JP6115737B2 - Vehicle driving support device - Google Patents

Description

  The present invention relates to a vehicle driving support device, and more particularly to a vehicle driving support device that supports driving of a driver.

  2. Description of the Related Art Conventionally, a technique for notifying a driver of the presence of another vehicle using inter-vehicle communication is known. For example, in Patent Document 1, information on the position, speed, and traveling direction of other vehicles around the host vehicle is acquired using inter-vehicle communication, the other vehicles around are registered in the attention list, and the possibility of collision An apparatus for transmitting caution information to other vehicles having a problem is described.

  There is also known a technique of detecting other vehicles around the own vehicle using an autonomous sensor mounted on the vehicle and notifying the driver of the presence of the other vehicle. For example, Patent Document 2 describes a device that warns a driver when a two-wheeled vehicle approaching from behind is detected by a camera provided at the rear end of a vehicle.

JP 2008-90663 A JP 2008-129964 A

  By the way, when the own vehicle has both the function of notifying the driver of the presence of another vehicle using inter-vehicle communication and the function of notifying the driver of the presence of other vehicle using an in-vehicle sensor, A situation where functions conflict is expected.

  For example, when an own vehicle approaches an intersection with poor visibility and no traffic light, the presence of another vehicle (intersection vehicle) approaching the intersection from a direction different from the own vehicle is detected by inter-vehicle communication, and the own vehicle is When it is determined that there is a possibility of colliding with another vehicle in step S2, it is conceivable that another vehicle (rear vehicle) approaching the host vehicle from behind is detected by the in-vehicle sensor. In this situation, it is desirable to give priority to the notification of the crossing vehicle that the driver cannot see, rather than the notification of the rear vehicle that the driver can view through the room mirror or the side mirror.

  On the other hand, when the host vehicle approaches an intersection with good visibility and no traffic light, the presence of another vehicle (intersection vehicle) approaching the intersection from a different direction from the host vehicle is detected by inter-vehicle communication, and the host vehicle is When it is determined that there is a possibility of colliding with another vehicle in step S2, it is conceivable that another vehicle (rear vehicle) approaching the host vehicle from behind is detected by the in-vehicle sensor. In this situation, there is a high possibility that the driver is looking at the crossing vehicle. Therefore, if the vehicle is notified of the crossing vehicle, it may be troublesome for the driver. It may be desirable to give priority to the notification of the rear vehicle that the driver may not have seen, rather than the notification of the crossing vehicle that the driver is likely to have already observed.

  However, the above-described conventional apparatus does not consider the order of priority between the notification of the presence of another vehicle by inter-vehicle communication and the notification of the presence of another vehicle by an in-vehicle sensor, so that the priority notification is made according to the driving situation. There is a possibility that the driver cannot be notified of information on other vehicles that should be transmitted at an optimal timing or an optimal notification level.

  The present invention has been made to solve the above-described problems of the prior art, and informs the driver of information related to other vehicles detected by the inter-vehicle communication and the in-vehicle sensor at an appropriate timing and notification level, respectively. It is an object of the present invention to provide a vehicle driving support device that can perform such operations.

In order to achieve the above object, a vehicle driving support device of the present invention is a vehicle driving support device that supports driving of a driver, and includes an in-vehicle sensor that detects other vehicles around the host vehicle, and other vehicles. A vehicle-to-vehicle communication unit that receives other vehicle information including the position, traveling direction, and vehicle speed of the vehicle, and a collision possibility determination unit that determines a possibility of collision between the host vehicle and the other vehicle based on the other vehicle information; An output means for outputting information for reporting the presence of another vehicle, another vehicle determined by the collision possibility determination means to be likely to collide with the own vehicle, and other vehicles in front of the own vehicle detected by the in-vehicle sensor. Other vehicle identity determination means for determining identity with the vehicle, other vehicles determined by the collision possibility determination means as likely to collide with the own vehicle, and other vehicles in front of the own vehicle detected by the in-vehicle sensor When the vehicle is the same The information that informs the presence of the other vehicle behind the own vehicle detected by the in-vehicle sensor is preferentially output by the output means over the information that informs the presence of the other vehicle that is determined to possibly collide with the own vehicle. And a notification control means for outputting.
In the present invention configured as described above, the notification control means includes the other vehicle determined by the collision possibility determination means as a possibility of colliding with the own vehicle, and the other vehicle front detected by the in-vehicle sensor. If it is highly possible that the vehicle is the same and the driver is already looking at another vehicle that has been determined to have a possibility of colliding with the host vehicle by the collision possibility determination means, this is detected by the in-vehicle sensor. Since the information for notifying the presence of another vehicle behind the host vehicle is preferentially output by the output means, the driver can be surely notified of the presence of the rear vehicle that may not be viewed by the driver.

In the present invention, it is preferable that the notification control unit includes an other vehicle that is determined to be likely to collide with the host vehicle by the collision possibility determination unit, and another vehicle in front of the host vehicle that is detected by the in-vehicle sensor. Are the same, the output means outputs only the information notifying the presence of the other vehicle behind the own vehicle detected by the in-vehicle sensor.
In the present invention configured as described above, when it is highly likely that the driver has already seen another vehicle that has been determined to be likely to collide with the host vehicle by the collision possibility determination means, the vehicle Since only the presence of other vehicles behind the host vehicle detected by the in-vehicle sensor is notified without notifying the presence of the vehicle, the driver can be surely notified of the presence of the rear vehicle that the driver may not have seen. It is possible to prevent the driver from feeling bothered by notifying the presence of another vehicle that has been viewed.

  According to the vehicle driving support device of the present invention, information related to other vehicles detected by inter-vehicle communication and on-vehicle sensors can be notified to the driver at appropriate timing and notification level, respectively.

It is a block diagram which shows the electric constitution of the vehicle by which the driving assistance device for vehicles by embodiment of this invention is mounted. 1 is a schematic perspective view illustrating a situation in the vicinity of an intersection where driving assistance of a driver is performed by a vehicle driving assistance device according to an embodiment of the present invention; It is a flowchart of the driving assistance process which the driving assistance device for vehicles by embodiment of this invention performs. It is the figure which illustrated the alerting | reporting screen in which the driving assistance device for vehicles by embodiment of this invention alert | reports presence of a crossing vehicle. It is the figure which illustrated the alerting | reporting screen which alert | reports presence of the other vehicle which approaches the own vehicle from back from the vehicle driving assistance device by embodiment of this invention.

Hereinafter, a vehicle driving support apparatus according to an embodiment of the present invention will be described with reference to the accompanying drawings.
First, referring to FIG. 1, the configuration of a vehicle driving support apparatus according to an embodiment of the present invention will be described.
FIG. 1 is a block diagram showing an electrical configuration of a vehicle equipped with a vehicle driving support apparatus according to an embodiment of the present invention.

  In FIG. 1, the code | symbol 1 shows the vehicle by which the driving assistance device 2 for vehicles by embodiment of this invention is mounted. The vehicle driving support device 2 includes an in-vehicle sensor group 4 that detects other vehicles around the host vehicle 1, a navigation system 6, a GPS 8 (Global Positioning System), an inter-vehicle communication system 10, and driving support control that supports driving of the driver. An output device 14 that outputs various information provided from the unit 12 and the driving support control unit 12 is provided. The in-vehicle sensor group 4, the navigation system 6, the GPS 8, the inter-vehicle communication system 10, the driving support control unit 12, and the output device 14 are connected to each other by a CAN 16 (Controller Area Network). . In addition, information regarding the vehicle state such as the vehicle speed, the steering angle, the brake depression force, the operation state of the direction indicator, the operation state of the active safety system, and the like is transferred via the CAN 16.

  The in-vehicle sensor group 4 detects the other vehicle existing in front of the host vehicle 1 and measures the distance, direction, and relative speed to the other vehicle. The camera 20 and a rear millimeter wave radar 22 that detects other vehicles existing behind the host vehicle 1 and measures the distance, direction, and relative speed to the other vehicles are included.

  The inter-vehicle communication system 10 includes a communication device 24 that communicates with other vehicles, a decoder 26 that decodes data (other vehicle information) received from other vehicles, and an encoder that encodes data to be transmitted to other vehicles. 28. The data communicated by the inter-vehicle communication system 10 includes, for example, information such as the vehicle position, traveling direction, vehicle speed, steering rudder angle, brake pedaling force, and the like, and the vehicle type (for example, emergency vehicle). included.

The driving support control unit 12 determines the possibility that the own vehicle 1 will collide with another vehicle at the intersection, the detection result of the other vehicle by the in-vehicle sensor group 4, and the possibility of collision with the other vehicle. Accordingly, the notification control unit 32 that outputs information for notifying the presence of another vehicle by the output device 14 and the detection result of the other vehicle by the in-vehicle sensor group 4 and the behavior of the host vehicle 1 according to the possibility of collision with the other vehicle. The behavior control part 34 to control and the identity determination part 36 which determines the identity of the other vehicle detected using the inter-vehicle communication and the other vehicle detected by the vehicle sensor group 4 are provided.
The collision possibility determination unit 30, the notification control unit 32, the behavior control unit 34, and the identity determination unit 36 are a CPU, various programs interpreted on the CPU (basic control programs such as an OS, OS And a computer having an internal memory such as a ROM or RAM for storing programs and various data.

  The output device 14 includes a display 38 that outputs character information and image information, and a speaker 40 that outputs audio information.

  Next, a situation where the vehicle driving support apparatus 2 according to the embodiment of the present invention is used will be described with reference to FIG. FIG. 2 is a schematic perspective view illustrating a situation in the vicinity of an intersection where the driving assistance of the driver is performed by the vehicle driving assistance device 2 according to the embodiment of the invention.

  The vehicle driving support device 2 according to the embodiment of the present invention targets a situation in which the host vehicle 1 is approaching an intersection without a traffic light, and may cause a collision with another vehicle approaching the intersection in front of the host vehicle 1. The presence of the other vehicle is notified according to the presence or absence of the other vehicle approaching from behind the host vehicle 1.

  In the example of FIG. 2, there is a crossroad 42 with good visibility without a traffic light in front of the host vehicle 1, and the host vehicle 1 approaches the crossroad 42. Further, there are another vehicle 44 approaching the cross road 42 from the front right side of the host vehicle 1 and another vehicle 46 (two-wheeled vehicle) approaching the host vehicle 1 from the rear of the host vehicle 1.

  Next, a driving support process executed by the vehicle driving support apparatus 2 according to the embodiment of the present invention will be described with reference to FIGS. FIG. 3 is a flowchart of a driving support process executed by the vehicle driving support apparatus 2 according to the embodiment of the present invention. FIG. 4 shows the driving support apparatus 2 according to the embodiment of the present invention. FIG. 5 is a diagram illustrating a notification screen for notifying the presence of an approaching other vehicle 46, and FIG. 5 is a diagram illustrating a notification screen for the vehicle driving support device 2 according to an embodiment of the present invention to notify the presence of the other vehicle 44. It is.

  This driving support process is activated and executed repeatedly when the ignition of the vehicle 1 is turned on and the vehicle driving support device 2 is powered on.

  As shown in FIG. 3, when the driving support process is started, first, in step S <b> 1, the collision possibility determination unit 30 causes the own vehicle 1 to approach an intersection 42 without a traffic signal to a predetermined distance (for example, 500 m). It is determined whether or not. Specifically, the collision possibility determination unit 30 is based on the map information acquired from the navigation system 6 and the current position of the host vehicle 1 acquired from the GPS 8, and the host vehicle 1 approaches the intersection 42 without a traffic signal to a predetermined distance. Determine whether or not. As a result, when the own vehicle 1 has not approached the intersection 42 without a traffic signal to a predetermined distance, step S1 is repeated.

  On the other hand, when the own vehicle 1 approaches the intersection 42 without a traffic signal up to a predetermined distance, the process proceeds to step S2, and the collision possibility determination unit 30 transmits the other vehicle information transmitted from the other vehicle 44 by the inter-vehicle communication system 10. To receive.

  Next, in step S3, the collision possibility determination unit 30 has a high possibility that the own vehicle 1 will collide with another vehicle 44 at the intersection 42 based on the other vehicle information received by the inter-vehicle communication system 10 in step S2. Determine whether or not. For example, the collision possibility determination unit 30 includes the vehicle speed of the host vehicle 1 acquired via the CAN 16, the current position of the host vehicle 1 acquired by the GPS 8, and other vehicles included in the other vehicle information received by the inter-vehicle communication system 10. When the distance between the host vehicle 1 and the other vehicle 44 when the host vehicle 1 enters the intersection 42 is estimated based on the vehicle speed 44, the traveling direction, and the current position, and the estimated distance is equal to or less than a predetermined threshold Furthermore, it is determined that the possibility that the own vehicle 1 collides with another vehicle 44 at the intersection 42 is high.

  As a result, when the possibility that the own vehicle 1 collides with the other vehicle 44 at the intersection 42 is high, the process proceeds to step S <b> 4, and the other vehicle identity determination unit 36 uses the front camera 20 to move the other vehicle ahead of the own vehicle 1. It is determined whether or not it has been detected.

  As a result, when another vehicle is detected in front of the host vehicle 1 by the front camera 20, the process proceeds to step S5, and the other vehicle identity determination unit 36 analyzes the image photographed by the front camera 20, When the distance and direction to the other vehicle detected by the front camera 20 are specified, and the possibility of collision with the host vehicle 1 in step S3 is high based on the other vehicle information received by the inter-vehicle communication system 10 in step S2. The determined distance and direction to the other vehicle 44 are specified, and the distance and direction of these other vehicles are compared.

  Next, it progresses to step S6, and the other vehicle identity determination part 36 is based on the other vehicle detected by the front camera 20 based on the comparison result of the distance and azimuth | direction of the other vehicle in step S5, and the own vehicle 1 in step S3. It is determined whether or not the other vehicle 44 determined to have a high possibility of a collision is the same vehicle.

  As a result, when the other vehicle detected by the front camera 20 and the other vehicle 44 determined to be highly likely to collide with the host vehicle 1 in step S3 are not the same vehicle, or in step S4, the front camera When no other vehicle is detected in front of the host vehicle 1 by 20, the driver is not likely to see the other vehicle 44 that is determined to have a high possibility of colliding with the host vehicle 1 in step S3. it is conceivable that. Then, it progresses to step S7 and the alerting | reporting control part 32 outputs the information which alert | reports the presence of the other vehicle 44 (intersection vehicle) which approaches the intersection 42 ahead of the own vehicle 1 by the output device 14. For example, as shown in FIG. 4, the notification control unit 32 causes the display 38 to display an image representing the other vehicle 44 entering the intersection 42 from the direction specified by the other vehicle information received by the inter-vehicle communication system 10. At the same time, a sound for notifying the existence of another vehicle 44 approaching the intersection 42 ahead of the host vehicle 1 is output from the speaker 40.

  In step S3, when the possibility that the own vehicle 1 collides with another vehicle 44 at the intersection 42 is not high, or after step S7, the process proceeds to step S8, and the notification control unit 32 causes the rear millimeter wave radar 22 to It is determined whether another vehicle 46 (rear vehicle) approaching the host vehicle 1 is detected.

  As a result, when the other vehicle 46 approaching the host vehicle 1 from the rear is detected, the process proceeds to step S9, and the notification control unit 32 outputs information for notifying the existence of the other vehicle 46 approaching the host vehicle 1 from the rear. It is output by the device 14. For example, as shown in FIG. 5, the notification control unit 32 lights an image indicating the presence of the other vehicle 46 approaching the host vehicle 1 from behind as part of the side mirror 50.

  When the other vehicle 46 approaching the host vehicle 1 from behind is not detected by the rear millimeter wave radar 22 in step S8, or after step S9, the process proceeds to step S10. It is determined whether or not the vehicle has passed the intersection 42 without a traffic signal. Specifically, the collision possibility determination unit 30 determines whether or not the host vehicle 1 has passed the intersection 42 without a traffic signal based on the map information acquired from the navigation system 6 and the current position of the host vehicle 1 acquired from the GPS 8. Determine. As a result, if the host vehicle 1 does not pass through the intersection 42 without a traffic light, the process returns to step S2. Thereafter, the processes of steps S2 to S10 are repeated until the own vehicle 1 passes through the intersection 42 without a traffic signal.

  If the other vehicle detected by the front camera 20 in step S6 and the other vehicle 44 determined to be highly likely to collide with the host vehicle 1 in step S3 are the same vehicle, the driver performs step S3. It is considered that there is a high possibility that the other vehicle 44 that has been determined to be highly likely to collide with the host vehicle 1 has already been viewed. Therefore, the notification control unit 32 proceeds to step S8 without notifying the presence of the other vehicle 44 (intersection vehicle) approaching the intersection 42 ahead of the host vehicle 1, and the rear millimeter wave radar 22 causes the host vehicle 1 from the rear. It is determined whether another vehicle 46 (rear vehicle) approaching the vehicle is detected.

  Moreover, when the own vehicle 1 passes the intersection 42 without a traffic light in step S10, the vehicle driving assistance device 2 ends the driving assistance processing.

  Next, the effect by the vehicle driving assistance device 2 of this embodiment mentioned above is demonstrated.

  First, in the notification control unit 32, the other vehicle 44 determined by the collision possibility determination unit 30 to possibly collide with the host vehicle 1 is the same as the other vehicle in front of the host vehicle 1 detected by the in-vehicle sensor. If it is highly likely that the driver has already seen the other vehicle 44 that has been determined to be likely to collide with the host vehicle 1 by the collision possibility determination unit 30, the rear millimeter wave radar 22 detects it. Since the output device 14 preferentially outputs information for reporting the presence of the other vehicle 46 behind the host vehicle, the driver is surely notified of the presence of the rear vehicle 46 that may not be viewed by the driver. Can do.

  In particular, when there is a high possibility that the driver has already observed the other vehicle 44 that has been determined to be likely to collide with the host vehicle 1 by the collision possibility determination unit 30, the presence of the other vehicle 44 is notified. Without being notified, only the presence of the other vehicle 46 behind the host vehicle detected by the rear millimeter wave radar 22 is notified, so that the driver is surely notified of the presence of the rear vehicle 46 that the driver may not have visually observed. In addition, it is possible to prevent the driver from feeling bothered by notifying the presence of another vehicle 44 that has been viewed.

1 Vehicle (own vehicle)
2 Vehicle Driving Support Device 4 Vehicle-mounted Sensor Group 6 Navigation System 8 GPS
10 Inter-Vehicle Communication System 12 Driving Support Control Unit 14 Output Device 16 CAN
DESCRIPTION OF SYMBOLS 18 Front millimeter wave radar 20 Front camera 22 Rear millimeter wave radar 24 Communication device 26 Decoder 28 Encoder 30 Collision possibility judgment part 32 Notification control part 34 Behavior control part 36 Other vehicle identity judgment part 38 Display 40 Speaker 42 Intersection (cross road)
44 Other vehicles (crossing vehicles)
46 Other vehicles (rear vehicles, motorcycles)
48 buildings 50 side mirrors

Claims (2)

A vehicle driving support device for supporting driving of a driver,
An in-vehicle sensor that detects other vehicles around the vehicle,
A vehicle-to-vehicle communication unit that receives other vehicle information including the position, traveling direction, and vehicle speed of the vehicle from another vehicle;
Based on the other vehicle information, a collision possibility determination means for determining the possibility of collision between the own vehicle and the other vehicle;
Output means for outputting information for reporting the presence of another vehicle;
Other vehicle identity determination means for determining the identity of another vehicle that has been determined to be likely to collide with the host vehicle by the collision possibility determination means and the other vehicle in front of the host vehicle detected by the in-vehicle sensor. When,
When the other vehicle determined to have a possibility of colliding with the own vehicle by the collision possibility determining means and the other vehicle in front of the own vehicle detected by the in-vehicle sensor are the same, it is detected by the in-vehicle sensor. Information control means for causing the output means to output information for notifying the presence of the other vehicle behind the own vehicle in preference to the information for notifying the presence of the other vehicle that has been determined to possibly collide with the own vehicle. And a vehicle driving support device.   When the other vehicle determined to be likely to collide with the host vehicle by the collision possibility determining unit and the other vehicle in front of the host vehicle detected by the in-vehicle sensor are the same as the notification control unit, The vehicle driving support device according to claim 1, wherein only the information for reporting the presence of another vehicle behind the host vehicle detected by the in-vehicle sensor is output by the output means.

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