JP6974191B2 - Collision point calculation device and collision point calculation method - Google Patents

Description

The present invention relates to a collision point calculation device and a collision point calculation method, and particularly in a place where a own vehicle trying to turn right at an intersection and another vehicle traveling straight toward an intersection in an oncoming lane may collide with each other. It is suitable for use in devices and methods for calculating a certain collision point.

Conventionally, a driving support system has been provided that warns the driver of the danger of a collision by using vehicle-to-vehicle communication (V2V: Vehicle to Vehicle) and supports collision avoidance. This driving support system alerts the driver through the screen and speaker when the vehicle, which is driving slowly or stopped in the right turn lane, accidentally tries to proceed despite the risk of collision with an oncoming vehicle. It is a thing.

For example, there is known a system that determines the possibility of a collision between a right-turning vehicle and an oncoming vehicle and issues an alarm when there is a possibility (see, for example, Patent Document 1). In the support device described in Patent Document 1, whether or not the own vehicle stops waiting for a right turn is determined from the situation of the own vehicle, and if it is determined that the own vehicle does not stop waiting for a right turn, the own vehicle and the oncoming vehicle reach an intersection. The time is calculated, the risk of collision between the own vehicle and the oncoming vehicle is calculated from the calculation result, and an alarm is issued when the risk is judged to be high.

In order to determine the possibility of a collision between a right-turning vehicle and an oncoming vehicle, it is necessary to determine the collision point (where an accident may occur) between the right-turning vehicle and the oncoming vehicle. As shown in FIG. 6, this collision point is an intersection 63 between a route 61 that can be taken by an oncoming vehicle traveling straight and a route 62 that can be taken by a right-turning vehicle. The collision point 63 can be obtained by using the road link data included in the map database.

That is, as shown in FIG. 7, a temporary target point 71 is set on the road ahead of the right turn of the own vehicle, and the possible route when the own vehicle makes a right turn is obtained by the Dijkstra method (shortest path problem). Similarly, for the oncoming vehicle, a temporary target point 72 is set on the road ahead of the oncoming vehicle, and a route that can be taken when the oncoming vehicle goes straight is obtained by the Dijkstra method. Then, the intersection 63 between the right turn route that the own vehicle can take and the straight route that the oncoming vehicle can take is calculated.

However, as shown in FIG. 7, the road link inside the intersection is a complicated network in consideration of the traveling direction and the U-turn. Searching for a collision point under such circumstances has the problem that a large amount of calculation cost is required at a large-scale intersection and it takes a lot of time to find the collision point. Furthermore, if the road link data becomes more accurate by separating the road link into upper and lower lines according to the width of the road, or by forming the road link into a lane network corresponding to multiple lanes, more will be searched in the intersection. It will take time.

Japanese Unexamined Patent Publication No. 5-2700

The present invention has been made to solve such a problem, and an object of the present invention is to make it possible to calculate a collision point between a right-turning vehicle and an oncoming vehicle at a low calculation cost.

In order to solve the above-mentioned problems, in the present invention, only the road link in the straight direction is used for the road link in the intersection, and the road is connected to the intersection from the oncoming lane on the road ahead of the intersection on the downstream side of the straight side of the own vehicle. The downstream end point of the road link is obtained as the first end point, and the upstream end point of the road link connecting to the intersection from the exit lane on the road ahead of the intersection on the downstream side of the right turn of the own vehicle is obtained as the second end point, and the first end point is obtained. When and the second end point match, the matching end point is determined as a collision point between the own vehicle turning right and an oncoming vehicle traveling straight ahead.

According to the present invention configured as described above, the collision point is obtained by a simple link search method using only straight road links, instead of the Dijkstra method using all the complicated road links in the intersection. Therefore, the collision point between the right-turning vehicle and the oncoming vehicle can be calculated at a low calculation cost.

It is a block diagram which shows the functional configuration example of the collision prevention support system which carried out the collision point calculation apparatus by this embodiment. It is a block diagram which shows the specific functional configuration example of the collision point calculation part (collision point calculation apparatus) by this embodiment. It is a figure for demonstrating the calculation content of the collision point by the collision point calculation unit (collision point calculation apparatus) of this embodiment. It is a flowchart which shows the operation example of the collision prevention support system by this embodiment. It is a figure for demonstrating the calculation content of the collision point by the collision point calculation unit (collision point calculation apparatus) of this embodiment. It is a figure for demonstrating a collision point. It is a figure for demonstrating the conventional method of calculating a collision point.

Hereinafter, an embodiment of the present invention will be described with reference to the drawings. FIG. 1 is a block diagram showing a functional configuration example of the collision prevention support system 100 in which the collision point calculation device according to the present embodiment is implemented. The collision prevention support system 100 of the present embodiment is mounted on a vehicle and used.

As shown in FIG. 1, the collision prevention support system 100 of the present embodiment has a map data acquisition unit 11, a map memory 12, a current position detection unit 13, a display control unit 14, a collision point calculation unit 15, and a vehicle travel estimation unit. 16. It is configured to include an inter-vehicle communication unit 17, another vehicle travel estimation unit 18, and a notification unit 19.

Each of the above functional blocks 11 to 19 can be configured by any of hardware, DSP (Digital Signal Processor), and software. For example, when configured by software, each of the above functional blocks 11 to 19 is actually configured to include a computer CPU, RAM, ROM, etc., and is a program stored in a recording medium such as RAM, ROM, a hard disk, or a semiconductor memory. Is realized by the operation of.

The map data acquisition unit 11 acquires map data from the map data storage unit 200. The map data storage unit 200 is composed of, for example, a storage medium such as a hard disk, a DVD (Digital Versatile Disk), or a semiconductor memory connected to or built in the collision prevention support system 100. Alternatively, the map data storage unit 200 may be an external storage in a server connected to the collision prevention support system 100 via a communication network such as the Internet.

The map data stored in the map data storage unit 200 is publicly known data used for map display, route search, etc., and includes information on nodes corresponding to points where a plurality of roads intersect, such as intersections and branches, and roads, lanes, and the like. Contains information about the corresponding link. That is, the map data includes a connection node table containing detailed data of all nodes and a link table containing detailed data of links specified by two adjacent nodes.

The connection node table contains information such as the normalized longitude / latitude of the node, the attribute flag, and the traffic regulation for each existing node. The normalized longitude / latitude indicates the relative position in the longitude / latitude direction with respect to a predetermined section. The attribute flag includes an intersection node flag indicating whether or not the node is an intersection node. The traffic regulation indicates the content of the traffic regulation when the link connected to the node has a traffic regulation such as a right turn prohibition or a U-turn prohibition.

In addition, the link table contains information such as link distance, link cost, road attribute flag, and road type flag. The distance of the link indicates the actual distance of the actual road corresponding to the link. The link cost is, for example, a weight value obtained by multiplying a predetermined constant according to the road width, road type, right / left turn, traffic regulation, etc. based on the distance, and quantifies the appropriate degree as a guidance route. .. The road attribute flag indicates various attributes related to the link. The road type flag indicates the actual road type (expressway, national road, prefectural road, narrow street, etc.) corresponding to the link.

The current position detection unit 13 detects the current position of the vehicle at predetermined intervals, and is composed of a self-contained navigation sensor, a GPS receiver, a position calculation CPU, and the like. The self-contained navigation sensor is a vehicle speed sensor (distance sensor) that outputs one pulse for each predetermined mileage to detect the moving distance of the vehicle, and an angular velocity sensor such as a vibration gyro that detects the rotation angle (moving direction) of the vehicle. (Relative orientation sensor) and included. The self-contained navigation sensor detects the relative position and direction of the vehicle by these vehicle speed sensors and angular velocity sensors.

The position calculation CPU calculates an absolute own vehicle device (estimated vehicle position) and vehicle orientation based on the relative position and orientation data of the own vehicle output from the self-contained navigation sensor. In addition, the GPS receiver receives radio waves transmitted from a plurality of GPS satellites with GPS antennas and performs three-dimensional positioning processing or two-dimensional positioning processing to calculate the absolute position and orientation of the vehicle (vehicle orientation is , Calculated based on the current vehicle position and the vehicle position one sampling time ΔT before).

The map data acquisition unit 11 described above inputs the current position information from the current position detection unit 13 and outputs a read instruction of map data in a predetermined range including the current position to map the map data necessary for map display. It is acquired from the data storage unit 200 and stored in the map memory 12.

The display control unit 14 causes the display device 300 to display a map image around the current position based on the map data stored in the map memory 12. At this time, the display control unit 14 generates vehicle position marks and various landmarks indicating the position of the own vehicle, and displays these various marks together with the map image.

The collision point calculation unit 15 constitutes the collision point calculation device of the present invention, and when the own vehicle is about to turn right at the intersection, the own vehicle (hereinafter, also referred to as a right turn vehicle) and the oncoming lane are used as the intersection. The collision point, which is a place where another vehicle (hereinafter, also referred to as an oncoming vehicle) traveling straight toward the vehicle may collide, is calculated. As shown in FIG. 6, this collision point is an intersection 63 between a route that a right-turning vehicle can take and a route that an oncoming vehicle can take. In the present embodiment, the collision point 63 is obtained by using the road link included in the map data stored in the map memory 12, but the method of obtaining the collision point 63 is different from the conventional method.

In the Road Structure Ordinance, the radius of curvature of the road design is determined according to the design speed when the vehicle travels, and the viewing distance is secured. Further, the intersection is required to intersect in a straight line, and the vicinity of the intersection is also required to be in a straight line accordingly. Therefore, the upper and lower lines are almost parallel within a range within a predetermined distance from the intersection. The collision point calculation unit 15 of the present embodiment utilizes the property of the road near the intersection to use only the road link in the straight direction, instead of using all the road links of the complicated road network inside the intersection. I try to find the collision point easily. The details will be described later with reference to FIGS. 2 and 3.

Whether or not the own vehicle is about to turn right at an intersection can be determined as follows. First, based on the current position information detected by the current position detection unit 13 and the map data stored in the map memory 12, it is determined whether or not the own vehicle is near the intersection. In addition to this, it is determined whether or not the own vehicle is planning to make a right turn based on a blinker operation signal, a vehicle speed signal, or the like acquired from an in-vehicle ECU (electronic control unit) (not shown).

The own vehicle travel estimation unit 16 determines the time for the own vehicle to reach the collision point from the current position based on the current position detected by the current position detection unit 13 and the collision point calculated by the collision point calculation unit 15. presume. Here, it is assumed that the own vehicle travels at a predetermined speed assumed when turning right at an intersection. In addition, the route from the current position to the collision point is determined by using the road link in the intersection.

The vehicle-to-vehicle communication unit 17 performs vehicle-to-vehicle communication with other vehicles existing in the vicinity of the own vehicle, and acquires information about the other vehicle. The information of the other vehicle acquired here includes the information of the current position, the traveling speed, and the traveling direction of the other vehicle. Based on this information, it is possible to determine from which direction and at what speed other vehicles are approaching the intersection. The operation information of the winker may be included as the information acquired from another vehicle. With this information, it is possible to determine whether another vehicle is going straight at the intersection or turning left or right.

When the other vehicle traveling estimation unit 18 determines that there is another vehicle traveling straight toward the intersection in the oncoming lane with respect to the lane in which the own vehicle is located, based on the information of the other vehicle acquired by the inter-vehicle communication unit 17. The other vehicle reaches the collision point based on the information of the other vehicle (current position and traveling speed of the other vehicle) acquired by the inter-vehicle communication unit 17 and the collision point calculated by the collision point calculation unit 15. Estimate the time.

The notification unit 19 makes a right turn based on the collision point arrival time of the own vehicle estimated by the own vehicle travel estimation unit 16 and the collision point arrival time of the other vehicle estimated by the other vehicle travel estimation unit 18. When it is determined that a vehicle) and another vehicle (oncoming vehicle) may collide, an alarm is issued. The alarm can be given, for example, by displaying a warning message to the display device 300. In addition to this, a warning sound may be output from a speaker (not shown).

FIG. 2 is a block diagram showing a specific functional configuration example of the collision point calculation unit 15. As shown in FIG. 2, the collision point calculation unit 15 includes a first end point calculation unit 21, a second end point calculation unit 22, and a collision point determination unit 23 as its functional configuration. FIG. 3 is a diagram for explaining the content of calculation of the collision point by the collision point calculation unit 15. The details of the collision point calculation unit 15 will be described below with reference to FIGS. 2 and 3.

The first end point calculation unit 21 uses only the road link in the straight direction for the road link in the intersection, and the downstream end point of the road link connecting to the intersection from the oncoming lane on the road ahead of the intersection on the downstream side of the straight side of the own vehicle. Is obtained as the first end point. Specifically, the first endpoint calculation unit 21 calculates the first endpoint according to the procedure shown in FIG. 3A.

First, the first end point calculation unit 21 searches for a road link (hereinafter, referred to as a straight road link) DL1 at an intersection located downstream on the straight side with reference to the road link DL0 on which the own vehicle 30 is located. Here, as an example, among the road links ahead of the intersection, the road link that does not touch the road link in the intersection is searched for the road link closest to the own vehicle 30. The position of the own vehicle 30 used here is a virtual position in front of the intersection, and the actual position of the own vehicle may be a position that has entered the right turn lane in the intersection.

Next, the first end point calculation unit 21 is a road link within a certain distance on the right side of the straight-ahead road link DL1 at the intersection, and has the same road type and the same direction as the road in the oncoming lane. Search as link DL2. Further, the first end point calculation unit 21 searches for the road link DL3 in contact with the road link in the intersection at the road link in front of the intersection located downstream on the straight-ahead side with the road link DL2 in the oncoming lane as a reference. Then, the first end point calculation unit 21 obtains the downstream end point of the road link DL3 in contact with the road link in the intersection as the first end point EP1.

As described above, when the first end point EP1 is obtained, among the plurality of road links in the intersection constituting the intersection network, the road link DL0 where the own vehicle 30 is located is connected to the road link DL1 on the straight side of the intersection. Only directional road links are used. Since it is possible to simply search for a route that considers only the case of going straight, a large calculation cost is not required to obtain the first endpoint EP1.

The second end point calculation unit 22 uses only the road link in the straight direction for the road link in the intersection, and the upstream end point of the road link connecting to the intersection from the exit lane on the road ahead of the intersection on the downstream side of the right turn side of the own vehicle. Is obtained as the second end point. Specifically, the second endpoint calculation unit 22 calculates the second endpoint according to the procedure shown in FIG. 3 (b).

First, the second end point calculation unit 22 searches for the road link (hereinafter referred to as the left turn side road link) DL4 at the intersection downstream of the left turn side with the road link DL0 on which the own vehicle 30 is located as a reference. Here, as an example, among the road links ahead of the intersection, the road link that does not touch the road link in the intersection is searched for the road link closest to the own vehicle 30.

Next, the second end point calculation unit 22 is a road link within a certain distance on the right side in the traveling direction with respect to the left turn side road link DL4 at the intersection, and turns the road link of the same road type and the same direction into the left turn oncoming lane. Search as road link DL5. Further, the second end point calculation unit 22 searches for a road link DL6 in contact with the road link in the intersection at the road link at the intersection on the downstream side of the straight line with the road link DL5 in the left turn oncoming lane as a reference. Then, the second end point calculation unit 22 obtains the upstream end point of the road link DL6 in contact with the road link in the intersection as the second end point EP2.

As described above, when obtaining the second end point EP2, among the multiple road links in the intersection constituting the intersection network, the road in the straight direction connecting the road link DL5 in the left turn oncoming lane to the road link DL6 at the intersection destination. Only links are used. Since it is possible to simply search for a route that considers only the case of turning left and the case of going straight, it does not cost much calculation cost to obtain the second end point EP2.

When the first end point EP1 obtained by the first end point calculation unit 21 and the second end point EP2 obtained by the second end point calculation unit 22 match, the collision point determination unit 23 determines the matching end point EP1 ( = EP2) is determined as the collision point between the own vehicle turning right and the oncoming vehicle traveling straight ahead. In principle, the first endpoint EP1 and the second endpoint EP2 calculated as described above are the same. The case where they do not match is, for example, a case where the map data is configured in a lane network configuration such that a road link exists for each lane on a road having a plurality of lanes on each side. However, even in this case, the first endpoint EP1 calculated using the road link in any lane and the second endpoint EP2 calculated using the road link in any lane are the same.

FIG. 4 is a flowchart showing an operation example of the collision prevention support system 100 configured as described above. The flowchart shown in FIG. 4 starts when the power of the collision prevention support system 100 is turned on.

First, the current position detection unit 13 detects the current position of the vehicle (step S1). Next, the map data acquisition unit 11 inputs the current position information from the current position detection unit 13, acquires map data in a predetermined range including the current position from the map data storage unit 200, and stores it in the map memory 12 (step). S2). Then, the display control unit 14 causes the display device 300 to display the map image around the current position based on the map data stored in the map memory 12 (step S3).

Here, the collision prevention support system 100 uses the current position detected by the current position detection unit 13, the map data stored in the map memory 12, and the blinker operation signal and vehicle speed signal acquired from the in-vehicle ECU (not shown). Based on this, it is determined whether or not the own vehicle is about to turn right at the intersection (step S4). If it is determined that the own vehicle is not in the situation of turning right at the intersection, the process proceeds to step S14.

On the other hand, when it is determined that the own vehicle is about to turn right at the intersection, the first end point calculation unit 21 of the collision point calculation unit 15 connects to the intersection from the oncoming lane on the road ahead of the intersection on the downstream side of the own vehicle on the straight side. The downstream end point of the road link to be used is calculated as the first end point EP1 (step S5). Further, the second end point calculation unit 22 calculates the upstream end point of the road link connecting to the intersection from the exit lane on the road ahead of the intersection on the downstream side of the right turn side of the own vehicle as the second end point EP2.

Then, when the first end point EP1 obtained by the first end point calculation unit 21 and the second end point EP2 obtained by the second end point calculation unit 22 match, the collision point determination unit 23 determines the matching end points. EP1 (= EP2) is determined as a collision point between the own vehicle turning right and an oncoming vehicle traveling straight ahead (step S7).

Next, the own vehicle traveling estimation unit 16 reaches the collision point from the current position based on the current position detected by the current position detection unit 13 and the collision point calculated by the collision point calculation unit 15. Estimate the time (step S8). Next, the vehicle-to-vehicle communication unit 17 performs vehicle-to-vehicle communication with other vehicles existing in the vicinity of the own vehicle, and acquires information about the other vehicle (step S9).

Here, the other vehicle traveling estimation unit 18 is another vehicle (oncoming vehicle) traveling straight toward the intersection in the oncoming lane with respect to the lane in which the own vehicle is located, based on the information of the other vehicle acquired by the inter-vehicle communication unit 17. It is determined whether or not there is a lane (step S10). If it is determined that there is no oncoming vehicle, the process proceeds to step S14. On the other hand, when it is determined that there is an oncoming vehicle, the other vehicle traveling estimation unit 18 is based on the information of the other vehicle acquired by the inter-vehicle communication unit 17 and the collision point calculated by the collision point calculation unit 15. The time for the other vehicle to reach the collision point is estimated (step S11).

Next, the notification unit 19 is based on the collision point arrival time of the own vehicle estimated by the own vehicle travel estimation unit 16 and the collision point arrival time of the other vehicle estimated by the other vehicle travel estimation unit 18. It is determined whether or not (the right-turning vehicle) and another vehicle (oncoming vehicle) may collide (step S12). If it is determined that there is no possibility of collision, the process proceeds to step S14. On the other hand, if it is determined that there is a possibility of collision, the notification unit 19 issues an alarm (step S13).

After that, the collision prevention support system 100 determines whether or not the power is turned off (step S14). If the power is not turned off, the process returns to step S1. On the other hand, when the power is turned off, the processing of the flowchart shown in FIG. 4 ends.

As described in detail above, in the present embodiment, the downstream end point of the road link connecting from the oncoming lane to the intersection on the road at the intersection on the downstream side of the own vehicle is obtained as the first end point EP1 and the own vehicle is used. The upstream end point of the road link connecting to the intersection from the exit lane on the road ahead of the intersection on the downstream side of the right turn side is obtained as the second end point EP2, and when the first end point EP1 and the second end point EP2 match, the match is made. The end point is determined as the collision point between the own vehicle turning right and the oncoming vehicle traveling straight ahead.

According to the present embodiment configured in this way, the collision point is obtained by a simple link search method using only straight road links, instead of the Dijkstra method using all the complicated road links in the intersection. Therefore, the collision point between the right-turning vehicle and the oncoming vehicle can be calculated at a low calculation cost.

In the above embodiment, an example of calculating the collision point at the intersection of the crossroads has been described, but it is possible to calculate the collision point at the intersection of the three-way junction by the same calculation method. FIG. 5 is a diagram for explaining the calculation contents when the collision point is calculated at the intersection of the three-way junction.

At the three-way junction as shown in FIG. 5, the first end point EP1 can be calculated by the same procedure as that shown in FIG. 3 (a) (see FIG. 5 (a)). On the other hand, at the three-way junction as shown in FIG. 5, the own vehicle cannot make a left turn, which is different from the crossroad shown in FIG. 3 (b). However, as shown in FIG. 5B, even if the road does not actually exist on the left turn side, the second endpoint EP2 is calculated using the road link DL3 used when calculating the first endpoint EP1. It is possible to do. First, the road link (hereinafter referred to as the oncoming vehicle side left turn side road link) DLα at the intersection downstream of the oncoming vehicle side left turn side is searched for with the road link DL3 as a reference, and the process proceeds with respect to the oncoming vehicle side left turn side road link DLα. Search for the road link DLβ of the oncoming lane of the same road type and the same direction on the road link within a certain distance on the right side of the direction, and search for the downstream road link DLγ when entering the intersection straight from the road link DLβ. do. Then, this road link DLγ is regarded as the road link DL4 in FIG. 3 (b) (denoted as DL4'in FIG. 5 (b)), and the second endpoint EP2 is subjected to the same processing as in FIG. 3 (b). Ask. That is, a road link DL5'with the same road type and the same direction is searched for on the road link within a certain distance on the right side of the road link DL4', and the road link DL5'is located downstream on the straight side with the road link DL5' as a reference. At the road link at the intersection, search for the road link DL6 that touches the road link in the intersection. Then, the upstream end point of the road link DL6 is obtained as the second end point EP2.

In addition, at intersections where roads intersect diagonally, or at three-dimensional intersections where one side is a side road to an elevated road, the collision point can be calculated by the same calculation method as in the above embodiment. Is.

Further, in the above embodiment, an example of obtaining the first endpoint EP1 according to the procedure shown in FIG. 3A has been described, but the procedure is not limited to this procedure. For example, in the above embodiment, when searching for a road link on the straight side at an intersection, the road link DL1 closest to the own vehicle 30 is searched for by the road link that does not touch the road link in the intersection, but the road link in the intersection is touched. You may want to search for a road link.

Further, the first endpoint EP1 may be obtained as follows. First, a road link within a certain distance on the right side of the road link DL0 on which the own vehicle 30 is located is searched for a road link of the same road type and the same direction as a road link of an oncoming lane. Next, the road link DL3 in contact with the road link in the intersection is searched for at the road link at the intersection upstream on the straight-ahead side with the road link in the oncoming lane as a reference. Then, it is possible to obtain the downstream end point of the obtained road link DL3 as the first end point EP1.

In addition, if it is a method of calculating the downstream end point of the road link DL3 connecting to the intersection from the oncoming lane on the road ahead of the intersection on the downstream side of the straight side of the own vehicle by using only the road link in the straight direction in the intersection. Both can be applied as the processing of the first end point calculation unit 21.

Further, in the above embodiment, an example of calculating the second endpoint EP2 according to the procedure shown in FIG. 3B has been described, but the procedure is not limited to this procedure. For example, in the above embodiment, when searching for the left turn side road link at the intersection, the road link DL4 closest to the own vehicle 30 is searched for by the road link that does not touch the road link in the intersection, but the road link in the intersection is touched. You may want to search for a road link.

Further, the second endpoint EP2 may be obtained as follows. First, the route is followed by the procedure shown in FIG. 3 (a). After that, the road link DL6 at the intersection on the downstream side of the left turn side is searched from the road link DL3. Then, it is possible to obtain the downstream end point of the obtained road link DL6 as the second end point EP2.

In addition, if it is a method of calculating the upstream end point of the road link DL6 connecting to the intersection from the exit lane on the road ahead of the intersection on the downstream side of the right turn side of the own vehicle by using only the road link in the straight direction in the intersection. Both can be applied as the processing of the second end point calculation unit 22.

Further, in the above embodiment, an example in which the collision point calculation device of the present embodiment is applied to the collision prevention support system 100 has been described, but the application example is not limited to this. For example, it may be applied to an automatic driving control device that controls the automatic driving of a vehicle. In this case, in the configuration shown in FIG. 1, an automatic operation control unit is provided instead of the notification unit 19. The automatic driving control unit is based on the collision point arrival time of the own vehicle estimated by the own vehicle travel estimation unit 16 and the collision point arrival time of the other vehicle estimated by the other vehicle travel estimation unit 18. It is determined whether or not there is a possibility of a collision between a right-turning vehicle) and another vehicle (oncoming vehicle), and if there is a possibility of a collision, the vehicle is running (accelerator, brake, steering) so as to avoid the collision. Etc.) are automatically controlled.

In addition, the above embodiments are merely examples of the embodiment of the present invention, and the technical scope of the present invention should not be construed in a limited manner. That is, the present invention can be implemented in various forms without departing from its gist or its main features.

11 Map data acquisition unit 12 Map memory 13 Current position detection unit 14 Display control unit 15 Collision point calculation unit (collision point calculation device)
21 1st end point calculation unit 22 2nd end point calculation unit 23 Collision point determination unit

Claims (8)

Collision points using road links that correspond to the lanes of roads that are not intersections, and road links within intersections that form a network within the intersection and are connected to the road links that correspond to the lanes at the junction between the intersection and the road. It is a collision point calculation device that determines
Of the road links on the downstream side of the intersection for the own vehicle when the own vehicle has not entered the intersection on the downstream side of the straight side of the own vehicle, the road link that does not connect to the road link in the intersection. Search for the road link closest to your vehicle or the road link that connects to the road link in the intersection as a straight-ahead road link.
Search for a road link within a certain distance on the right side of the traveling direction of the own vehicle with respect to the straight-ahead road link, and a road link of the same road type and direction as the straight-ahead road link as a road link of an oncoming lane. death,
With respect to the road link in the oncoming lane, a road link that is downstream on the straight-ahead side for a vehicle traveling in the lane corresponding to the road link and is connected to the road link in the intersection is searched for as the first road link. ,
The first endpoint calculation unit that obtains the endpoint on the downstream side of the first road link as the first endpoint for the vehicle traveling in the lane corresponding to the first road link.
Based on the above road link where the own vehicle is located, among the road links ahead of the own vehicle after turning left at the intersection, the road link that does not connect to the link inside the intersection and is the closest to the own vehicle, or within the intersection. Search for the road link that connects to the road link as the left turn side road link,
It is a road link within a certain distance on the right side of the direction of travel when the own vehicle turns left at the intersection with respect to the left turn side road link, and has the same road type and direction as the left turn side road link. Search for a road link as a road link in the oncoming lane, turn left,
Search for a second road link that is downstream of the intersection on the straight side for vehicles traveling in the lane corresponding to the left turn oncoming lane and is connected to the road link in the intersection. death,
A second endpoint calculation unit that obtains an endpoint on the upstream side of the second road link as the second endpoint for a vehicle traveling in the lane corresponding to the second road link.
When the first end point obtained by the first end point calculation unit and the second end point obtained by the second end point calculation unit match, the oncoming vehicle traveling straight to the own vehicle turning right at the matching end point. A collision point calculation device characterized by having a collision point determination unit for determining a collision point with and. The first end point calculation unit is instead used as a process for finding the first end point.
A third road link within a certain distance on the right side of the traveling direction of the own vehicle with respect to the road link having the own vehicle, having the same road type and the same direction as the road link having the own vehicle. Search as a road link,
With respect to the third road link, the road link that is upstream on the straight side of the intersection for a vehicle traveling in the lane corresponding to the third road link and is connected to the road link in the intersection is the first road link. Search as a road link,
Performs the process of obtaining the end point on the downstream side of the first road link as the first end point for the vehicle traveling in the lane corresponding to the first road link.
The collision point calculation device according to claim 1. The second end point calculation unit is instead used as a process for finding the second end point.
For a vehicle traveling in the lane corresponding to the first road link based on the first road link searched by the first end point calculation unit, the road link at the end of the left turn at the intersection is the oncoming vehicle side left turn side road. Search as a link,
Regarding the road link on the left turn side of the oncoming vehicle, the road link within a certain distance on the right side of the traveling direction for the vehicle traveling in the lane corresponding to the road link, and the road link of the oncoming lane of the same road type and the same direction is used. Search as the 4th road link,
Search for the downstream road link when entering the intersection straight from the lane corresponding to the above 4th road link.
A road link within a certain distance on the right side of the traveling direction for a vehicle traveling in the lane corresponding to the downstream road link with respect to the downstream road link, and has the same road type and direction as the downstream road link. Search for the 5th road link in
With the fifth road link as a reference, the road link at the intersection destination downstream of the straight-ahead side for the vehicle traveling in the lane corresponding to the fifth road link, and the road link connected to the road link in the intersection is the second. Search as a road link,
The process of obtaining the end point on the upstream side of the second road link for the vehicle traveling in the lane corresponding to the second road link as the second end point is performed.
The collision point calculation device according to claim 1 or 2. The second end point calculation unit is instead used as a process for finding the second end point.
From the first road link searched by the first end point calculation unit, for a vehicle traveling in the lane corresponding to the first road link, the road link at the end of the left turn at the intersection is connected to the road link in the intersection. Search for the road link to be used as the above second road link,
Performs the process of obtaining the end point on the upstream side of the second road link as the second end point for the vehicle traveling in the lane corresponding to the second road link.
The collision point calculation device according to claim 1 or 2. Collision points using road links that correspond to the lanes of roads that are not intersections, and road links within intersections that form a network within the intersection and are connected to the road links that correspond to the lanes at the junction between the intersection and the road. It is a collision point calculation method by a collision point calculation device that determines
The first end point calculation unit of the collision point calculation device performs the first step of obtaining the first end point, and
The second end point calculation unit of the collision point calculation device performs the second step of obtaining the second end point, and
When the collision point determination unit of the collision point calculation device matches the first end point obtained by the first end point calculation unit and the second end point obtained by the second end point calculation unit, the match is made. Including the third step of determining the end point as the collision point between the own vehicle turning right and the oncoming vehicle traveling straight ahead.
In the first step, the first endpoint calculation unit is
Of the road links on the downstream side of the intersection for the own vehicle when the own vehicle has not entered the intersection on the downstream side of the straight side of the own vehicle, the road link that does not connect to the road link in the intersection. Search for the road link closest to your vehicle or the road link that connects to the road link in the intersection as a straight-ahead road link.
Search for a road link within a certain distance on the right side of the traveling direction of the own vehicle with respect to the straight-ahead road link, and a road link of the same road type and direction as the straight-ahead road link as a road link of an oncoming lane. death,
With respect to the road link in the oncoming lane, a road link that is downstream on the straight-ahead side for a vehicle traveling in the lane corresponding to the road link and is connected to the road link in the intersection is searched for as the first road link. ,
The end point on the downstream side of the first road link for the vehicle traveling in the lane corresponding to the first road link is obtained as the first end point.
In the second step, the second endpoint calculation unit is
Based on the above road link where the own vehicle is located, among the road links at the end of the left turn at the intersection for the own vehicle, the road link that does not connect to the in-intersection link and is the closest to the own vehicle, or in the intersection. Search for the road link that connects to the road link as the left turn side road link,
It is a road link within a certain distance on the right side of the traveling direction when the own vehicle turns left at the intersection with respect to the left turn side road link, and has the same road type and the same direction as the left turn side road link. Search for a road link as a road link in the oncoming lane, turn left,
Search for a second road link that is located downstream of the intersection on the straight side of the intersection for vehicles traveling in the lane corresponding to the left turn oncoming lane. death,
A collision point calculation method, characterized in that an end point on the upstream side of a vehicle traveling in a lane corresponding to the second road link of the second road link is obtained as the second end point. In the first step, the first end point calculation unit instead performs the process of finding the first end point.
A third road link within a certain distance on the right side of the traveling direction of the own vehicle with respect to the road link having the own vehicle, having the same road type and the same direction as the road link having the own vehicle. Search as a road link,
With respect to the third road link, the road link that is upstream on the straight side of the intersection for a vehicle traveling in the lane corresponding to the third road link and is connected to the road link in the intersection is the first road link. Search as a road link,
Performs the process of obtaining the end point on the downstream side of the first road link as the first end point for the vehicle traveling in the lane corresponding to the first road link.
The collision point calculation method according to claim 5, wherein the collision point is calculated. In the second step, the second endpoint calculation unit instead performs the process of finding the second endpoint.
For a vehicle traveling in the lane corresponding to the first road link based on the first road link searched by the first end point calculation unit, the road link at the end of the left turn at the intersection is the oncoming vehicle side left turn side road. Search as a link,
Regarding the road link on the left turn side of the oncoming vehicle, the road link within a certain distance on the right side of the traveling direction for the vehicle traveling in the lane corresponding to the road link, and the road link of the oncoming lane of the same road type and the same direction is used. Search as the 4th road link,
Search for the downstream road link when entering the intersection straight from the lane corresponding to the above 4th road link.
A road link within a certain distance on the right side of the traveling direction for a vehicle traveling in the lane corresponding to the downstream road link with respect to the downstream road link, and has the same road type and direction as the downstream road link. Search for the 5th road link of
With the fifth road link as a reference, the road link at the intersection destination downstream of the straight-ahead side for the vehicle traveling in the lane corresponding to the fifth road link, and the road link connected to the road link in the intersection is the second. Search as a road link,
The process of obtaining the end point on the upstream side of the second road link for the vehicle traveling in the lane corresponding to the second road link as the second end point is performed.
The collision point calculation method according to claim 5 or 6, wherein the collision point is calculated. In the second step, the second endpoint calculation unit instead performs the process of finding the second endpoint.
From the first road link searched by the first end point calculation unit, for a vehicle traveling in the lane corresponding to the first road link, the road link at the end of the left turn at the intersection is connected to the road link in the intersection. Search for the road link to be used as the above second road link,
Performs the process of obtaining the end point on the upstream side of the second road link as the second end point for the vehicle traveling in the lane corresponding to the second road link.
The collision point calculation method according to claim 5 or 6, wherein the collision point is calculated.

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