4 indicates a range in which the first light receiving unit 15 receives the communication light, and E indicates a range in which the second light receiving unit 16 receives the communication light.

  The first light receiving unit 15 receives communication light up to a predetermined angle range in front of the host vehicle. Here, the angle range for receiving the communication light corresponds to the imaging range of the above-described imaging device as the first light receiving unit 15. As shown in FIG. 4, the predetermined angle range here refers not only to a vehicle in front of the same lane as the own vehicle (hereinafter referred to as a forward vehicle) but also to a vehicle in front of the lane adjacent to the own vehicle. (Hereinafter referred to as the front side vehicle) is also a range that is included in the imaging range.

  Moreover, the 2nd light-receiving part 16 receives the communication light to the predetermined angle range behind the own vehicle. Here, the angle range for receiving the communication light corresponds to the imaging range of the above-described imaging device as the second light receiving unit 16. As shown in FIG. 4, the predetermined angle range here refers not only to the rear vehicle (hereinafter referred to as the rear vehicle) on the same lane as the own vehicle, but also to the rear side of the lane adjacent to the own vehicle. A vehicle (hereinafter referred to as a rear side vehicle) is also within a range included in the imaging range.

  By providing the light emitting unit 13, the first light receiving unit 15, and the second light receiving unit 16 as described above, a vehicle on which the vehicle-mounted device 1 is mounted can be transmitted from an oncoming vehicle, a rear vehicle, and a rear side vehicle by visible light communication. The information to be transmitted can be received.

  The control unit 17 is mainly composed of a microcomputer including a CPU, ROM, RAM, backup RAM, and the like. Then, the control unit 17 executes various processes based on various information input from the external input I / F 11 and the receiver 14. As shown in FIG. 5, the control unit 17 includes, as functional blocks, a first reception processing unit 171, a second reception processing unit 172, a vehicle information acquisition unit 173, a transmission processing unit 174, an image recognition processing unit 175, a transmission source. A direction specifying unit 176, a count related processing unit 177, a first blind spot vehicle determining unit 178, a deceleration presence / absence determining unit 179, a second blind spot vehicle determining unit 180, a specific course change estimating unit 181, and a notification processing unit 182 are provided.

  For example, the control unit 17 transmits / receives information by visible light communication, relays information transmitted from other vehicles by visible light communication, and transmits the information to other vehicles, other vehicles, The processing related to the right turn support (hereinafter referred to as other vehicle support related processing), the processing related to the right turn support of the own vehicle (hereinafter referred to as the own vehicle support related processing), and the like. In addition, when relaying information transmitted from other vehicles by visible light communication and further transmitting to other vehicles, the information transmitted from other vehicles is added to the information transmitted from the own vehicle. To other vehicles.

  Here, the visible light communication processing in the control unit 17 will be described using the flowchart of FIG. Note that the flowchart of FIG. 6 may be configured to be started when, for example, the ignition power of the own vehicle is turned on.

  In step S1, when the information transmitted by visible light communication is received by the second reception processing unit 172 (YES in step S1), the process proceeds to step S6. On the other hand, when the information transmitted by visible light communication is not received by the second reception processing unit 172 (NO in step S1), the process proceeds to step S2. It is assumed that the second reception processing unit 172 receives information when the light reception result (imaging result) output from the second light receiving unit 16 can be decoded. Since the second reception processing unit 172 receives information via the second light receiving unit 16, the second reception processing unit 172 receives information from the vehicle behind and behind the vehicle.

  In step S2, when it is the transmission timing of information from the own vehicle (YES in step S2), the process proceeds to step S3. On the other hand, if it is not the transmission timing (NO in step S2), the flow returns to step S1 and the flow is repeated. Here, the transmission timing is a timing according to a predetermined transmission cycle such as every 100 msec.

  In step S3, the transmission processing unit 174 performs a first transmission data generation process, and proceeds to step S4. In the first transmission data generation process, transmission data including the vehicle state information of the vehicle acquired by the vehicle information acquisition unit 173 and a time stamp indicating the detection time of the vehicle state information is generated. The own vehicle information acquisition unit 173 acquires information on the vehicle state of the own vehicle via the external input I / F 11. Information on the vehicle state of the host vehicle included in the transmission data includes vehicle speed and acceleration / deceleration. The transmission data may include a device ID of the in-vehicle device 1 as an identifier for identifying the in-vehicle device 1 as a transmission source.

  Moreover, it is preferable that the transmission data also includes information on the presence / absence of the front side vehicle and the front vehicle. As for the presence or absence of the front side vehicle and the front vehicle, when the image recognition processing unit 175 performs a well-known image recognition process on the imaging result of the first light receiving unit 15 and the front side vehicle on the left side of the own vehicle can be detected. In other words, the configuration may be such that “there is a front side vehicle” and “the front side vehicle is not present” when the front side vehicle on the left side of the host vehicle cannot be detected. Further, a configuration may be adopted in which “the vehicle ahead” is detected when the vehicle ahead of the host vehicle is detected, and “no vehicle ahead” is detected when the vehicle ahead of the host vehicle cannot be detected. The front side vehicle and the front vehicle may be detected using a known optical flow. The image recognition processing unit 175 may be configured to acquire the imaging result output from the first light receiving unit 15 via the first reception processing unit 171.

  In step S4, the transmission processing unit 174 performs transmission processing, and proceeds to step S5. In the transmission process, the transmission data generated in the first transmission data generation process is encoded, and the light emitting unit 13 blinks in accordance with the modulation output obtained as a result, thereby transmitting information by visible light communication.

  In step S5, if it is the end timing of the visible light communication process (YES in step S5), the flow is ended. On the other hand, if it is not the end timing of the visible light communication process (NO in step S5), the process returns to step S1 and the flow is repeated. An example of the end timing of the visible light communication process is when the ignition power of the own vehicle is turned off.

  In step S6 when the information transmitted by visible light communication is received by the second reception processing unit 172, the transmission source direction specifying unit 176 performs the transmission source direction specifying process, and proceeds to step S7. In the transmission source direction specifying process, it is specified whether the other vehicle of the information transmission source is the rear side or the rear side of the own vehicle. In other words, it is specified whether the direction of the other vehicle that is the light emission source of the communication light received by the second light receiving unit 16 (hereinafter, the light source vehicle direction) is the rear side or the rear side of the own vehicle. To do. Therefore, the transmission source direction specifying unit 176 corresponds to the light emitting source vehicle direction specifying unit in the claims.

  As an example, the transmission source direction specifying unit 176 detects the coordinate value of the light source related to the communication light on the imaging result output from the second light receiving unit 16, and the light source vehicle direction is determined based on this coordinate value. Specify whether it is the rear side or the rear side.

  In step S7, when the direction specified by the transmission source direction specifying unit 176 is backward ("back" in step S7), the process proceeds to step S8. On the other hand, when the direction specified by the transmission source direction specifying unit 176 is the rear side (“rear side” in step S7), the process proceeds to step S15.

  In step S8, the count related process part 177 performs a count provision process, and moves to step S9. In the count providing process, among the information received from the specified rear vehicle, a count is given to the information on the rear vehicle. Specifically, when the information received from the rear vehicle includes information on the rear vehicle and information on other vehicles other than the rear vehicle on which the rear vehicle relayed, the count is given only for the information on the rear vehicle. To do.

  Of the information received from the rear vehicle, the information on the rear vehicle and the information on the other vehicles other than the rear vehicle are assumed to have a data structure that can discriminate information on each vehicle. Further, “1” is given as an example of the count given in the count granting process.

  In step S9, when the information received from the rear vehicle includes information on other vehicles other than the rear vehicle (YES in step S9), the process proceeds to step S10. On the other hand, when the information of other vehicles other than the rear vehicle is not included (NO in step S9), the process proceeds to step S14.

  In step S10, when the count is given to the information of other vehicles other than the rear vehicle (YES in step S10), the process proceeds to step S11. On the other hand, when the count is not given to the information of other vehicles other than the rear vehicle (NO in step S10), the process proceeds to step S14. Since the above-mentioned count is given with respect to the information on the rear vehicle, the information on the vehicle following the rear vehicle (that is, the subsequent vehicle) has already been given before being transmitted to the own vehicle. Become.

  In step S11, the count related processing unit 177 performs a count change process, and proceeds to step S12. In the count change process, 1 is added to the count given to the information of other vehicles other than the rear vehicle. When the information on other vehicles other than the rear vehicle is information on a plurality of other vehicles, and a count is assigned to each vehicle, 1 is added to each count.

  In step S12, the count related processing unit 177 performs a condition determination process. In the condition determination process, it is determined whether or not the own vehicle is stopped and the information received from the rear vehicle includes a count equal to or greater than a predetermined value. If it is determined that there is one that satisfies the above conditions (YES in step S12), the process proceeds to step S13. On the other hand, if it is determined that there is nothing satisfying the above conditions (NO in step S12), the process proceeds to step S14.

  As an example, if the vehicle speed of the host vehicle acquired by the host vehicle information acquisition unit 173 is a value that can be said to be substantially 0 km / h (for example, 5 km / h or less), it is determined that the host vehicle is stopped. do it. In addition, it is good also as a structure which does not add to the conditions that the own vehicle has stopped. Further, the predetermined value is an arbitrary value that is determined depending on how much the number of relays of information on the following vehicle to be described later is limited.

  In step S13, the transmission processing unit 174 performs second transmission data generation processing, and proceeds to step S16. In the second transmission data generation process, transmission data including information received from the rear vehicle is generated in addition to the vehicle state information of the vehicle acquired by the vehicle information acquisition unit 173. A time stamp indicating the detection time of the vehicle state information is also given to the vehicle state information of the own vehicle.

  Among the information received from the rear vehicle, the information on the rear vehicle indicates the presence / absence of the front side vehicle of the rear vehicle, the vehicle state information of the rear vehicle received from the rear vehicle, and the detection time of the vehicle state information. In addition to the time stamp, the light emitting source vehicle direction of the rear vehicle specified by the transmission source direction specifying unit 176 of the own vehicle (that is, “rear”) and the count given by the count giving process (“1” as an example) are also given. The information on the presence / absence of the front side vehicle of the rear vehicle is detected in the rear vehicle. The information on the vehicle state of the rear vehicle is the same as the information on the vehicle state of the own vehicle.

  Of the information received from the rear vehicle, information on the following vehicle whose count is determined to be greater than or equal to a predetermined value in the condition determination process is excluded. Therefore, the transmission processing unit 174 corresponds to the relay frequency limiting unit in the claims. According to this, the information of the following vehicle behind the predetermined number or more is not relayed from the parked own vehicle. That is, it is possible to limit the number of relayed information of the following vehicle. Therefore, the information of the following vehicle in the distance that is less necessary for the right turn support can be omitted from the relay, and the communication speed can be secured and the information processing load can be reduced.

  In addition, for information on other vehicles other than the following vehicle to be excluded from the information received from the rear vehicle, information on the presence or absence of the front side vehicle and the front vehicle of the other vehicle, the vehicle state of the other vehicle received from the rear vehicle In addition to the time stamp indicating the detection time of the vehicle information and the vehicle state information, the emission source vehicle direction of the other vehicle and the count after addition in the count change process are also given. It should be noted that no count is given in the case of information that is not given a count, such as information on the rear side car of the rear vehicle and the rear side car of the succeeding rear vehicle.

  The light source vehicle direction of the other vehicle is not specified by the source direction specifying unit 176 of the own vehicle, but specified by the source direction specifying unit 176 of the vehicle that has received information from the other vehicle by visible light communication. It is. In the transmission data, it is assumed that the information of each car is arranged in the order added by the relay, the data structure is such that each car can be discriminated and the arrangement order of each car can be discriminated.

  In step S14, the transmission processing unit 174 performs a third transmission data generation process, and proceeds to step S16. Similarly to the second transmission data generation process, the third transmission data generation process also includes transmission data including information received from the rear vehicle in addition to the vehicle state information of the own vehicle acquired by the own vehicle information acquisition unit 173. Is generated. The difference from the second transmission data generation process is that the information of the following vehicle is not excluded by counting.

  In step S15 when the direction specified by the transmission source direction specifying unit 176 is the rear side, the transmission processing unit 174 performs a fourth transmission data generation process, and the process proceeds to step S16. In the fourth transmission data generation process, transmission data including information received from the rear side vehicle is generated in addition to the vehicle state information of the vehicle acquired by the vehicle information acquisition unit 173. A time stamp indicating the detection time of the vehicle state information is also given to the vehicle state information of the own vehicle.

  Among the information received from the rear side vehicle, for the information on the rear side vehicle, information on the presence of the front side vehicle and the front vehicle of the rear side vehicle, the vehicle state of the rear side vehicle received from the rear side vehicle In addition to the time stamp indicating the detection time of the vehicle state information and the vehicle state information, the light source vehicle direction (that is, “rear side”) of the rear side vehicle specified by the transmission source direction specifying unit 176 of the own vehicle is also given. To do.

  The information on the presence / absence of the front side vehicle of the rear side vehicle is detected in the rear side vehicle. The vehicle state information of the rear side vehicle is the same type as the vehicle state information of the own vehicle. In addition, when the information received from the rear side vehicle includes information on other vehicles such as the following vehicle of the rear side vehicle, transmission data including information on these other vehicles is generated.

  In step S16, when it is the transmission timing of the information from the own vehicle (YES in step S16), the process proceeds to step S17. On the other hand, if it is not the transmission timing (NO in step S16), the flow of step S16 is repeated. The transmission timing here is as described in step S2.

  In step S17, the transmission processing unit 174 performs transmission processing, and proceeds to step S5. In the transmission process, when transmission data is generated by the second transmission data generation process, the third transmission data generation process, or the fourth transmission data generation process, the transmission data is encoded, and according to the modulation output obtained as a result. By causing the light emitting unit 13 to blink, information is transmitted by visible light communication.

  The other vehicle information sequentially received by the second reception processing unit 172 gives the light source vehicle direction specified by the transmission source direction specifying unit 176 of the own vehicle to the electrically rewritable memory of the control unit 17. Thus, it is assumed that a certain period or a certain amount is stored so that the order and time of reception can be specified.

  In the flowchart of FIG. 6, the configuration in which “1” is given as a count in the count grant process is shown, but the present invention is not necessarily limited thereto. For example, when it is set as the structure which does not include the stop of the own vehicle in the conditions of the condition determination process in the count related process part 177, it is good also as a structure which provides a predetermined value as a count by a count provision process. In this case, the count change process may be configured to subtract 1 instead of adding 1 to the count. This configuration can also limit the number of relayed information of the following vehicle.

  Next, other vehicle support related processing in the control unit 17 will be described using the flowchart of FIG. Note that the flowchart of FIG. 7 may be configured to start when the ignition power of the host vehicle is turned on and end when the ignition power is turned off, for example.

  In step S21, if it is the start timing of the other vehicle support related process (YES in step S21), the process proceeds to step S22. On the other hand, if it is not the start timing of the other vehicle support related process (NO in step S21), the flow of step S21 is repeated.

  As an example of the start timing of the other vehicle support-related processing, there is a case where the stop of the own vehicle is detected, a case where the vehicle speed of the own vehicle becomes a predetermined speed or less, and the like. A configuration in which the control unit 17 detects the stop of the own vehicle when the vehicle speed acquired by the own vehicle information acquisition unit 173 is a value that can be said to be substantially 0 km / h (for example, 5 km / h or less); do it. Moreover, what is necessary is just to let speed | velocity | rate about slow speed, for example with predetermined speed.

  In step S22, the first blind spot vehicle determination unit 178 performs a first blind spot vehicle determination process, and proceeds to step S23. In the first blind spot vehicle determination process, when information from the rear side vehicle of the host vehicle is received, it is determined that the vehicle is present behind the host vehicle. The fact that the information from the rear side vehicle of the own vehicle has been received indicates that the light source vehicle direction “rear side direction” specified by the source direction specifying unit 176 of the own vehicle is added to the information received from the other vehicle stored in the memory. It may be determined that there is information to which "

  In step S23, when it is determined in the first blind spot vehicle determination process that there is a rear side vehicle of the own vehicle (YES in step S23), it is determined that a vehicle is present behind the own vehicle, and the process proceeds to step S24. . On the other hand, if it is determined in the first blind spot vehicle determination process that there is no rear side vehicle of the vehicle (NO in step S23), the process proceeds to step S25. Therefore, the first blind spot determination unit 178 corresponds to the existence determination unit in the claims.

  In step S24, the transmission processing unit 174 performs the first information transmission process, and proceeds to step S33. In the first information transmission process, transmission data including information indicating that a vehicle is present behind the host vehicle (hereinafter, rear side vehicle presence information) is generated. Then, the generated transmission data is encoded, and information is transmitted by visible light communication by blinking the light emitting unit 13 according to the modulation output obtained as a result.

  In step S25, when the information from the rear rear side vehicle has been received (YES in step S25), the process proceeds to step S26. On the other hand, when the information from the following rear side vehicle has not been received (NO in step S25), the process proceeds to step S33.

  As an example, if the information received from the rear vehicle of the own vehicle includes information on the rear side vehicle of the rear vehicle, or the rear side vehicle of either of the rear vehicles, It is determined that information from the following rear side vehicle has been received. In addition, the fact that the information from the vehicle behind the host vehicle has been received is that the light source vehicle direction “rear” specified by the source direction specifying unit 176 of the host vehicle is added to the information received from the other vehicle stored in the memory. What is necessary is just to judge with the information provided.

  In step S26, the deceleration presence / absence determination unit 179 performs a deceleration presence / absence determination process, and proceeds to step S27. In the deceleration presence / absence determination process, the presence / absence of deceleration of the subsequent rear side vehicle is determined from the received vehicle state information of the subsequent rear side vehicle. In the case where there are a plurality of the following rear side cars that are equal to each other, it is only necessary to use the information that is closest in order to the own vehicle.

  For example, when the acceleration / deceleration information is included in the vehicle state information, the deceleration may be determined when the acceleration indicated by the acceleration / deceleration information is less than zero. In addition, when the vehicle state information is included in the vehicle state information, from the vehicle speed information of the subsequent rear side vehicle received sequentially, based on the time stamp, to extract the information of the vehicle speed before and after the time, What is necessary is just to set it as the structure which determines the presence or absence of deceleration by calculating an acceleration from the information of these vehicle speeds.

  In step S27, when it is determined in the deceleration presence / absence determination process that the subsequent rear side vehicle is decelerated (YES in step S27), the process proceeds to step S29. On the other hand, when it is determined in the deceleration presence / absence determination process that the subsequent rear side vehicle is not decelerated (NO in step S27), the process proceeds to step S28.

  In step S28, the transmission processing unit 174 performs the second information transmission process, and proceeds to step S34. In the second information transmission process, transmission data including information indicating that the subsequent rear side vehicle of the own vehicle is not decelerated (hereinafter referred to as “no subsequent rear side vehicle deceleration information”) is generated and transmitted by visible light communication.

  In step S29, the second blind spot determination unit 180 performs a second blind spot determination process, and proceeds to step S30. In the second blind spot vehicle determination process, it is determined whether there is a front side vehicle of any subsequent vehicle lined up behind the host vehicle or a front vehicle of the subsequent rear side vehicle. As an example, if it is determined that there is a front side vehicle of the succeeding vehicle when there is information on the presence of the front side vehicle in the information on the presence or absence of the front side vehicle in the information received from the subsequent vehicle stored in the memory Good. In addition, it is determined that there is a vehicle ahead of the succeeding rear side vehicle when the information on the presence or absence of the preceding vehicle is included in the information received from the following rear side vehicle stored in the memory. That's fine.

  In step S30, when it is determined in the second blind spot vehicle determination process that there is a front side vehicle in the following vehicle of the host vehicle, or there is a front vehicle in the rear rear side vehicle of the host vehicle (that is, there is a blind spot vehicle) (in step S30). (YES), it moves to step S31. On the other hand, when it is determined in the second blind spot vehicle determination process that there is no front side vehicle in the following vehicle of the own vehicle and no front vehicle in the subsequent rear side vehicle of the own vehicle (NO in step S30), the process proceeds to step S32. . Therefore, the second blind spot determination unit 180 corresponds to the imaging determination unit in the claims.

  In step S31, the transmission processing unit 174 performs a third information transmission process, and proceeds to step S34. In the third information transmission process, transmission data including information indicating that there is a front side vehicle of the following vehicle of the own vehicle (hereinafter referred to as subsequent front side vehicle presence information) is generated, and the information is transmitted by visible light communication. Note that the presence of a vehicle ahead of the vehicle behind the vehicle behind the vehicle is synonymous with the presence of a vehicle ahead of the vehicle behind the vehicle.

  In step S32, the transmission processing unit 174 performs a fourth information transmission process, and proceeds to step S34. In the fourth information transmission process, transmission data including information indicating that there is no front side vehicle of the following vehicle of the own vehicle (hereinafter, information indicating that there is no subsequent front side vehicle) is generated, and the information is transmitted by visible light communication. .

  In step S33, the transmission processing unit 174 performs a fifth information transmission process, and proceeds to step S34. In the fifth information transmission process, generation of transmission data including information indicating that the information of the subsequent rear side vehicle of the own vehicle has not been acquired by visible light communication (hereinafter, subsequent rear side vehicle non-acquisition information), Information is transmitted by visible light communication.

  In the first information transmission process, the second information transmission process, the third information transmission process, the fourth information transmission process, and the fifth information transmission process, according to the transmission cycle in the visible light communication process described above, The information may be transmitted in addition to the transmission data, or the information may be transmitted by interruption. For convenience, information transmitted in the first information transmission process, the second information transmission process, the third information transmission process, the fourth information transmission process, and the fifth information transmission process is hereinafter referred to as broadcast related information.

  In step S34, when it is the end timing of the other vehicle right turn support related process (YES in step S34), the flow is ended. On the other hand, if it is not the end timing of the other vehicle right turn support related process (NO in step S34), the process returns to step S22 to repeat the flow.

  As an example of the end timing of the other vehicle right turn support-related processing, it may be set when the vehicle speed of the host vehicle exceeds a predetermined threshold or when the steering angle of the host vehicle becomes a predetermined value or more. According to this, when the own vehicle has stopped or slowed down at the intersection, or when the vehicle turns right or left at the intersection, the other vehicle right turn support related processing can be ended.

  Then, the own vehicle support related process in the control part 17 is demonstrated using the flowchart of FIG. Note that the flowchart of FIG. 8 may be configured to start when the ignition power of the host vehicle is turned on and end when the ignition power is turned off, for example.

  In step S41, when it is the start timing of the own vehicle support related process (YES in step S41), the process proceeds to step S42. On the other hand, if it is not the start timing of the vehicle support related process (NO in step S41), the flow of step S41 is repeated.

  The start timing of the own vehicle support related process is when the specific course change estimating unit 181 estimates the start of the right turn of the own vehicle. As an example, the specific course change estimating unit 181 may be configured to estimate the start of the right turn of the own vehicle when the stop of the own vehicle is detected and the signal of the turn signal switch of the right turn is detected.

  In addition, when the information of the navigation device can be used, the start of the vehicle's right turn is estimated when the vehicle position is detected as approaching the intersection and the signal of the right turn signal switch is detected. It is good also as a structure. Moreover, it is good also as a structure which detects the change of the steering angle more than the predetermined value to the right turn direction instead of the signal of the turn signal switch of the right turn. The specific course change estimating unit 181 acquires the vehicle speed, the signal of the turn signal switch, and the steering angle via the external input I / F 11.

  In step S42, when the notification related information transmitted by visible light communication is received by the first reception processing unit 171 (YES in step S42), the process proceeds to step S43. On the other hand, when the notification related information transmitted by visible light communication is not received by the first reception processing unit 171 (NO in step S42), the process proceeds to step S45.

  It is assumed that the first reception processing unit 171 has received the notification related information when the light reception result (imaging result) output from the first light receiving unit 15 is decoded and the above-described notification related information can be acquired. Since the first reception processing unit 171 receives information via the first light receiving unit 15, the first reception processing unit 171 receives information from the oncoming vehicle of the host vehicle.

  In step S43, the notification processing unit 182 performs notification determination processing, and proceeds to step S44. In the notification determination process, it is determined to perform notification according to the received notification related information. As an example, when the above-mentioned rear side vehicle presence information is received, there is a rear side vehicle on the oncoming vehicle, and there is a vehicle behind the oncoming vehicle. It is determined to perform.

  When the above-mentioned information on no subsequent rear side vehicle deceleration is received, the following rear side vehicle of the oncoming vehicle exists, the vehicle exists behind the oncoming vehicle, and the vehicle is not decelerated. Then, it is determined to notify that it is recommended that the right turn be postponed. When the information on the presence of the following front side vehicle is received, it is determined to notify that the right turn is recommended because there is a following front side vehicle of the oncoming vehicle and the vehicle is behind the oncoming vehicle. To do.

  When the information on the absence of the following front side vehicle is received, it is clear that there is no following front side vehicle of the oncoming vehicle, and there is no vehicle behind the oncoming vehicle. Determine to do. If the information on the following rear side vehicle non-acquisition information is received, the presence of the following rear side vehicle of the oncoming vehicle is opaque and it is not clear whether there is a vehicle behind the oncoming vehicle. It decides to make a notification to turn on and turn right.

  In the other vehicle right turn support related processing, when the third information transmission processing is performed, information on the number of subsequent vehicles from the own vehicle from which the information about the presence of the front side vehicle is obtained. It is good also as a structure which gives and transmits. It is only necessary to calculate the number of succeeding vehicles from the own vehicle based on the count value for the following vehicles. Then, in the notification determination process of the vehicle-right turn support related process, the message to be notified is changed depending on the number of vehicles following the oncoming vehicle from which the information about the presence of the front side vehicle is obtained. What is necessary is just composition.

  Moreover, it is good also as a structure which provides and also transmits the information of how many subsequent vehicles from the own vehicle the back side vehicle following the own vehicle from which the information on the presence of the preceding vehicle is obtained. The number of succeeding rear side vehicles of the own vehicle may be calculated from the count value of the following vehicle that directly receives the information of the subsequent rear side vehicle. In the notification determination process of the vehicle-right turn support related process, a message for performing notification according to the number of vehicles following the oncoming vehicle from which the succeeding rear side vehicle of the oncoming vehicle from which the information indicating the presence of the preceding vehicle is obtained The configuration may be changed.

  For example, when the number of vehicles following the oncoming vehicle or the following rear side vehicle is separated from the oncoming vehicle, it may be determined to notify that it is the right turn timing. On the other hand, when the following vehicle of the oncoming vehicle or the following rear side vehicle is only a distance away from the oncoming vehicle, it is determined to notify that the vehicle will soon be seen and wait until it is seen And it is sufficient.

  In step S44, the notification processing unit 182 performs notification processing, and proceeds to step S45. In the notification process, the display device 2 and the audio output device 3 perform notification according to the determination result in the notification determination process. Therefore, the notification processing unit 182 corresponds to the notification unit of the claims. In the notification process, when notifying that it is the right turn timing, it is assumed that the notification of progressing carefully is repeated.

  In step S45, when it is the end timing of the vehicle-related right turn support-related process (YES in step S45), the flow ends. On the other hand, if it is not the end timing of the vehicle-right turn support related process (NO in step S45), the process returns to step S42 and the flow is repeated.

  As an example of the end timing of the own vehicle right turn support related process, it may be set when the vehicle speed of the host vehicle exceeds a predetermined threshold or when the steering angle of the host vehicle becomes equal to or greater than a predetermined value. According to this, when the own vehicle makes a right turn at the intersection, the own vehicle right turn support related process can be ended.

  In addition, if information on the rear side of the rear side of the host vehicle and the rear side of the rear side of the host vehicle is received, the rear side vehicle is received based on this information. In the same manner as when the vehicle is used as a target, it may be configured to notify the right turn timing according to the presence of the rear side vehicle of the rear side vehicle and the presence or absence of deceleration.

  Here, although the structure which performs the alerting | reporting process in the own vehicle right turn support relevant process based on the alert relevant information transmitted from the transmitter 12 of the vehicle equipment 1 mounted in the oncoming vehicle of the own vehicle was shown, Not limited to this. For example, if it is an in-vehicle device having a light emitting unit that emits light superimposed with information on the presence or absence of a vehicle in the lane adjacent to the lane in which the oncoming vehicle of the host vehicle travels, such as the notification related information described above, It is good also as a structure which receives the light which the light emission part of vehicle equipment other than the vehicle equipment similar to the vehicle equipment 1 light-emitted, and performs the alerting | reporting process in the own vehicle right turn assistance related process. Therefore, the specific course change estimation unit 181 corresponds to the own vehicle standby state estimation unit in the claims, and the notification processing unit 182 corresponds to the display control unit in the claims.

  In addition, in the above-described visible light communication processing, a configuration is shown in which the transmission source direction identification processing is performed based on the light received from the light emitting unit 13 of the in-vehicle device 1 mounted on the rear vehicle or the rear side vehicle of the own vehicle. However, this is not necessarily the case. For example, for example, in the case of an in-vehicle device having a light emitting unit that emits light on which information is superimposed, the light emitted from the light emitting unit of the in-vehicle device other than the in-vehicle device similar to the in-vehicle device 1 is received and the transmission source direction specifying process is performed. It is good also as a structure which identifies the light emission origin vehicle direction by performing the process similar to. Also in this case, the transmission processing unit 174 may transmit information including the specified light-emitting source vehicle direction. Therefore, the transmission processing unit 174 corresponds to the light emission control unit in the claims.

  Here, the effect in this invention is demonstrated concretely using FIG. Here, HV is the own vehicle, A1 is the oncoming vehicle, A2 / A3 / A4 is the oncoming vehicle, B1 is the oncoming side of the oncoming vehicle, and B2 is the oncoming rear side of the oncoming vehicle. Let C be the rear side car of the rear side car of the car.

  According to the configuration of the first embodiment, when A1 receives information from B1, the own vehicle HV can acquire the light source vehicle direction of B1 specified by the transmission source direction specifying unit 176 of A1. Therefore, even if visible light communication cannot be performed directly with B1 behind A1, the existence of B1 can be recognized on the own vehicle HV side, and the right turn timing can be accurately reported. Is possible.

  In addition, the B1 light source vehicle direction specification by the A1 transmission source direction specification unit 176 does not require an autonomous sensor such as a camera or a radar for monitoring the side of the vehicle other than a device for performing communication. Therefore, there is an advantage that there is no cost for providing an extra autonomous sensor such as a camera or radar for monitoring the side of the vehicle.

  Further, when A1 relays B1 and receives information from C, the own vehicle HV can acquire the light emitting vehicle direction of C specified by the transmission source direction specifying unit 176 of B1. Therefore, even when visible light communication cannot be performed directly with C behind A1, the existence of C can be recognized on the own vehicle HV side, and the right turn timing can be accurately reported. Is possible.

  In addition, when the vehicle HV has received information directly from B1, and B1 has received information from C, C's specified by the source direction specifying unit 176 of B1 The own vehicle HV can acquire the light source vehicle direction. Therefore, even if visible light communication cannot be performed directly with C behind B1, the existence of C can be recognized on the own vehicle HV side, and the right turn timing can be accurately reported. Is possible.

  Further, when A1 relays A2 to A3 and receives information from B2, the own vehicle HV can acquire information on the presence or absence of deceleration of B2. When B2 is not decelerated, it is necessary to cancel the right turn of the host vehicle HV. Therefore, it is possible to accurately notify the timing of the right turn on the own vehicle HV side based on the presence or absence of deceleration of B2.

  According to this, even when B1 is a vehicle not equipped with the vehicle-mounted device 1, the vehicle of B1 and B2 is determined by determining the right turn timing of the host vehicle HV based on the presence or absence of deceleration of B2. Vehicles on the line can be seen as a group. That is, assuming that A1 to A3 are equipped with the in-vehicle device 1, the driving support system 100 is established if either B1 or B2 is equipped with the in-vehicle device 1. Therefore, according to the above configuration, even when there is a vehicle on which the vehicle-mounted device 1 is not installed, the probability that the driving support system 100 is established can be increased.

  Further, when A1 relays A2 and receives information from A4, or when A1 relays A2 to A3 and receives information from B2, the front side vehicle of A3 detected from the imaging result ( That is, the own vehicle HV can acquire information on the presence / absence of B1) and the presence / absence of the vehicle ahead of B2 (that is, B1). If the presence of B1 can be detected from the imaging result, the right turn of the own vehicle HV should be stopped, so the right turn timing on the own vehicle HV side from the presence or absence of B1 detected from the imaging result of the vehicle other than B1 It becomes possible to perform the alerting with high accuracy.

  According to this, even when B1 is a vehicle not equipped with the vehicle-mounted device 1, the presence of B1 can be recognized on the own vehicle HV side. In addition, even when B2 is decelerated, if the presence or absence of B1 is not confirmed, it is not possible to notify that it is the right turn timing of the vehicle HV, but if the presence of B1 can be detected from the imaging result, Since it can be determined that the vehicle exists, it is possible to accurately notify the timing of the right turn on the own vehicle HV side.

  As a result, while using optical communication, it is possible to propose to the driver the timing for changing the course to the side crossing the traveling direction of the oncoming straight vehicle at the intersection with high accuracy.

  Moreover, since the number of relays of the information of the following vehicles such as A2 to A4 for A1 is limited, information on the presence / absence of the front side vehicle of the distant succeeding vehicle and the succeeding vehicle relay the need for right turn support. Information on the presence / absence of deceleration of the succeeding rear side vehicle and the presence / absence of the preceding vehicle can be omitted so as not to be relayed to the own vehicle HV. Therefore, it is possible to ensure the communication speed of visible light communication between vehicles and reduce the load of information processing.

  In the flowchart of FIG. 6, the processing of steps S29 to S32 is omitted, and transmission data including information indicating that the following rear side vehicle of the own vehicle is decelerating (information indicating that the subsequent rear side vehicle is decelerating) is generated. The transmission may be performed by visible light communication. And the structure which makes the alerting | reporting process part 182 perform the alert | report to the right turn paying attention in the own vehicle right turn support relevant process, when the information with subsequent rear side vehicle deceleration transmitted from an oncoming vehicle is received. It is good.

(Embodiment 2)
The present invention is not limited to the above-described first embodiment, and the following second embodiment is also included in the technical scope of the present invention. Hereinafter, the second embodiment will be described. For convenience of explanation, members having the same functions as those shown in the drawings used in the description of the above-described embodiment are denoted by the same reference numerals, and description thereof is omitted.

  The driving support system 100 according to the second embodiment is the driving assistance according to the first embodiment, except that the same process as the notification determination process is performed in the other vehicle right turn support process instead of performing the notification determination process in the own vehicle right turn support process. Similar to the system 100.

  In the second embodiment, instead of the first information transmission process, the notification processing unit 182 determines to notify that it is recommended to make a right turn. Instead of the second information transmission process, the notification processing unit 182 determines to notify that it is recommended that the right turn be stopped.

  Instead of the third information transmission process, the notification processing unit 182 determines to notify that it is recommended that the right turn be stopped. Instead of the fourth information transmission process, the notification processing unit 182 determines to notify that it is the right turn timing. Instead of the fifth information transmission process, the notification processing unit 182 determines to perform a notification to make a right turn carefully. Then, transmission data including each determination result is generated, and information is transmitted by visible light communication.

  In a vehicle that has received information including the determination result from the oncoming vehicle, the notification processing unit 182 causes the display device 2 and the audio output device 3 to perform notification according to the determination result, as in the above-described notification processing.

  Also in the configuration of the second embodiment, as in the configuration of the first embodiment, while using optical communication, it is possible to accurately propose to the driver the timing of the course change to the side that intersects the traveling direction of the oncoming straight vehicle at the intersection. Is possible.

(Embodiment 3)
The present invention is not limited to the above-described first embodiment, and the following third embodiment is also included in the technical scope of the present invention. Hereinafter, the third embodiment will be described. For convenience of explanation, members having the same functions as those shown in the drawings used in the description of the above-described embodiment are denoted by the same reference numerals, and description thereof is omitted.

  The driving support system 100 according to the third embodiment does not perform the other vehicle right turn support process, and in the host vehicle right turn support process, the same process as the other vehicle right turn support process is performed for the oncoming vehicle, except for the point of the first embodiment. This is the same as the driving support system 100.

  In the third embodiment, the other vehicle right turn support process is not performed. The embodiment of the oncoming vehicle based on the information on the rear side vehicle of the oncoming vehicle, the subsequent vehicle of the oncoming vehicle, and the subsequent rear side vehicle of the oncoming vehicle among the information of the oncoming vehicle received from the oncoming vehicle The same process as the other vehicle right turn support process is performed. However, the process of step S21 of the other vehicle right turn support process and the first to fifth information transmission processes are not performed.

  Specifically, instead of the first information transmission process, the notification processing unit 182 causes notification similar to the notification according to the rear side vehicle presence information described above. Instead of the second information transmission process, the notification processing unit 182 performs a notification similar to the notification according to the above-described information on no subsequent rear side vehicle deceleration.

  Instead of the third information transmission process, the notification processing unit 182 performs notification similar to the notification according to the above-described subsequent front side vehicle presence information. Instead of the fourth information transmission process, the notification processing unit 182 performs notification similar to the notification according to the information on the absence of the following front side vehicle. Instead of the fifth information transmission process, the notification processing unit 182 performs notification similar to the notification according to the above-described subsequent rear side vehicle non-acquisition information.

  Even in the configuration of the third embodiment, similarly to the configuration of the first embodiment, while using optical communication, it is possible to accurately propose to the driver the timing of the course change to the side that intersects the traveling direction of the oncoming straight vehicle at the intersection. Is possible.

  The present invention is not limited to the above-described embodiments, and various modifications can be made within the scope of the claims, and the technical means disclosed in different embodiments can be appropriately combined. Such embodiments are also included in the technical scope of the present invention.

DESCRIPTION OF SYMBOLS 1 In-vehicle apparatus, 2 Display apparatus, 12 Transmitter, 13 Light emission part, 14 Receiver, 15 1st light-receiving part, 16 2nd light-receiving part, 174 Transmission process part (light emission control part), 176 Source direction identification part (Light emission) Former vehicle direction identification unit), 181 specific course change estimation unit (own vehicle standby state estimation unit), 182 notification processing unit (notification unit, display control unit), 100 driving support system

Claims (15)

A light-emitting unit that is mounted on another vehicle and receives the light from a light-emitting unit that emits light on which information is superimposed, and emits information superimposed on the light in front of the vehicle. An in-vehicle device (1) that transmits to another vehicle using (13),
A second light receiving portion (16) that is disposed at a rear portion of the own vehicle and receives light emitted from the light emitting portion of the rear other vehicle existing in a predetermined angle range from the rear to the rear side of the own vehicle; ,
Based on the direction of light emitted from the rear other vehicle, a light emitting source vehicle direction identifying unit (176) that identifies the position of the rear other vehicle with respect to the position of the host vehicle;
A light emission control unit (174) for controlling the light emission unit,
The light-emission control unit controls the light-emission unit to transmit light from the light-emission unit by superimposing information obtained by adding the position of the rear-rear vehicle to information superimposed on the light emitted from the rear-rear vehicle. A vehicle-mounted device that emits light toward the front of the vehicle. An on-vehicle device (12) mounted on each of a plurality of vehicles and including a transmitter (12) that transmits information using light and a receiver (14) that receives information transmitted using light by the transmitter. 1)
The transmitter has a light emitting part (13) that emits light in front of the vehicle,
The receiver receives a first light receiving part (15) that receives the light up to a predetermined angle range in front of the host vehicle, and receives the light up to a predetermined angle range from the rear to the rear side of the host vehicle. And a second light receiving part (16)
When the light emitted from the light emitting unit of another vehicle is received by the second light receiving unit, the light that is transmitted from the light emitting unit of the own vehicle is transmitted from the light emitting unit of the own vehicle. Relay to send using
A specific course change estimating unit (181) for estimating a specific course change that is a course change of the own vehicle to the side crossing the traveling direction of the oncoming straight vehicle at the intersection;
When the light emitted from the light emitting unit of the other vehicle is received by the second light receiving unit, the position of the light source of the light is specified, so that the vehicle of the other vehicle that is the light source of the light is identified. A light-emitting source vehicle direction specifying unit (176) that specifies at least whether the light-emitting source vehicle direction that is the direction is the rear side or the rear side,
When performing the relay, in addition to the transmitted information of the other vehicle, the light source vehicle direction relative to the vehicle of the other vehicle specified by the light source vehicle direction specifying unit is also transmitted,
When the specific route change estimation unit estimates the specific route change, and when the first light receiving unit receives light emitted from the light emitting unit of an oncoming vehicle that is another vehicle facing the light, the light An in-vehicle device comprising an informing unit (182) for informing information on the timing of the specific course change based on the information on the oncoming vehicle transmitted using. In claim 2 ,
The information on the oncoming vehicle is information on the vehicle on the rear side of the succeeding vehicle that has been received by repeating the relay one or more times from any succeeding vehicle in which the oncoming vehicle is arranged behind the oncoming vehicle. In-vehicle device characterized by being information based on. In claim 2 or 3 ,
When the host vehicle is stopped, the relay in the succeeding vehicle is received from the information of each other vehicle received from the subsequent vehicle arranged behind the host vehicle by repeating the relay multiple times. An in-vehicle device comprising a relay frequency limiting unit (174) for limiting information that has passed a predetermined number of times or more to the information transmitted from the transmitter of the own vehicle. In any one of claims 2-4,
When the light-emitting source vehicle direction of the other vehicle that is the light-emitting source of the light received by the second light receiving unit is identified as the rear side of the own vehicle by the light-emitting source vehicle direction specifying unit, the rear side of the own vehicle A presence determination unit (178) that determines that a vehicle is present in
When performing the relay, in addition to the vehicle presence information indicating that there is a vehicle behind the host vehicle,
The in-vehicle device, characterized in that, when the notification unit receives the vehicle presence information included in the oncoming vehicle information, the notification unit recommends that the specific course change be postponed. In claim 5 ,
The information transmitted from the transmitter includes speed-related information of at least one of the vehicle speed and acceleration / deceleration of the host vehicle,
In the information received by repeating the relay one or more times from any of the succeeding vehicles lined up behind the host vehicle, the light emitting source vehicle direction with respect to the succeeding vehicle is the rear side of the succeeding vehicle. When the speed-related information of the side vehicle is included, based on the speed-related information, a deceleration presence / absence determining unit (179) for determining the presence / absence of deceleration of the subsequent rear side vehicle is provided,
When performing the relay, in addition to the deceleration presence determination result that is the determination result in the deceleration presence determination unit,
Even if the notification unit has not received the vehicle presence information included in the information on the oncoming vehicle, as the result of the deceleration presence / absence determination included in the information on the oncoming vehicle, An in-vehicle device characterized in that, when information indicating that there is no deceleration is received, it is recommended that the specific course change be recommended. In claim 6 ,
The first light receiving unit is a front camera having an imaging range up to a predetermined angle range from the front of the host vehicle to the front side.
From the captured image of the front camera, whether or not there is a forward vehicle having the same traveling direction in front of the own vehicle, and a front side vehicle having the same traveling direction in front of the own vehicle. Including an imaging determination unit (180) for determining whether or not
When the relay is performed, the imaging determination result that is the determination result in the imaging determination unit is also added and transmitted,
The notifying unit is the case where the vehicle presence information included in the information on the oncoming vehicle has not been received, and the subsequent rear side vehicle is used as the deceleration presence / absence determination result included in the information on the oncoming vehicle. Even when the information indicating that there is deceleration is received, as the imaging determination result included in the information on the oncoming vehicle, the front vehicle is present in the subsequent rear side vehicle of the oncoming vehicle, and the An in-vehicle device characterized in that, when information indicating that the front side vehicle is present in the following vehicle of an oncoming vehicle is received, a notification that recommending that the specific course change be made is recommended. In any one of claims 2-4,
Presence determination that determines that a vehicle is present behind the oncoming vehicle when the light emitting source vehicle direction included in the information on the oncoming vehicle is information indicating that the vehicle is behind the oncoming vehicle. Part (17),
The in-vehicle device, wherein when the presence determination unit determines that a vehicle is present behind the oncoming vehicle, the notification unit notifies that the specific course change is recommended. In claim 8 ,
The information transmitted from the transmitter includes speed-related information of at least one of the vehicle speed and acceleration / deceleration of the host vehicle,
The information on the oncoming vehicle includes the direction of the light emitting source vehicle with respect to the succeeding vehicle that the oncoming vehicle has received the relay one or more times from any of the succeeding vehicles lined up behind the oncoming vehicle. ,
If the information on the oncoming vehicle includes speed-related information on a subsequent rear side vehicle in which the light emitting source vehicle direction with respect to the subsequent vehicle is the rear side of the subsequent vehicle, the speed related information is Originally, provided with a deceleration presence / absence determination unit (17) for determining the presence or absence of deceleration of the subsequent rear side vehicle
Even when the notifying unit determines that there is no vehicle behind the oncoming vehicle by the presence determining unit, and when the deceleration determining unit determines that the subsequent rear side vehicle is not decelerated. In the vehicle-mounted device, it is notified that it is recommended that the specific course change be postponed. In claim 9 ,
The first light receiving unit is a front camera having an imaging range up to a predetermined angle range from the front of the host vehicle to the front side.
From the captured image of the front camera, whether or not there is a forward vehicle having the same traveling direction in front of the own vehicle, and a front side vehicle having the same traveling direction in front of the own vehicle. An imaging determination unit (17) for determining whether or not there is,
The information transmitted from the transmitter includes an imaging determination result that is a determination result in the imaging determination unit,
The notifying unit determines that there is no vehicle behind the oncoming vehicle by the presence determining unit, and determines that the deceleration of the subsequent rear side vehicle is decelerated by the deceleration presence / absence determining unit. Even in this case, as the imaging determination result included in the information on the oncoming vehicle, the front vehicle exists in the succeeding rear side vehicle of the oncoming vehicle, and the front side of the succeeding vehicle of the oncoming vehicle An in-vehicle device characterized in that, when information indicating that a vehicle is present is received, it is recommended that the specific route change be recommended. In any one of claims 2-4,
When the light-emitting source vehicle direction of the other vehicle that is the light-emitting source of the light received by the second light receiving unit is identified as the rear side of the own vehicle by the light-emitting source vehicle direction specifying unit, the rear side of the own vehicle A presence determination unit (178) that determines that a vehicle is present in
When the transmitter determines that a vehicle is present behind the host vehicle, the transmitter uses the light emitted from the light emitting unit of the host vehicle to suspend the specific course change. Send a notification instruction that is an instruction to make a recommendation notification,
The in-vehicle device, wherein the informing unit performs an informing that it is recommended to postpone the specific course change when the informing instruction is received from the oncoming vehicle. According to claim 1 1,
The information transmitted from the transmitter includes speed related information of at least one of the vehicle speed and acceleration / deceleration of the host vehicle,
In the information received by repeating the relay one or more times from any of the following vehicles lined up behind the host vehicle, the following rear side in which the light source vehicle direction with respect to the following vehicle is the rear side of the following vehicle When the speed-related information of the direction vehicle is included, based on the speed-related information, a deceleration presence / absence determination unit (179) that determines the presence / absence of deceleration of the subsequent rear side vehicle is provided,
When the transmitter determines that there is no vehicle behind the host vehicle in the presence determination unit, the transmitter determines whether there is no deceleration of the subsequent rear side vehicle in the deceleration presence / absence determination unit. Transmits the notification instruction. In claim 1 2,
The first light receiving unit is a front camera having an imaging range up to a predetermined angle range from the front of the host vehicle to the front side.
From the captured image of the front camera, whether or not there is a forward vehicle that is the other vehicle having the same traveling direction in front of the own vehicle, and the front side that is the other vehicle having the same traveling direction at the front side of the own vehicle. An imaging determination unit (180) for determining whether a vehicle exists,
The information transmitted from the transmitter includes an imaging determination result that is a determination result in the imaging determination unit,
The transmitter is a case where the presence determination unit determines that there is no vehicle behind the host vehicle, and the deceleration presence determination unit determines that the subsequent rear side vehicle is decelerated. Even so, as a result of the imaging determination included in the information received by repeating the relay one or more times from any of the following vehicles arranged behind the host vehicle, the preceding vehicle is added to the succeeding rear side vehicle. The in-vehicle device is characterized by transmitting the notification instruction when information indicating that the vehicle is present and the front side vehicle is present in the following vehicle is received. The vehicle-mounted device (1) mounted on each of the one vehicle and the other vehicle performs optical communication with light superimposed information, and displays driving support information on the display device (2) mounted on the other vehicle. A driving support system (100) for
The vehicle-mounted device of the one vehicle is
A second light receiving unit (16) that is disposed at a rear portion of the one vehicle and receives light emitted from an in-vehicle device of a rear other vehicle that exists in a predetermined angle range from the rear side to the rear side of the one vehicle. When,
Based on the direction of light emitted from the in-vehicle device of the rear other vehicle, a light emitting source vehicle direction identifying unit (176) that identifies the position of the rear other vehicle with respect to the position of the one vehicle;
A light emitting unit that is disposed at the front of the one vehicle and emits information superimposed on the light emitted from the vehicle-mounted device of the other vehicle behind the vehicle toward the front of the one vehicle (13)
A light emission control unit (174) for controlling the light emission unit,
The in-vehicle device of the other vehicle in the lane facing the one vehicle is
A first light receiving portion (15) that is disposed at a front portion of the other vehicle and receives light emitted from the light emitting portion of the one vehicle;
A display control unit (182) for controlling the display device based on information superimposed on the light from the one vehicle received by the first light receiving unit;
A host vehicle standby state estimation unit (181) for estimating whether the host vehicle is in a standby state trying to enter the side crossing the traveling direction of the oncoming straight vehicle,
The light emission control unit of the one vehicle emits light obtained by superimposing information obtained by adding a position of the rear other vehicle to information superimposed on light emitted from the vehicle-mounted device of the rear other vehicle. To emit light toward the other vehicle,
The display control unit of the other vehicle, when the vehicle standby state estimation unit estimates that the other vehicle is in the standby state, includes information superimposed on the light emitted from the one vehicle. A driving support system, wherein the display device displays the one vehicle and information of a vehicle in a lane adjacent to the lane in which the one vehicle travels as the driving support information. Driving support system including a vehicle-mounted device (1) according to any one of claims 2-1 3 mounted to each of the plurality of vehicles.

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