JP6443255B2 - Signal passing support device - Google Patents

Description

  The present invention relates to a technical field of a signal passing support device that supports driving of a driver of a vehicle when, for example, a traveling vehicle passes a traffic light.

  In Patent Document 1, as a part of ITS (Intelligent Transport Systems) technology, a time point when a vehicle passes a traffic light is calculated, and when the display of the traffic light at the time point is “red”, the traffic light is not allowed to pass and An apparatus for notifying a driver (that is, a driver) of a speed range in which the traffic signal can pass is disclosed.

JP 2012-203785 A

  However, according to the background art described above, if the current traffic light display is “red” and the traffic light display just changes to “blue” when passing, the vehicle will drive towards the “red” signal. Therefore, there is a technical problem that gives driver anxiety.

  In view of the above-described problems, the present invention, for example, when the vehicle can pass through a traffic light, the vehicle passes through the traffic light and the display of the traffic light changes from “red” to “blue”. It is an object of the present invention to provide a signal passing support device that can reduce anxiety that a driver travels toward a “red” signal in a situation where the vehicle is near.

  <1>

  In order to solve the above problems, the signal passing support device according to the present invention obtains position information of a place where a traffic light is installed and information on a display change time until the traffic light changes from a current display to a different display. An information acquisition means, a predicted passage time calculation means for calculating a predicted passage time until the host vehicle passes through the traffic light, from the position information of the traffic signal and the position and speed information of the host vehicle; When the display is red and the predicted transit time is longer than the display change time plus the signal change recognition time necessary for the driver of the vehicle to recognize the change in the display of the traffic light, An informing means for informing the driver that the traffic signal can pass.

  According to the present invention, the position information of the place where the traffic light is installed is acquired by the signal information acquisition means during or before traveling of the host vehicle, and the host vehicle is traveling in parallel or in parallel with this. In addition, information on the display change time until the traffic light located in front of the road on which the host vehicle is traveling changes from the current display to a different display is acquired. Next, the predicted passing time until the host vehicle passes the signal is calculated by the predicted passing time calculation means from the acquired position information of the traffic signal and information on the position and speed of the host vehicle.

  Subsequently, for example, when the current display of the traffic light is red by an informing means including a processor, a memory, a display, a speaker, or the like, and the calculated predicted transit time is the acquired display. When it is longer than the value obtained by adding the signal change recognition time to the change time, the driver is informed that the signal can pass through, for example, a display or sound. Conversely, when the calculated predicted passage time is shorter than a value obtained by adding the signal change recognition time to the acquired display change time, it is not notified that the passage is possible. In addition, it is a case where the present display of the said traffic light is red by an alerting | reporting means, and the calculated estimated passage time is the same as the value which added signal change recognition time to the said acquired display change time. In some cases, (b) it may be notified that the passage is possible (that is, the passage is allowed when the obtained display change time is equal to or greater than a value obtained by adding a signal change recognition time). (B) may not be notified, or (b) may not be notified.

  Here, the “signal change recognition time” according to the present invention is a time required for the driver to recognize the change in the display of the traffic light. For example, the driver sees the display of the traffic light and displays the change. It may mean the time required to understand the contents (for example, stop if red, pass through if blue). The signal change recognition time may be calculated in real time or in advance, for example, as a function depending on various factors such as age and response speed related to each driver. Alternatively, the signal change recognition time may be a fixed value such as a value determined in advance as a general-purpose value.

  For this reason, when it is possible to pass the traffic light according to the regulations, in the situation where it is close to passing the traffic light and the display of the traffic light to change from “red” to “blue”, In this case, it is possible to reduce the anxiety of the driver traveling toward the “red” signal.

  <2>

In one aspect of the signal passing support device described above, the notification means sets the signal change recognition time as a constant value between the speed from zero and a predetermined vehicle speed, and the speed is greater than the predetermined vehicle speed. In this case, as the speed increases, the signal change recognition time calculation means for calculating the signal change recognition time longer, and the current display of the traffic light is red, and the predicted transit time is the display change time at the display change time. And a calculated value correspondence notifying means for notifying that the passage is possible when the set or calculated signal change recognition time is longer than the added value.

According to this aspect, since there is a signal change recognition time calculation means, the signal change recognition time is calculated to be longer as the vehicle speed increases at a predetermined vehicle speed or higher. In other words, the higher the vehicle speed, the slower it is to inform the driver that the vehicle can pass, and the less anxiety of the driver traveling toward the “red” signal (that is, the higher the vehicle speed, the greater the anxiety). can do.

  Here, in the above-described aspect, the “predetermined vehicle speed” is a vehicle speed that can be set in advance as a vehicle speed that does not change in the time necessary for the driver to recognize the change in the signal. More specifically, for example, the vehicle speed does not cause a change in the time required until the driver sees the display of the signal and understands the content of the signal. It should be noted that the predetermined vehicle speed can be changed little or no practically by specifying the time necessary for the driver to recognize the change of the signal for various vehicle speeds experimentally and empirically in advance. It is a vehicle speed that can be set in advance as a vehicle speed that is not present. Such a predetermined vehicle speed may be calculated in advance or in real time according to the attribute of the individual driver or the attribute of the individual vehicle, and further according to the road conditions during travel. Alternatively, it may be a fixed value such as a preset average value or a general-purpose value.

  <3>

In another aspect of the signal passing support device described above, the notification unit includes a signal change recognition time setting unit that randomly selects and sets the signal change recognition time within a predetermined range in which the driver can recognize the display change of the traffic light. When the current display of the traffic light is red and the predicted passage time is longer than the display change time plus the set signal change recognition time, a calculation is made to notify that the passage is possible. And a value correspondence notifying unit.

  According to this aspect, the driver's familiarity with the signal change recognition time can be suppressed. Therefore, it is possible to prevent the driver from driving to pass the vehicle aiming at the moment when the display of the traffic light switches from “red” to “blue”.

  Here, in the above-mentioned aspect, the “predetermined range in which the driver can recognize the change in the display of the traffic light” is given a margin from which the driver does not feel troublesome from the shortest time in which the driver can recognize the change in the display of the traffic light. For example, when driving at different speeds, we conducted an experiment to measure the recognition time for changes in the display of the driver's traffic light. The shortest time was set as the shortest time, and the longest time was given a margin. It may be set as time. Further, the number of drivers to be measured may be increased, and the average value of the measurement results of each driver may be used as a general-purpose fixed value.

  <4>

  In another aspect of the signal passing support apparatus described above, the notification unit does not notify that the passage is possible when the predicted passage time is longer than a predetermined time.

  According to this aspect, in a situation where it takes a long time to pass through the traffic light, it is possible to pass in a situation where the traffic light passes through a traffic light and the display of the traffic light changes from “red” to “blue”. Since there is no notification of the fact, the troublesomeness of the driver for being notified for a long time can be reduced. Conversely, when the predicted transit time is shorter than the predetermined time, it does not take a long time to pass through the traffic light, and the traffic light display changes from “red” to “blue” when passing through the traffic light. If the situation is close to the above, if the other conditions related to the predicted passage time as described above are satisfied, the notification means that the passage is possible is performed. When the predicted passage time is the same as the predetermined time, (i) it is not notified that the passage is possible (that is, the notification means is when the predicted passage time is equal to or longer than the predetermined time, (B) If other conditions relating to the estimated transit time as described above are satisfied, the notification means that the passage is possible is performed. May be.

  Here, in the above-described aspect, the “predetermined time” is a time when the driver feels troublesome when the notification is given from the time before the predetermined time until the traffic signal passes, for example, notification to the driver actually traveling It may be obtained by performing an experiment to measure the time when it is felt troublesome. Further, the number of drivers to be measured may be increased, and the average value of the measurement results of each driver may be used as a general-purpose fixed value.

  <5>

In another aspect of the signal passing support device described above, the notification means notifies the driver that the host vehicle is decelerated when the predicted passing time is shorter than the display change time.
According to this aspect, the driver is notified that the own vehicle is to be decelerated when the red signal cannot be passed if the vehicle proceeds at the same speed, so that the driver performs a deceleration operation in response to this, for example. Thus, it is possible to stop with a red signal with a margin, or to receive notification that the signal according to the present invention can be passed.
Such an operation and other advantages of the present invention will be made clear by the embodiments described hereinafter.

It is a block diagram which shows the structure of the signal passage assistance apparatus of 1st Embodiment. It is a characteristic view which shows the calculation map of signal change recognition time. It is a flowchart which shows the flow of the process which the signal passage assistance apparatus of 1st Embodiment performs. It is a time chart which shows an example of operation | movement of the signal passage assistance apparatus of 1st Embodiment. It is a block diagram which shows the structure of the signal passage assistance apparatus of 2nd Embodiment. It is a characteristic view which shows the setting map of signal change recognition time. It is a flowchart which shows the flow of the process which the signal passage assistance apparatus of 2nd Embodiment performs.

<First Embodiment>

  Hereinafter, a first embodiment of the signal passing support apparatus according to the present invention will be described with reference to FIGS.

  An example of the signal passing support apparatus according to the first embodiment will be described with reference to FIG. FIG. 1 is a block diagram illustrating an example of the structure of the signal passing support apparatus according to the first embodiment.

  As shown in FIG. 1, the signal passing support device 1 includes a sensor 11, a GPS (Global Positioning System) receiving unit 12, a map DB (DataBase) 13, a calculating unit 14, a notification control unit 15, and an HMI ( (Human Machine Interface) 16.

  The sensor 11 is a detection device that detects information necessary or useful for traveling of the vehicle. The detection result of the sensor 11 is appropriately output to the host vehicle state detection unit 141 and the signal information acquisition unit 142. The sensor 11 includes, for example, an external sensor 111 and an internal sensor 112.

  The external sensor 111 is a detection device that detects an external situation of the vehicle. The external situation may include, for example, the environment around the vehicle.

  The external sensor 111 includes a communication unit 1111. The communication unit 1111 includes a transmission unit (not shown) that transmits information to another communication device that can communicate, and a reception unit (not shown) that receives information transmitted from the other communication device. The communication method is preferably non-contact communication such as wireless communication or infrared communication. Examples of other communication devices include in-vehicle communication devices mounted on other vehicles, roadside devices, mobile communication terminals such as mobile phones possessed by pedestrians, and the like.

  The information received by the communication unit 1111 includes traffic signal information. Instead of receiving single traffic signal information, traffic signal information for each of a plurality of intersections or pedestrian crossings may be received. In this case, the traffic signal information may be transmitted from one other communication device.

  The traffic signal information includes the identification number of the traffic signal, information on the installation position of the traffic signal, information indicating the current signal display (in other words, the light color of the traffic light that is typically red, blue, and yellow), and the next signal display. Information such as information indicating the time until the change, information on the position of the stop line corresponding to the traffic light, and the like are included. The traffic signal information includes the intersection where the traffic signal is installed, the information on the start / end points of the pedestrian crossing, the intersection where the traffic signal is installed, and the size of the pedestrian crossing (number of crossers corresponding to the time zone). Information etc. may be included.

  The above traffic signal information is associated with each other. Therefore, the identification number of the traffic signal that restricts the traffic of the host vehicle can be specified based on the current position of the host vehicle, the traveling direction, and the traffic signal information. Then, by referring to various information of the traffic signal having the identified traffic signal number, the information on the traffic signal can be understood.

  The external sensor 111 may be configured to include a camera (not shown). In this case, the camera typically images a landscape in front of the vehicle. In particular, the camera can image a traffic light existing in front of the vehicle. The camera calculates information such as information on the position of the traffic light, current signal display information on the traffic light, and information on the position of the stop line corresponding to the traffic light from the captured image of the traffic light. In addition, if the traffic light is equipped with a display indicating the time until the next signal display is changed, information indicating the time until the next signal display is changed from an image obtained by capturing the display. It may be calculated.

  The internal sensor 112 is a detection device that detects the internal state of the vehicle. The internal situation may include, for example, the traveling state of the vehicle. The internal situation may include, for example, operating states of various devices of the vehicle.

  The internal sensor 112 includes a speed sensor 1121. The speed sensor 1121 is a detection device that detects the speed of the vehicle. An example of the speed sensor 1121 is a wheel immediate sensor. The internal sensor 112 may further include other detection devices such as an acceleration sensor, or the output thereof is used in setting or calculating a signal change recognition time described below in addition to the output of the speed sensor, for example. Also good.

  The GPS receiver 12 measures the position of the vehicle (hereinafter referred to as “vehicle position” as appropriate) by receiving GPS signals from three or more GPS satellites. The GPS receiver 12 outputs vehicle position information indicating the measured vehicle position to the host vehicle state detector 141. In addition to or instead of the GPS receiver 12, a measuring device capable of measuring the vehicle position may be provided. Further, instead of or in addition to these, the vehicle position may be specified by road-to-vehicle communication or vehicle-to-vehicle communication.

  The map DB 13 is a database that stores map information indicating a map. The map DB 13 is constructed in a recording medium (for example, HDD (Hard Disk Drive)) mounted on the vehicle. The map information includes, for example, road position information indicating the positions of roads, intersections, branch points and signals included in the map, and road shape information indicating the shapes of roads included in the map (for example, curves and straight lines). Information indicating the type, information indicating the curvature of the curve, and the like). The map information may further include building position information indicating the position of a shielding structure such as a building or a wall. Such map information may be downloaded, for example, via wireless communication or Internet communication, and updated to the latest information as appropriate.

  The calculation part 14 receives the output of the sensor 11, the GPS receiving part 12, and map DB13. Further, the calculation unit 14 calculates information necessary for the notification control unit 15 to perform notification control as described in detail later, and outputs the information to the notification control unit 15.

  In order to calculate information necessary for the notification control unit 15 to perform notification control, the calculation unit 14 is connected to the host vehicle state detection unit 141 as a logical processing block or a physical processing circuit implemented therein. , A signal information acquisition unit 142 that is a specific example of “signal information acquisition unit”, a predicted passage time calculation unit 143 that is a specific example of “predicted passage time calculation unit”, and a “signal change recognition time calculation unit”. A signal change recognition time calculation unit 144 that is a specific example is provided.

  The own vehicle state detection unit 141 detects the vehicle position and the traveling direction of the own vehicle based on the vehicle position information that is the measurement result of the GPS receiving unit 12 and the map information stored in the map DB 13. Further, the speed of the vehicle is detected based on the detection result of the speed sensor 1121, which is an example of the internal sensor 112.

  The signal information acquisition unit 142 includes, for example, a processor, a modem, a memory, and the like. The signal information received by the communication unit 1111, which is an example of the external sensor 111, and the vehicle position of the host vehicle detected by the host vehicle state detection unit 141. And the traffic light which regulates the traffic of the own vehicle is specified based on the traveling direction. Further, the signal information acquisition unit 142 corresponds to the traffic signal position information associated with the identified traffic signal number, information indicating the current signal display, information indicating the time until the next signal display is changed, and the traffic signal. Information such as the position information of the stop line to be acquired is acquired.

  The predicted transit time calculation unit 143 is configured by, for example, a processor, a memory, and the like. From the position information and speed information of the host vehicle detected by the host vehicle state detection unit 141, and the traffic signal information of the traffic signal specified by the signal information acquisition unit 142, The estimated passing time until the host vehicle passes the traffic light is calculated. Here, “until the own vehicle passes the traffic light” specifically means that the own vehicle is from the current position to the stop line corresponding to the traffic light that regulates the traveling of the own vehicle specified by the signal information acquisition unit 142. It means to pass through the position.

  The notification control unit 15 includes, for example, a processor, a memory, and the like. The traffic signal information specified by the signal information acquisition unit 142 and the host vehicle calculated by the predicted transit time calculation unit 143 pass through the stop line of the traffic signal from the current vehicle position. Whether or not to notify the driver that the vehicle can pass the specified traffic light is determined based on the estimated transit time until the vehicle travels.

  The notification control unit 15 is a logical processing block or a physical processing circuit implemented in the inside in order to determine whether or not to notify the driver that the vehicle can pass the specified traffic signal. , A memory 151 that stores the traffic signal information identified by the signal information acquisition unit 142 and the predicted passage time calculated by the predicted passage time calculation unit 143, and a signal change that is a specific example of “signal change recognition time calculation means” A comparison unit 153 that determines whether to notify the driver that the vehicle can pass the specified traffic signal based on the recognition time calculation unit 152, the traffic signal information, the predicted passing time, and the signal change recognition time; It has.

  The memory 151 stores information on the host vehicle state detected by the host vehicle state detection unit 141 and signal information specified by the signal information acquisition unit 142. The memory 151 can output the stored information to the signal change recognition time calculation unit 152 and the comparison unit 153.

  Using the map of FIG. 2, the signal change recognition time calculation unit 152 calculates the driver's signal change recognition time. Here, the signal change recognition time calculation unit 152 first determines whether or not the speed of the host vehicle detected by the host vehicle state detection unit 141 is equal to or lower than a predetermined vehicle speed, that is, the “constant section” in which the vehicle speed is closer to the left side in FIG. It is determined whether or not it is inside. When the vehicle speed is equal to or lower than the predetermined vehicle speed, the time change necessary for the driver to recognize the change in the signal is small, and thus the constant value is calculated. That is, as shown in FIG. 2, the signal change recognition time is constant. On the other hand, when the vehicle speed is equal to or higher than the predetermined vehicle speed, that is, when the vehicle speed is in the gradually increasing section on the right side in FIG. 2, the signal change recognition time (T3) = a × vehicle speed + b in the figure is used. . For example, the equation performs an experiment to measure the display change recognition time of the driver when actually driving at different speeds, and a first-order approximation expression is obtained from the result (such as a figure in which the speed and the display change recognition time are plotted). What you want is fine. Moreover, you may approximate with a polynomial instead of a linear expression. By using this formula, the higher the vehicle speed, the longer the driver can recognize the signal change. For this reason, it is possible to reduce anxiety that the driver travels toward the “red” signal.

  The signal change recognition time is, for example, various factors such as speed, acceleration, acceleration performance, braking performance, etc. related to the own vehicle, the type related to the road on which it is traveling, road surface conditions, factors such as weather, age related to individual drivers, reaction It may be calculated in real time or in advance as a function depending on various factors such as speed. The signal change recognition time may be calculated, for example, by performing a function calculation using various factors as parameters, or may be calculated by referring to a table in which the relationship between the various factors and the signal change recognition time is previously determined. Good. Alternatively, the signal change recognition time may be a fixed value such as a value predetermined as an average or general value experimentally or experimentally.

  In FIG. 1 again, the comparison unit 153 includes information indicating the time until the next signal display acquired by the signal information acquisition unit 142, the predicted passage time information calculated by the predicted passage time calculation unit 143, and the signal change. It is determined from the signal change recognition time calculated by the recognition time calculation unit 152 whether or not to notify the driver that the vehicle can pass. Further, when the comparison unit 153 determines to notify the driver that it can pass, the comparison unit 153 transmits a notification content and a signal to notify the HMI 16.

  The HMI 16 is an interface for inputting and outputting information between the driver and the vehicle. The HMI 16 may include a display capable of displaying an image to be presented to the driver, for example. The HMI 16 may include, for example, a speaker that can output sound to be presented to the driver.

  The notification control unit 15 and the HMI 16 are configured to include a specific example of “calculated value correspondence notification unit”.

  Subsequently, a flowchart of a series of processes performed by the signal passing support apparatus according to the first embodiment will be described with reference to FIG.

  As illustrated in FIG. 3, the signal information acquisition unit 142 acquires signal information from the information received by the communication unit 1111 (step S <b> 111). The own vehicle state detection unit 141 detects the speed, the vehicle position, and the traveling direction from the information of the speed sensor 1121, the GPS reception unit 12, and the map DB 13 (step S112). Note that the order of step S111 and step S112 is not necessarily the order shown in the flowchart. Step S112 may be performed first, or step S111 and step S112 may be performed simultaneously.

  Subsequently, the signal information acquisition unit 142 specifies a traffic signal that restricts traffic of the host vehicle from the information of the traffic signal acquired in step S111 and the information of the host vehicle detected by the host vehicle state detection unit 141 (step S113). . In addition, the signal information acquisition unit 142 includes the position information of the identified traffic signal, information indicating the current signal display, information indicating the time until the next signal display is changed (display change time), and a stop corresponding to the traffic signal. Information such as line position information is acquired immediately after the traffic light is specified.

  Thereafter, the signal information acquisition unit 142 determines whether or not the display of the current traffic signal is “red” based on the information acquired in step S113 (step S114). If the result of the determination in step S114 is that the current traffic light display is not “red” (step S114: No), the signal passing support device ends the series of processes shown in FIG. That is, in this case, it is not a situation where the own vehicle passes through the traffic light and the display of the traffic light changes from “red” to “blue”. Therefore, toward the “red” signal according to the present embodiment, The process for reducing the anxiety of the driving driver is not particularly performed.

  On the other hand, as a result of the determination in step S114, when the display of the current traffic signal is “red” (step S114: Yes), the predicted passage time calculation unit 143 stops corresponding to the traffic signal identified by the signal information acquisition unit 142. From the position information of the line and the position information and speed information of the own vehicle detected by the own vehicle state detection unit 141, an estimated passing time (T1) until the own vehicle passes through the stop line is calculated (step S115).

  Thereafter, the predicted passage time calculation unit 143 determines whether or not T1 is shorter than the predetermined time set (step S116). As a result of the determination in step S116, when T1 is equal to or longer than the predetermined time set (step S116: No), the signal passing support device ends the series of processes shown in FIG. That is, in this case, since it takes a long time to pass through the traffic light, it is not notified that the vehicle can pass, so the driver's troublesomeness for being notified for a long time is reduced.

  Here, in the above-described aspect, the “predetermined time” is a time when the driver feels troublesome when the notification is given from the time before the predetermined time until the traffic signal passes, for example, notification to the driver actually traveling It may be obtained by performing an experiment to measure the time when it is felt troublesome. Further, the number of drivers to be measured may be increased, and the average value of the measurement results of each driver may be used as a general-purpose fixed value. Or you may comprise so that the time which an individual driver feels bothersome can be set with respect to the alerting | reporting control part 15 via manual operation etc.

  On the other hand, if the result of determination in step S116 is that T1 is shorter than the predetermined time set (step S116: Yes), if the following other conditions related to the predicted passage time are satisfied, passage by the notification control unit 15 is performed. Notification is made that it is possible. That is, the comparison unit 153 determines whether or not T1 is equal to or longer than the display change time (T2) acquired by the signal information acquisition unit 142 (step S117). If the result of determination in step S117 is that T1 is shorter than T2 (step S117: No), the comparison unit 153 sends an instruction to the HMI 16 to present deceleration guidance to the driver (step S121).

  In step S117, it is possible to determine whether T1 is equal to or greater than T2 because it is possible to pass the traffic light according to the law (in other words, the display on the host vehicle is “blue” when passing the traffic light). This is to determine that the For this reason, in any case, the notification by the HMI 16 does not lead to passing the own vehicle (that is, ignoring the signal) against the restriction of the traffic light whose traffic light display is “red”.

  On the other hand, if T1 is equal to or greater than T2 as a result of the determination in step S117 (step S117: Yes), the signal change recognition time calculation unit 152 calculates a signal change recognition time (T3) (step S118). In the present embodiment, T3 is calculated by the signal change recognition time calculation unit 152. However, when a fixed value is set, the signal change recognition time calculation unit 152 may be omitted. In this case, step S118 is also eliminated. In addition, the calculation of T3 by the signal change recognition time calculation unit 152 is performed regularly or irregularly as a subroutine process regardless of the determinations in steps S114, S116, and S117, and is appropriately performed as necessary. (In other words, when the determination in step S118no is YES), the calculated value may be cited.

  Subsequently, the comparison unit 153 determines whether or not T1 is equal to or longer than a time (T2 + T3) obtained by adding T3 to T2 (step S119). If T1 is equal to or greater than T2 + T3 as a result of the determination in step S119 (step S119: Yes), there is time for the driver to recognize the signal change even if the vehicle travels at this speed. Is sent to the HMI 16 so as to present it to the driver (step S122). In this way, the current display of the traffic light is red (step S114: Yes), and the calculated predicted passage time T1 adds the signal change recognition time T3 to the acquired display change time T2. (Ie, T1 ≧ T2 + T3) (ie, T1 ≧ T2 + T3) (step S119: Yes), a “speed maintenance guide” as an example that the traffic light can pass is given to the driver. This is notified by the notification control unit 15 (step S122).

  On the other hand, if T1 is shorter than T2 + T3 as a result of the determination in step S119 (step S119: No), the driver does not have time to recognize the signal change if the speed remains unchanged. If the signal is maintained, an instruction is sent to the HMI 16 to present to the driver a passage guidance indicating that the traffic light cannot pass, although the traffic light can actually be passed (step S120). That is, when the current display of the traffic light is red (step S114: Yes), and the calculated predicted passage time T1 is a value obtained by adding the signal change recognition time T3 to the acquired display change time T2. If it is shorter (that is, T1 <T2 + T3) (step S119: No), the passage guidance that the passage is not possible is notified. Here, the passage guidance indicating that it is not possible to pass is, for example, voice through the HMI 16, and when traveling at the same speed, the display of the traffic light changes from “red” to “blue” when passing through the traffic light. This means that the driver is notified that the situation is close to the situation, or that a character such as “Last entry” is displayed via the HMI 16 to notify the driver. Or, in the simple case, neither “speed maintenance guidance” nor any other passing guidance is provided. That is, there is no output via the HMI 16, and the driver is not notified that the traffic light can pass.

  Thus, the description of the flowchart of a series of processes performed by the signal passing support apparatus of the first embodiment in FIG. 3 is finished.

  Next, an example of the operation of the signal passing assistance apparatus according to the first embodiment will be described along with the movement of the vehicle with reference to FIG. In FIG. 4, the predicted passage time (T1) until the vehicle passes the stop line corresponding to the traffic light is always shorter than the predetermined time.

  As shown in FIG. 4, the host vehicle is traveling on a straight road at a constant speed V1 toward a traffic light (not shown) whose display is “red” (time t40). At this time, T1 is longer than the display change time (T2) until the traffic light next changes to “blue”, and longer than the time (T2 + T3) obtained by adding the signal change recognition time (T3) of the driver to T2. Therefore, the comparison unit 153 instructs the HMI 16 to present a speed maintenance guide indicating that the signal can be passed if it proceeds as it is.

  Next, the host vehicle accelerates (time t41 to time t42) and travels toward the traffic light at the speed V2. Due to the acceleration of the host vehicle, T1 becomes shorter than T2 + T3 (time t43). Therefore, the comparison unit 153 instructs the HMI 16 to present a passage guidance indicating that the signal cannot be passed even if it proceeds as it is (or not to provide any guidance that the signal can be passed) (time t43 to time t44). . Thereafter, the traffic light becomes “blue” (time t44), and the host vehicle passes the stop line (time t45) in accordance with the driving operation such as speed adjustment of the driver according to the passing guidance.

  Above, description of an example of operation | movement of the signal passage assistance apparatus of 1st Embodiment is finished.

  According to the signal passing support device of the first embodiment, when it is possible to pass the traffic light according to the regulations, the traffic light passes through the traffic light and the display of the traffic light changes from “red” to “blue”. Can be notified to the driver in advance that the vehicle can pass. Conversely, in a situation where the vehicle enters the traffic light before the driver grasps the situation or without grasping the situation, it can be prevented from notifying that the vehicle can pass. In any case, since the signal change recognition time is added to the display change time as described above, the anxiety of the driver who is driving toward the “red” signal when prompted by the notification, the length of the added signal change recognition time is short or long. It can be reduced accordingly depending on the accuracy.

Second Embodiment

  Next, a second embodiment of the signal passing support apparatus according to the present invention will be described with reference to FIGS. Although the second embodiment differs in part from the first embodiment described above, there are many similar parts in other operations. For this reason, below, only a different part from 1st Embodiment already described is demonstrated in detail, and description shall be abbreviate | omitted suitably about the overlapping part.

  With reference to FIG. 5, an example of the signal passing support apparatus according to the second embodiment will be described. FIG. 5 is a block diagram illustrating an example of the structure of the signal passing support apparatus according to the second embodiment.

  The block diagram of the second embodiment shown in FIG. 5 is different from the block diagram of the first embodiment in that one specific example of the signal change recognition time calculation means is a signal change recognition time calculation unit 152 (see FIG. 1). That is, the signal change recognition time setting unit 252 is changed. Other configurations according to the second embodiment are substantially the same as those of the first embodiment shown in FIG.

  Here, the signal change recognition time setting unit 252 calculates the signal change recognition time of the driver using the map of FIG. Compared with the map of FIG. 2, the map of FIG. 6 has an upper limit value and a lower limit value set at the same speed, and the signal change recognition time setting unit 252 arbitrarily sets the signal change recognition time between the upper limit value and the lower limit value. May be set to In addition, a lower limit is the shortest time when a driver can recognize the display change of a traffic light. The upper limit value is a value obtained by giving a margin to the lower limit value so that the driver does not feel troublesome. For the upper limit value and the lower limit value, for example, the display change recognition time of the driver when actually traveling at different speeds is measured, and the shortest value may be set as the lower limit value and the longest value may be set as the upper limit value. Further, the number of drivers to be measured may be increased, and the average upper limit value and the average lower limit value of the measurement results of each driver may be used as general-purpose fixed values. In the map of FIG. 6, the upper limit value and lower limit value lines are parallel, but they are not necessarily parallel, and may be based on the measurement results.

  In FIG. 5, the notification control unit 25 and the HMI 16 constitute a specific example of “setting value correspondence notification unit”.

  Next, a flowchart of a series of processes performed by the signal passing support apparatus according to the second embodiment will be described with reference to FIG. In FIG. 7, the same steps as those in the flowchart according to the first embodiment shown in FIG. 3 are denoted by the same reference numerals, and the description thereof will be omitted as appropriate.

  As shown in FIG. 7, the difference from the first embodiment is that step S118 of the first embodiment is changed to step S218. As a result of the determination in step S117, when the predicted passage time (T1) is equal to or longer than the display change time (T2) (step S117: Yes), the signal change recognition time setting unit 252 detects the own vehicle detected by the own vehicle state detection unit 141. 6 and the map of FIG. 6, one value between the upper limit value and the lower limit value corresponding to the speed of the host vehicle is randomly set as the value of the signal change recognition time (T3) (step S218). .

  Above, description of an example of operation | movement of the signal passage assistance apparatus of 2nd Embodiment is finished.

  According to the signal passing support device of the second embodiment, the display change recognition time setting unit 252 randomly selects one value between the upper limit value and the lower limit value corresponding to the speed of the host vehicle, and the value of the signal change recognition time. Set as. Thereby, the driver's familiarity with the signal change recognition time can be suppressed. Therefore, it is possible to prevent the driver from driving the vehicle while aiming at the moment when the display of the traffic light is switched from “red” to “blue”.

  It should be noted that the present invention can be appropriately changed without departing from the gist or concept of the invention that can be read from the claims and the entire specification, and a signal passing support apparatus that includes such a change is also a technical concept of the present invention. include.

1, 2 Signal passing support device 1111 Communication unit 1121 Speed sensor 12 GPS reception unit 13 Map DB
DESCRIPTION OF SYMBOLS 14 Calculation part 141 Own vehicle state detection part 142 Signal information acquisition part 143 Predictive passage time calculation part 15, 25 Notification control part 152 Signal change recognition time calculation part 252 Signal change recognition time setting part 153,253 Comparison part 16 HMI
T1 Estimated transit time T2 Display change time T3 Signal change recognition time

Claims (4)

Signal information acquisition means for acquiring position information of a place where the traffic signal is installed, and information of a display change time until the traffic signal changes from a current display to a different display;
A predicted transit time calculating means for calculating a predicted transit time until the host vehicle passes through the traffic signal from the position information of the traffic signal and the position and speed information of the host vehicle;
The current display of the traffic light is red, and the predicted passing time is a value obtained by adding a signal change recognition time necessary for the driver of the host vehicle to recognize a change in the display of the traffic light to the display change time. An informing means for informing the driver that the traffic light can pass when it is long,
The notification means includes
When the speed is from zero to a predetermined vehicle speed, the signal change recognition time is set as a constant value, and when the speed is greater than the predetermined vehicle speed, the signal change recognition time is increased as the speed increases. A signal change recognition time calculating means for calculating;
If the current display of the traffic light is red and the predicted passage time is longer than the display change time plus the set or calculated signal change recognition time, the fact that the passage is possible is notified. A signal passing support apparatus comprising: a calculated value correspondence notifying unit. The signal passing support device according to claim 1, further comprising: a signal change recognition time setting unit that randomly selects and sets the signal change recognition time within a predetermined range in which the driver can recognize a display change of the traffic light. The notification means does not notify that the passage is possible when the predicted passage time is longer than a predetermined time,
The predetermined time is set in advance as a time that the driver feels troublesome when notification by the notification means is performed from before the predetermined time until passing through the traffic light. A signal passing support device according to claim 1.   The said alerting | reporting means alert | reports that the said own vehicle is decelerated to the said driver, when the said estimated passage time is shorter than the said display change time, The Claim 1 characterized by the above-mentioned. Signal passing support device.

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