JP6597345B2 - Signal passing support device - Google Patents

Description

  The present invention relates to a technical field of a signal passing support device that supports a vehicle passing through a traffic light.

  2. Description of the Related Art A signal passing support device that notifies support information for helping a vehicle to pass a traffic signal to a passenger of the vehicle is known. For example, in Patent Literature 1, when it is determined that an intersection where a traffic signal is installed is not a passable intersection where the vehicle can pass without stopping, a range of vehicle speeds in which the intersection becomes a passable intersection and / or There is disclosed a signal passing support device that notifies support information indicating that the intersection is not a passable intersection.

JP 2012-203785 A

  The signal passing support device usually generates support information based on signal information (particularly, information indicating the color and position of the traffic light) and vehicle information (particularly, information indicating the vehicle speed and position of the vehicle). The assistance information generated in this way may indicate a driving operation that is recommended to be performed by the passenger in order for the vehicle to pass the traffic light. For example, when the vehicle can pass a traffic signal by maintaining the current vehicle speed, the support information recommends that the passenger perform a driving operation to maintain the current vehicle speed. For example, when the vehicle can pass through the traffic light by accelerating, the support information recommends that the passenger perform a driving operation to accelerate the vehicle. For example, when the vehicle can pass through the traffic light by decelerating, the support information recommends that the passenger perform a driving operation to decelerate the vehicle. For example, when the vehicle cannot pass through the traffic light, the support information recommends that the passenger perform a driving operation to stop the vehicle.

  By the way, the signal passing support device may notify the passenger of the support information when the predetermined condition is satisfied, and may not notify the passenger of the support information when the predetermined condition is not satisfied. For example, when the vehicle is traveling at a low speed, there is a high possibility that the passenger does not have the intention to pass the traffic light. Therefore, if the support information is notified to such a case, the passenger may feel that the notification of the support information is troublesome. Therefore, in order to reduce the annoyance felt by the passenger, the signal passing support device notifies the support information when a predetermined condition that the vehicle speed is higher than the predetermined speed is satisfied, while the vehicle speed is higher than the predetermined speed. If the predetermined condition is not satisfied, the support information may not be notified.

  Here, as described above, the driving operation recommended by the support information may change depending on the positional relationship between the vehicle and the traffic light and the vehicle speed. For this reason, when it is determined based on whether or not a fixed predetermined condition is satisfied whether or not to notify the passenger of assistance information that may change the recommended driving operation, the driving information recommended by the assistance information Depending on the operation, there is a technical problem that notifying the support information may make the passenger feel annoying. Alternatively, there is a technical problem that depending on the driving operation recommended by the support information, a vehicle traveling according to the notified support information may obstruct the surrounding traffic flow. Such a technical problem is that a predetermined condition used to determine whether or not to notify the support information is fixed (that is, the change does not occur) although the driving operation recommended by the support information may change. Not). Therefore, not only the specific technical problems described above but also various technical problems arise due to the fact that the predetermined conditions are fixed although the driving operation recommended by the support information can change. obtain.

  The technical problem described above occurs not only when the support information recommending the driving operation is notified, but also when any support information that supports the vehicle passing the traffic light is notified. obtain.

  The problems to be solved by the present invention include the above problems. An object of the present invention is to provide a signal passing support device capable of changing a predetermined condition used for determining whether to notify support information according to the content of support information.

  The disclosed signal passing support device includes generating means for generating support information for supporting a vehicle passing through a traffic light, a driving operation performed by a passenger on the vehicle, and a running state of the vehicle. Acquisition means for acquiring a state parameter indicating at least one of the above, and (i) when the content of the support information is the first content, the notification of the support information when the state parameter satisfies the first condition The support information is not notified when the state parameter does not satisfy the first condition, and (ii) when the content of the support information is second content different from the first content, the state The support information is notified when a parameter satisfies a second condition different from the first condition, while the support information is not notified when the state parameter does not satisfy the second condition. And means.

  According to the disclosed signal passing support device, one of the first and second conditions is used to determine whether to notify the support information according to the content of the support information. That is, the predetermined condition used for determining whether to notify the support information is changed according to the content of the support information.

FIG. 1 is a block diagram illustrating a configuration of a vehicle according to the present embodiment. FIG. 2 is a flowchart showing the flow of the signal passing support operation.

  Hereinafter, embodiments of a signal passing support device of the present invention will be described with reference to the drawings. Below, description is advanced using the vehicle 1 with which embodiment of the signal passage assistance apparatus of this invention was applied.

(1) Configuration of Vehicle 1 First, the configuration of the vehicle 1 of the present embodiment will be described with reference to the block diagram of FIG. As shown in FIG. 1, the vehicle 1 includes a sensor 12, a GPS (Global Positioning System) processing unit 13, and a signal passing support device 14.

  The sensor 12 is a detection device that detects the contents of the driving operation of the passenger and the state of the vehicle 1. Detection information indicating the detection result of the sensor 12 is appropriately output to the driving support device 14. The sensor 12 includes an accelerator opening sensor that detects an operation amount of an accelerator pedal by a passenger. The sensor 12 includes a brake pedal sensor that detects an operation amount of a brake pedal by a passenger. The sensor 12 includes a vehicle speed sensor that detects a speed (vehicle speed) V of the vehicle 1. The sensor 12 includes an acceleration sensor that detects the acceleration A of the vehicle 1. The sensor 12 includes an acceleration sensor that detects a lateral acceleration (lateral G) of the vehicle 1. The sensor 12 may include an arbitrary sensor that detects other information (for example, longitudinal acceleration of the vehicle 1, yaw rate of the vehicle 1, etc.).

  The GPS processing unit 13 receives GPS radio waves transmitted from GPS satellites. The GPS processing unit 13 calculates the current position of the vehicle 1 (hereinafter referred to as “vehicle position”) based on the received GPS radio wave. The vehicle position information indicating the vehicle position calculated by the GPS processing unit 13 is appropriately output to the signal passing support device 14.

  The signal passing support device 14 performs a signal passing support operation for supporting the vehicle 1 passing through the traffic light 2 positioned in the traveling direction of the vehicle 1 (that is, the vehicle 1 passes through the intersection where the traffic light 2 is installed). To do. When there are a plurality of traffic lights 2 located in the traveling direction of the vehicle 1, the signal passing support device 14 is installed at the traffic light 2 closest to the vehicle 1 (in other words, at the intersection where the vehicle 1 passes the earliest). A signal passing support operation for supporting the passing of the vehicle 1 through the traffic light 2) is executed. In the following, unless otherwise specified, “signal 2” means the signal 2 that is the target of the signal passing support operation.

  In order to execute the signal passing support operation, the signal passing support device 14 includes an information receiving unit 141 that is a specific example of “acquiring means”, a passing support unit 142 that is a specific example of “generating means”, and a state. The determination part 144 and the display 145 which is a specific example of "notification means" are provided.

  The information receiving unit 141 acquires detection information that is a detection result of the sensor 12 and vehicle position information that is a calculation result of the GPS processing unit 13. The information reception unit 141 outputs the acquired detection information and vehicle position information to the passage support unit 142. The information reception unit 141 outputs the acquired detection information to the state determination unit 144.

  The information receiving unit 141 further receives signal information that is information regarding the traffic light 2. The information receiving unit 141 receives signal information transmitted by the information transmitting unit 21 included in the traffic light 2. However, the information receiving unit 141 may receive signal information from a server (or a repeater) that relays information transmitted by the information transmitting unit 21 included in the traffic light 2. The information reception unit 141 outputs the received signal information to the passage support unit 142.

  The signal information includes signal position information indicating the position of the traffic light 2. The signal information further includes timing information indicating the timing (time) when the lamp color of the traffic light 2 changes. For example, the timing information indicates that when the current lamp color of the traffic light 2 is the first color (for example, red), the lamp color of the traffic signal 2 is changed from the first color to the second color (for example, blue). Timing of changing, timing of changing the color of the traffic light 2 changed to the second color to the third color (yellow), timing of changing the color of the traffic light 2 changed to the third color to the first color, etc. It is information which shows.

  The passage support unit 142 determines whether or not the vehicle 1 can pass through the traffic light 2 without stopping when the current vehicle speed V is maintained. Specifically, the passage support unit 142 calculates the distance L between the vehicle 1 and the traffic light 2 based on the signal position information and the vehicle position information. Thereafter, the passage support unit 142 calculates a time t when the vehicle 1 reaches the traffic light 2 when the current vehicle speed V is maintained based on the vehicle speed V indicated by the detection information and the calculated distance L. Thereafter, the passage support unit 142 specifies the color of the traffic light 2 at the time t based on the timing information and the calculated time t. When the specified light color is red or yellow (or other light color that prohibits or restricts the progress of the vehicle 1), the passage support unit 142 passes the traffic light 2 without stopping the vehicle 1. Judge that it is not possible. On the other hand, when the specified light color is blue (or other light color that allows the vehicle 1 to travel), the passage support unit 142 may pass through the traffic light 2 without stopping the vehicle 1. Judge that it is possible.

  When it is determined that the vehicle 1 can pass through the traffic light 2 without stopping, the passage support unit 142 indicates that the vehicle 1 can pass through the traffic signal 2 without stopping at the current vehicle speed V. Support information for informing the passenger is generated. This support information is support information that recommends a passenger to perform a driving operation for maintaining the current vehicle speed V (that is, a vehicle speed maintaining operation).

  If the passage support unit 142 determines that the vehicle 1 cannot pass through the traffic signal 2 without stopping, it is recommended that the passenger perform the vehicle 1 to pass through the traffic signal 2 without stopping. Support information indicating a driving operation is generated. When the vehicle 1 accelerates and the vehicle 1 can pass through the traffic light 2 without stopping, the passage support unit 142 performs a driving operation (ie, an acceleration operation) for accelerating the vehicle 1. Generate support information recommended for passengers. Alternatively, when the vehicle 1 decelerates and the vehicle 1 can pass through the traffic light 2 without stopping, the passage support unit 142 performs a driving operation (that is, a deceleration operation) for decelerating the vehicle 1. Support information that recommends this to the passenger is generated.

  Even if the vehicle 1 is accelerated or decelerated, if the vehicle 1 cannot pass through the traffic light 2 without stopping, the passage support unit 142 passes through the traffic signal 2 without stopping at the current vehicle speed V. Support information for notifying the passenger that it cannot be performed is generated. In this case, since the vehicle 1 cannot pass through the traffic light 2 without stopping, the support information recommends that the passenger perform a driving operation (that is, a stop operation) for stopping the vehicle 1. Information.

  The state determination unit 144 determines whether or not the display 145 should display the support information generated by the passage support unit 142 based on the detection information received by the information reception unit 141. Specifically, the state determination unit 144 determines that the display 145 should display support information when the detection information satisfies a predetermined condition. On the other hand, the state determination unit 144 determines that the display 145 should not display the support information when the detection information does not satisfy the predetermined condition. In the present embodiment, in particular, the state determination unit 144 uses different predetermined conditions depending on the content of the support information (specifically, the content of the driving operation recommended by the support information). That is, the state determination unit 144 changes the predetermined condition according to the content of the support information. The predetermined condition will be described later in detail (see FIG. 2).

  When the state determination unit 144 determines that the display 145 should display support information, the display 145 displays the support information generated by the passage support unit 142. On the other hand, the display 145 does not display the support information generated by the passage support unit 142 when the state determination unit 144 determines that the display 145 should not display the support information.

(2) Flow of Signal Passing Support Operation Next, the signal passing support operation performed by the signal passing support device 14 will be described with reference to FIG. The signal passing support device 14 performs the signal passing support operation when an execution condition capable of executing the signal passing support operation is satisfied. As the execution condition itself, a known execution condition may be used. As an example of the execution condition, a condition that the distance between the vehicle 1 and the traffic signal 2 is equal to or less than a certain distance (specifically, the vehicle 1 is located in a range where signal information can be acquired from the traffic signal 2). Can be given.

  As shown in FIG. 2, the information receiving unit 141 acquires signal information from the traffic light 2 (step S11). Furthermore, the information receiving unit 141 acquires vehicle position information from the GPS processing unit 13 (step S12). Furthermore, the information receiving unit 141 acquires detection information from the sensor 12 (step S13).

  Thereafter, the passage support unit 142 acquires the signal information (particularly signal position information) acquired in step S11, the vehicle position information acquired in step S12, and the detection information (particularly, vehicle speed V) acquired in step S13. Based on the above, the first time Tc1, the second time Tc2, and the third time Tc3 are calculated (step S21).

The first time Tc1 is a time required for the vehicle 1 to reach the traffic light 2 when the current vehicle speed V is maintained. The passage support unit 142 calculates the first time Tc1 using Equation 1. Note that “V ₀ ” in Equation 1 is the current vehicle speed V (that is, the vehicle speed V indicated by the detection information acquired in step S13). In addition, as described above, “L” in Formula 1 is calculated from the current distance L between the vehicle 1 and the traffic signal 2 (that is, the signal information acquired in step S11 and the vehicle position information acquired in step S12). Distance L).

Second time Tc2, the vehicle 1 is the time required for the vehicle 1 reaches the traffic signal 2 when continues to accelerate at a predetermined acceleration Gx _acc. The passage support unit 142 calculates the second time Tc2 using Equation 2. The predetermined acceleration Gx _acc is a constant that is determined in advance or can be set as appropriate by the passage support unit 142.

However, if the vehicle 1 continues to accelerate at a predetermined acceleration Gx _acc , the vehicle speed V also increases. However, the vehicle speed V has an upper limit due to various restrictions (for example, the speed limit of the road on which the vehicle 1 is traveling). In the present embodiment, “V _max ” is the upper limit of the vehicle speed V. The upper limit V _max is a constant that is set in advance or can be set as appropriate by the passage support unit 142. In this case, the vehicle speed V may reach the upper limit V _max before the vehicle 1 that continues to accelerate at the predetermined acceleration Gx _acc reaches the traffic light 2. Specifically, when the second time Tc2 calculated using Expression 2 satisfies Expression 3, before the vehicle 1 that continues accelerating at the predetermined acceleration Gx _acc reaches the traffic light 2, the vehicle speed V reaches the upper limit V _max will be reached. This is because the right side of Equation 3 indicates the time required for the vehicle speed V of the vehicle 1 that continues to accelerate at the predetermined acceleration Gx _acc to reach the upper limit V _max . In this case, the passage support unit 142 calculates the second time Tc2 using Equation 4. Note that the first term on the right side of Equation 4 corresponds to the time required for the vehicle speed V to reach the upper limit V _max when the vehicle 1 continues to accelerate at the predetermined acceleration Gx _acc . The second term of the right side of Equation 4, the vehicle speed V is the vehicle 1 after reaching the upper limit V _max reaches traffic 2 (provided that the vehicle speed V is still maintaining the upper V _max) corresponding to the time required for the.

The third time Tc3 is a time required for the vehicle 1 to reach the traffic light 2 when the vehicle 1 continues to decelerate at the predetermined deceleration Gx _dec . The passage support unit 142 calculates the third time Tc3 using Equation 5. The predetermined deceleration Gx _dec is a constant that is determined in advance or can be appropriately set by the passage support unit 142.

However, if the vehicle 1 continues to accelerate at the predetermined deceleration Gx _dec , the vehicle speed V also decreases. However, the vehicle speed V has a lower limit due to various restrictions (for example, a restriction that the vehicle 1 does not interfere with smooth traffic of surrounding vehicles). In this embodiment, “V _min ” is the lower limit of the vehicle speed V. The lower limit V _min is a constant that is determined in advance or can be set as appropriate by the passage support unit 142. In this case, the vehicle speed V may reach the lower limit V _min before the vehicle 1 that continues to decelerate at the predetermined deceleration Gx _dec reaches the traffic light 2. Specifically, when the third time Tc3 calculated using Equation 5 satisfies Equation 6, the vehicle speed V is set to the lower limit before the vehicle 1 that continues to decelerate at the predetermined deceleration Gx _dec reaches the traffic light 2. V _min will be reached. This is because the right-hand side of equation 6 is that the shows the time required for the vehicle speed V of the vehicle 1 continues to decelerate at a predetermined deceleration Gx _dec reaches the lower limit V _min. In this case, the passage support unit 142 calculates the third time Tc3 using Equation 7. The first term on the right side of Equation 7 corresponds to the time required for the vehicle speed V to reach the lower limit V _min when the vehicle 1 continues to decelerate at the predetermined deceleration Gx _dec . The second term of the right side of Equation 7, the vehicle speed V is the vehicle 1 after reaching the lower limit V _min to reach the traffic lights 2 (provided that the vehicle speed V is still maintaining the lower limit V _min) corresponding to the time required for the.

Even when Expression 8 is satisfied, the passage support unit 142 calculates the third time Tc3 using Expression 7. Because the predetermined deceleration Gx _dec is a negative acceleration (= negative value), the left side of Equation 8 may be less than zero (that is, it becomes a negative value). This is because the right side of Equation 5 becomes a complex number (that is, the third time Tc3 becomes a complex number) when the left side of is less than zero (that is, Equation 8 is satisfied).

  Thereafter, the passage support unit 142 determines the signal color of the traffic light 2 when the first time Tc1 has elapsed based on the signal information (particularly timing information) acquired in step S11 and the first time Tc1 calculated in step S21. Whether or not is blue is determined (step S22).

  As a result of the determination in step S22, when it is determined that the light color of the traffic light 2 is blue when the first time Tc1 has elapsed (step S22: Yes), the vehicle 1 stops the traffic light 2 without stopping. Can pass through. Therefore, the support information generated by the passage support unit 142 is support information that recommends the passenger to perform the vehicle speed maintenance operation. In this case, the state determination unit 144 determines whether or not the detection information acquired in step S13 satisfies the first condition (step S41).

  The first condition includes a condition # 11 in which the passenger does not operate the accelerator pedal to the extent that the vehicle 1 is accelerated (specifically, the operation amount of the accelerator pedal is equal to or less than the first threshold value). The first threshold value is a constant that is set in advance or that can be appropriately set by the state determination unit 144. The first condition further includes a condition # 12 in which the vehicle 1 is not accelerating (specifically, the acceleration A of the vehicle 1 is not greater than zero). The first condition further includes a condition # 13 in which the lateral acceleration of the vehicle 1 is equal to or less than the second threshold (that is, the lateral G is not so large). The second threshold value is a constant that is set in advance or that can be appropriately set by the state determination unit 144. The first condition is further set such that the vehicle speed V of the vehicle 1 is not excessively slow compared with the vehicle speed of other vehicles existing around the vehicle 1 (specifically, the vehicle speed of the other vehicle is set). The third threshold value V1min or higher). The first condition is further set such that the vehicle speed V of the vehicle 1 is not excessively high compared to the vehicle speed of other vehicles existing around the vehicle 1 (specifically, based on the vehicle speed of the other vehicle). The fourth threshold value V1max or less).

  In order for the state determination unit 144 to set the conditions # 14 and # 15, the state determination unit 144 preferably acquires the vehicle speed of another vehicle. For example, the state determination unit 144 may acquire road traffic information (for example, probe information) and may acquire the vehicle speed of another vehicle from the road traffic information. For example, when the sensor 12 can detect the vehicle speed of another vehicle traveling in front of or behind the vehicle 1, the state determination unit 144 may acquire the vehicle speed of the other vehicle from the detection information. . The state determination unit 144 may acquire the speed limit of the road on which the vehicle 1 is traveling as the vehicle speed of another vehicle. The state determination unit 144 may acquire (substantially estimate) the vehicle speed of another vehicle from the past travel history of the vehicle 1. Thereafter, the state determination unit 144 may set a value obtained by subtracting a predetermined first margin from the acquired vehicle speed of the other vehicle as the third threshold value V1min. The state determination unit 144 may set a value obtained by adding a predetermined second margin to the acquired vehicle speed of the other vehicle as the fourth threshold value V1max.

  As a result of the determination in step S41, when it is determined that the detection information satisfies the first condition (step S41: Yes), the state determination unit 144 determines that the display 145 should display the support information. To do. Therefore, in this case, the display 145 displays support information that recommends the passenger to perform the vehicle speed maintenance operation (step S25). On the other hand, as a result of the determination in step S41, when it is determined that the detection information does not satisfy the first condition (step S41: No), the state determination unit 144 should not display the support information on the display 145 Is determined. Therefore, in this case, the display 145 does not display support information that recommends the passenger to perform the vehicle speed maintaining operation.

  If condition # 11 that the passenger does not operate the accelerator pedal to the extent that the vehicle 1 is accelerated among the first conditions is not satisfied, the passenger has an intention to further accelerate the vehicle 1. The possibility is relatively high. In such a case, if the support information that recommends the vehicle speed maintenance operation is displayed, the passenger is bothered by the display of the support information that recommends the driving operation contrary to the driving operation according to the passenger's own intention. You may feel that. For this reason, in this embodiment, when the condition # 11 is not satisfied, the support information that recommends the vehicle speed maintenance operation against the driving operation according to the intention of the passenger is not displayed. As a result, the annoyance felt by the passenger is reduced. In consideration of the fact that the vehicle 1 can pass through the traffic light 2 without stopping when the vehicle speed V is maintained, even if the passenger continues to accelerate the vehicle 1, the vehicle 1 does not stop. The possibility of passing through the traffic light 2 is relatively high.

  Even when the condition # 12 that the vehicle 1 is not accelerating among the first conditions is not satisfied, the passenger is relatively likely to have the intention to further accelerate the vehicle 1. Therefore, in the present embodiment, when the condition # 12 is not satisfied, the support information that recommends the vehicle speed maintaining operation against the driving operation according to the passenger's own intention is not displayed. As a result, the annoyance felt by the passenger is reduced.

  When the condition # 13 in which the lateral acceleration is equal to or smaller than the second threshold is not satisfied among the first conditions, the vehicle 1 may be turning as compared with the case where the lateral acceleration of the vehicle 1 is not equal to or smaller than the second threshold. Sex is relatively high. Therefore, the passenger may have an intention of decelerating (or not accelerating) the vehicle 1 to ensure safety. In such a case, if the support information that recommends the vehicle speed maintenance operation is displayed, the passenger is bothered by the display of the support information that recommends the driving operation contrary to the driving operation according to the passenger's own intention. You may feel that. Therefore, in the present embodiment, when the condition # 13 is not satisfied, the support information that recommends the vehicle speed maintenance operation against the driving operation according to the passenger's own intention is not displayed. As a result, the annoyance felt by the passenger is reduced.

  In the first condition, when the condition # 14 that the vehicle speed V is not excessively slow compared with the vehicle speed of the other vehicle is not satisfied, the support information that recommends the vehicle speed maintenance operation is displayed. There is a possibility of performing a vehicle speed maintenance operation according to the support information. However, since the vehicle speed V is already relatively low when the support information is displayed, the vehicle 1 may obstruct smooth traffic of other vehicles located around the vehicle 1. Therefore, in the present embodiment, when the condition # 15 is not satisfied, support information that recommends a vehicle speed maintaining operation that may hinder smooth traffic of other vehicles is not displayed. As a result, smooth traffic of other vehicles is less likely to be hindered.

  In the first condition, when the condition # 15 that the vehicle speed V is not excessively high compared with the vehicle speed of the other vehicle is not satisfied, the support information that recommends the vehicle speed maintenance operation is displayed. There is a possibility of performing a vehicle speed maintenance operation according to the support information. However, since the vehicle speed V is already relatively high when the support information is displayed, the vehicle 1 may obstruct smooth traffic of other vehicles located around the vehicle 1. Therefore, in the present embodiment, when the condition # 15 is not satisfied, support information that recommends a vehicle speed maintaining operation that may hinder smooth traffic of other vehicles is not displayed. As a result, smooth traffic of other vehicles is less likely to be hindered.

  On the other hand, as a result of the determination in step S22, when it is determined that the light color of the traffic light 2 is not blue when the first time Tc1 has elapsed (step S22: No), the passage support unit 142 determines in step S11. Based on the acquired signal information (particularly timing information) and the second time Tc2 calculated in step S21, it is determined whether or not the light color of the traffic light 2 is blue when the second time Tc2 has passed ( Step S23).

  As a result of the determination in step S23, when it is determined that the light color of the traffic light 2 is blue when the second time Tc2 has elapsed (step S23: Yes), the vehicle 1 stops by accelerating. Without passing through the traffic light 2. For this reason, the support information generated by the passage support unit 142 is support information that recommends the passenger to perform an acceleration operation. In this case, the state determination unit 144 determines whether or not the detection information acquired in step S13 satisfies a second condition different from the first condition described above (step S42).

  The second condition includes a condition # 21 in which the passenger does not operate the brake pedal (specifically, the operation amount of the brake pedal is zero). The second condition further includes a condition # 22 in which the vehicle 1 is not decelerated (that is, the acceleration A of the vehicle 1 is not less than zero). The second condition further includes a condition # 23 in which the lateral acceleration of the vehicle 1 is equal to or less than the fifth threshold (that is, the lateral G is not large). The fifth threshold is a constant that is set in advance or that can be appropriately set by the state determination unit 144. The second condition is further set such that the vehicle speed V of the vehicle 1 is not excessively high compared to the vehicle speed of other vehicles existing around the vehicle 1 (specifically, based on the vehicle speed of the other vehicle). The second threshold value V2max or less). The sixth threshold value V2max may be set in the same setting manner as the fourth threshold value V1max.

  As a result of the determination in step S42, when it is determined that the detection information satisfies the second condition (step S42: Yes), the state determination unit 144 determines that the display 145 should display the support information. To do. Accordingly, in this case, the display 145 displays support information that recommends the passenger to perform an acceleration operation (step S26). On the other hand, as a result of the determination in step S42, when it is determined that the detection information does not satisfy the second condition (step S42: No), the state determination unit 144 should not display the support information on the display 145. Is determined. Therefore, in this case, the display 145 does not display support information that recommends the passenger to perform an acceleration operation.

  When the condition # 21 in which the passenger does not operate the brake pedal among the second conditions is not satisfied, the passenger is relatively likely to have an intention to decelerate the vehicle 1. high. In such a case, when the support information recommending the acceleration operation is displayed, the passenger is annoyed with the display of the support information that recommends the driving operation contrary to the driving operation according to the passenger's own intention. May feel. For this reason, in this embodiment, when the condition # 21 is not satisfied, the support information that recommends the acceleration operation against the driving operation according to the passenger's own intention is not displayed. As a result, the annoyance felt by the passenger is reduced.

  Even when the condition # 22 in which the vehicle 1 is not decelerated among the second conditions is not satisfied, the passenger is relatively likely to have an intention to decelerate the vehicle 1. Therefore, in the present embodiment, when the condition # 22 is not satisfied, the support information that recommends the acceleration operation against the driving operation according to the passenger's own intention is not displayed. As a result, the annoyance felt by the passenger is reduced.

  When the condition # 23 that the lateral acceleration is equal to or less than the fifth threshold is not satisfied, as described above, the occupant has an intention to decelerate (or not accelerate) the vehicle 1 for ensuring safety. The possibility is relatively high. Therefore, in the present embodiment, when the condition # 23 is not satisfied, the support information for recommending the acceleration operation against the driving operation according to the passenger's own intention is not displayed. As a result, the annoyance felt by the passenger is reduced.

  When the condition # 24 that the vehicle speed V is equal to or less than the sixth threshold value V2max is not satisfied, if the support information that recommends the acceleration operation is displayed, the passenger may perform the acceleration operation according to the support information. . However, since the vehicle speed V is already relatively high when the support information is displayed, the vehicle 1 may obstruct smooth traffic of other vehicles located around the vehicle 1. Therefore, in the present embodiment, when the condition # 24 is not satisfied, support information that recommends an acceleration operation that may hinder smooth traffic of other vehicles is not displayed. As a result, smooth traffic of other vehicles is less likely to be hindered.

  On the other hand, as a result of the determination in step S23, when it is determined that the light color of the traffic light 2 is not blue when the second time Tc2 has elapsed (step S23: No), the passage support unit 142 determines in step S11. Based on the acquired signal information (particularly timing information) and the third time Tc3 calculated in step S21, it is determined whether or not the light color of the traffic light 2 is blue when the third time Tc3 has passed ( Step S24).

  As a result of the determination in step S24, when it is determined that the light color of the traffic light 2 is blue when the third time Tc3 has elapsed (step S24: Yes), the vehicle 1 stops by decelerating. Without passing through the traffic light 2. For this reason, the support information generated by the passage support unit 142 is support information that recommends the passenger to perform a deceleration operation. Accordingly, the display 145 displays support information that recommends the passenger to perform a deceleration operation (step S27).

  On the other hand, as a result of the determination in step S24, when it is determined that the light color of the traffic light 2 is not blue when the third time Tc3 has elapsed (step S24: Yes), the vehicle 1 does not stop. Cannot pass through 2. For this reason, the support information generated by the passage support unit 142 is support information that recommends the passenger to perform a stop operation. Therefore, the display 145 displays the support information that recommends the passenger to perform the reduction stop operation (step S28).

  Thereafter, the passage support unit 142 determines whether or not to end the signal passage support operation (step S29). For example, when the execution condition that can execute the signal passing support operation is not satisfied, the passing support unit 142 determines to end the signal passing support operation. For example, when the passenger requests the end of the signal passing support operation, the passing support unit 142 determines to end the signal passing support operation.

  As a result of the determination in step S29, when it is determined that the signal passing support operation is to be ended (step S29: Yes), the signal passing support device 14 ends the signal passing support operation shown in FIG. In this case, the signal passing support device 14 may restart the signal passing support operation shown in FIG. 2 after a predetermined period has elapsed. On the other hand, as a result of the determination in step S29, when it is determined not to end the signal passing support operation (step S29: No), the signal passing support apparatus 14 repeats the operation after step S111 again.

  As described above, in the present embodiment, whether or not the first condition used for determining whether or not to display the support information that recommends the vehicle speed maintenance operation should display the support information that recommends the acceleration operation or not. This is different from the second condition used to determine whether or not. Therefore, the first condition used for determining whether or not to display the support information that recommends the vehicle speed maintaining operation is used to determine whether or not to display the support information that recommends the acceleration operation. Compared with the signal passing support device of the comparative example that is the same as the second condition, the troublesomeness felt by the passenger for the display of the support information is reduced. Or possibility that the vehicle 1 which drive | works according to the displayed assistance information will inhibit the smooth traffic of the other vehicle located around the said vehicle 1 becomes small.

  In the embodiment described above, the support information is displayed as an image on the display 145. However, the support information may be output as sound by a speaker. Alternatively, the support information may be output in any output mode that allows the passenger to recognize the support information.

  In the embodiment described above, the state determination unit 144 determines whether or not the detection information satisfies a predetermined condition (that is, the first or second condition) when the support information recommends that the vehicle speed maintenance operation or the acceleration operation be performed. Is judged. However, when the support information recommends that the support information perform a deceleration operation (that is, when it is determined Yes in step S24 in FIG. 2), the state determination unit 144 is a specific example of the predetermined condition. It may be determined whether or not the three conditions are satisfied. In this case, the display 145 may display the support information when the detection information satisfies the third condition, but may not display the support information when the detection information does not satisfy the third condition. Similarly, the state determination unit 144 is a specific example of the predetermined condition when the detection information recommends that the stop operation be performed (that is, when it is determined No in step S24 in FIG. 2). It may be determined whether the fourth condition is satisfied. In this case, the display 145 may display the support information when the detection information satisfies the fourth condition, but may not display the support information when the detection information does not satisfy the fourth condition.

  The predetermined condition (that is, the first and second conditions) described above is merely an example. Therefore, the state determination unit 144 determines whether the detection information satisfies another condition different from the predetermined condition described above in order to determine whether the display 145 should display the support information. Also good.

  In the embodiment described above, the sensor 12 detects the contents of the driving operation of the passenger and the state of the vehicle 1. Accordingly, each of the first and second conditions is also a condition relating to both the content of the driving operation of the passenger and the state of the vehicle 1. However, the sensor 12 does not detect the other of the content of the driving operation of the passenger and the state of the vehicle 1 while detecting one of the content of the driving operation of the passenger and the state of the vehicle 1. Good. In this case, each of the first and second conditions may also be a condition related to one of the content of the driving operation of the passenger and the state of the vehicle 1.

  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 the signal passing support device accompanied by such a change is also a technical concept of the present invention. include.

DESCRIPTION OF SYMBOLS 1 Vehicle 14 Signal passing assistance apparatus 141 Information receiving part 142 Passing assistance part 144 State determination part 145 Display 2 Traffic light

Claims (1)

Generating means for generating support information for supporting the vehicle passing through the traffic light;
Obtaining means for obtaining a state parameter indicating at least one of a driving operation performed by the passenger on the vehicle and a running state of the vehicle;
(I) When the content of the support information is the first content that recommends the passenger to perform a vehicle speed maintenance operation , the state parameter indicates that the vehicle speed maintenance operation is in accordance with the intention of the passenger. When the first condition that the vehicle speed maintaining operation does not interfere with the operation and the first condition that the smooth traffic of other vehicles located around the vehicle is not obstructed is notified, the support parameter is notified, while the state parameter is without informing the support information does not satisfy the first condition, (ii) the contents of the support information, the you recommend performing and accelerating operations Unlike the first content to the passenger If it is 2 content, the state parameters, the periphery of the Rutotomoni the acceleration operation is not without and the acceleration operation against the operation corresponding to the intention of the occupant different from the first condition is the vehicle Of other vehicles While informing the assistance information if the second condition that does not inhibit the smooth traffic, without notifying the assistance information when the state parameter does not satisfy the second condition, (iii) the support information Is the third content that is different from the first and second content and recommends the occupant to perform a deceleration operation, the state parameter is the first and second conditions. When the third condition is satisfied that the deceleration operation is not contrary to the operation according to the intention of the occupant and the deceleration operation does not obstruct smooth traffic of other vehicles located around the vehicle. A signal passing support device comprising: notification means for notifying the support information when the support parameter is notified while the state parameter does not satisfy the third condition .

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