JP7282255B2 - vehicle system - Google Patents

Description

The present invention relates to an in-vehicle device and a vehicle system that enable accurate analysis of accident factors after the occurrence of an accident by recording behavior data of the own vehicle and surrounding objects from the occurrence of the accident factors to the occurrence of the accident.

As the level of the automated driving system installed in the vehicle becomes higher, it is necessary to accurately reproduce the accident factors before clarifying whether the driver or the automated driving system was responsible for the accident. A factor may have to be identified. In addition to using data such as images and vehicle information recorded by the own vehicle, it is also effective to use data recorded by other vehicles, such as surrounding vehicles, to reproduce accident factors. must be kept.

Here, for example, Patent Document 1 is known as a conventional technology in which the own vehicle requests imaging from the outside. an accident reporting system comprising an accident analysis server installed in a vehicle, and one or more reporting devices that perform wireless communication between the in-vehicle device and the accident analysis server, wherein the in-vehicle device communicates with the in-vehicle device When an abnormal behavior of the target vehicle is detected, an emergency imaging request signal is transmitted to the outside of the target vehicle, and the notification device stores image data indicating the surrounding situation of the notification device. and, when receiving the emergency imaging request signal from the vehicle-mounted device, the recorded image data, which is the image data stored for a certain period before and after the reception of the emergency imaging request signal, is transmitted to the accident analysis server. system" is disclosed.

JP 2009-205368 A

However, the accident notification system of Patent Document 1 only requests emergency imaging from the outside when a behavioral abnormality of the own vehicle is detected. There is a problem that even if an accident factor occurs that poses a danger to other vehicles, pedestrians, bicycles, etc., data from the occurrence of the accident factor to the occurrence of the accident cannot be recorded.

In addition, the behavioral anomaly of the own vehicle assumed in Patent Document 1 is limited to a significant behavioral anomaly (such as sudden acceleration) that may cause an accident even when the vehicle is traveling alone. Even if the behavior of the own vehicle is not dangerous, the emergency imaging request signal is not transmitted in Patent Document 1 if the behavior is not dangerous to the own vehicle itself. In the event of an accident, there was a problem that the cause of the accident could not be identified due to lack of recorded data.

In view of the above, the present invention provides an in-vehicle device and a vehicle system that determine whether or not there is a danger to surrounding objects and, if it is determined that there is danger, record data related to the own vehicle and surrounding objects. It is in.

In order to solve the above problems, a vehicle system according to the present invention is a vehicle system in which an in-vehicle device of the own vehicle and an in-vehicle device of another vehicle are connected by wireless communication, wherein the in-vehicle device of the own vehicle is connected to the outside world. a surrounding information acquisition unit that acquires surrounding information about surrounding objects other than the own vehicle from a recognition sensor, vehicle-to-vehicle communication, or road-to-vehicle communication; a danger determination unit that outputs a danger signal when it is determined that there is a danger, and outputs a danger elimination signal when it is determined that the surrounding object is not dangerous; and the danger signal or the danger elimination signal to the other vehicle. and a communication unit that transmits the behavior data of the surrounding object when the vehicle-mounted device of the other vehicle receives the danger signal or the danger elimination signal. A data recording unit that starts recording and ends recording the behavior data when the danger elimination signal is received, and a motion that controls the behavior of the other vehicle so as to ensure safety when the danger signal is received. and a control unit, wherein the other vehicle is an oncoming vehicle on the road on which the own vehicle travels, a stopped vehicle on a road intersecting the road on which the own vehicle travels, or The vehicle system is a vehicle running on the adjacent lane of the road on which it is running .

According to the present invention, when the surrounding objects are dangerous, the behavior data of the own vehicle and the surrounding objects are recorded. Therefore, it is possible to appropriately record the data regarding the own vehicle and the surrounding objects necessary for accurate reproduction of the accident factor. becomes possible.

1 is a diagram showing a configuration example of a vehicle system according to an embodiment; FIG. Flowchart of processing executed by in-vehicle device of self-vehicle Flowchart of processing executed by in-vehicle devices of other vehicles A diagram showing a situation in which the preceding vehicle is judged to be dangerous at an intersection Diagram showing a situation in which the preceding vehicle is judged to be dangerous on a straight road Diagram showing how the vehicle decelerates on a straight road when the preceding vehicle is judged to be dangerous. A diagram showing how the vehicle steers when the preceding vehicle is judged to be dangerous on a straight road. A diagram showing a situation in which the vehicle is judged to be dangerous at an intersection. Diagram showing a situation in which the vehicle is judged to be dangerous on a straight road

Hereinafter, embodiments of an in-vehicle device and a vehicle system according to the present invention will be described with reference to the drawings.

FIG. 1 is a functional block diagram showing a configuration example of a vehicle system 100 according to one embodiment of the invention. This vehicle system 100 is a system in which an in-vehicle device 10 mounted in one's own vehicle 1 and an in-vehicle device 20 mounted in another vehicle 2 are directly or indirectly connected by wireless communication.

An in-vehicle device 10 of the own vehicle 1 includes a peripheral information acquisition unit 11, a danger determination unit 12, a notification unit 13, a data recording unit 14, a motion control unit 15, and a communication unit 16. In addition, the in-vehicle device 20 of the other vehicle 2 includes a surrounding information acquisition unit 21, a danger determination unit 22, a notification unit 23, a data recording unit 24, a motion control unit 25, and a communication unit 26. Since the in-vehicle device 10 and the in-vehicle device 20 are equivalent, the configuration of the in-vehicle device 10 of the host vehicle 1 will be described in detail below, and the configuration of the in-vehicle device 20 of the other vehicle 2 will be omitted.

The peripheral information acquisition unit 11 acquires peripheral objects ( (Pedestrians, bicycles, other vehicles 2, etc.) are acquired, surrounding information including the distance and speed, the state of traffic lights, etc. are acquired, and transmitted to the danger determination unit 12 .

Based on the surrounding information received from the surrounding information acquisition unit 11, the danger determination unit 12 determines whether or not there is a possibility that the surrounding object will cause an accident. , the data recording unit 14 , the motion control unit 15 and the communication unit 16 . Further, when the risk determination unit 12 determines that the possibility of an accident has disappeared, or when it confirms that an accident has occurred, the risk determination unit 12 outputs a danger elimination signal to the notification unit 13, the data recording unit 14, the motion control unit 15, and the communication unit. output to 16.

The notification unit 13 notifies the driver of the host vehicle 1 that surrounding objects such as the other vehicle 2 are in a dangerous state from the time the danger signal is received until the time the danger elimination signal is received. This notification may be given by an image or text via a display, or may be given by a warning sound or voice via a speaker.

When receiving a danger signal, the data recording unit 14 starts recording behavior data of the own vehicle 1 and surrounding objects. Further, when the data recording unit 14 receives the danger elimination signal, the recording of the behavior data of the own vehicle 1 and surrounding objects is finished. The behavior data recorded here are, for example, the position data, speed data, steering data, etc. of the own vehicle 1, and the peripheral objects are monocular camera, stereo camera, LiDAR, millimeter wave radar, ultrasonic waves, and so on. It is the sensing information of an external recognition sensor such as a sensor, or the position data, speed data, etc. of surrounding objects calculated based on the sensing information.

When receiving a danger signal, the motion control unit 15 ensures the safety of the own vehicle 1 by controlling the behavior (acceleration/deceleration and steering) of the own vehicle 1 based on the assumed accident mode and the surrounding environment.

The communication unit 16 uses road-to-vehicle communication or vehicle-to-vehicle communication to notify the other vehicles 2 and infrastructure in the vicinity of the danger signals received from the danger determination unit 12, and to notify the danger signals received from the other vehicles 2 and the infrastructure in the vicinity. A signal is transmitted to the notification unit 13 , data recording unit 14 and motion control unit 15 of the own vehicle 1 . In addition, the communication unit 16 transmits the behavior data recorded in the data recording unit 14 to other vehicles 2 in the vicinity and the server on the infrastructure side, and receives the behavior data recorded by the other vehicles 2 in the vicinity.

Next, the processing executed by the host vehicle 1 and the processing executed by the other vehicle 2 will be described with reference to FIGS. 2 and 3. FIG. Note that the own vehicle 1 is also the other vehicle 2 from the perspective of another person, so the vehicle adopting the present invention executes the processes of FIGS. 2 and 3 in parallel.

<Process Executed by Own Vehicle 1> The process shown in the flowchart of FIG. 2 is a process executed from the standpoint of the own vehicle 1, which determines the danger of surrounding objects by itself.

In step S1, the peripheral information acquisition unit 11 acquires peripheral information about objects (pedestrians, other vehicles 2, etc.) around the own vehicle 1 through vehicle-to-vehicle communication, road-to-vehicle communication, an external recognition sensor, etc., and determines risk. 12.

In step S2, the danger determination unit 12 determines the possibility of an accident (presence or absence of danger) of surrounding objects based on the received surrounding information. Then, if there is no possibility of an accident, the process returns to step S1. , the process proceeds to step S3 (steps S3a to S3d).

In step S3, the processes of steps S3a to S3d are executed in parallel. In step S3a, the notification unit 13 starts to notify the driver that the possibility of an accident involving a surrounding object has been detected. In step S3b, the data recording unit 14 starts recording the behavior data of the host vehicle 1 and surrounding objects. In step S3c, the motion control unit 15 starts motion control of the own vehicle 1 according to the expected accident mode. In step S3d, the communication unit 16 transmits a danger signal to the communication unit 26 of the other vehicle 2 and the infrastructure.

In step S<b>4 , the peripheral information acquisition unit 11 acquires peripheral information about peripheral objects (pedestrians, other vehicles 2 , etc.) and transmits the peripheral information to the risk determination unit 12 , as in step S<b>1 .

In step S5, the danger determination unit 12 determines the possibility of an accident involving surrounding objects based on the received surrounding information. Then, if the possibility of an accident continues, the process returns to step S4, and if the possibility of an accident has disappeared, or if the occurrence of an accident has been confirmed, the danger determination unit 12 issues a danger elimination signal. After transmitting to the unit 13, the data recording unit 14, the movement control unit 15, and the communication unit 16, the process proceeds to step S6 (steps S6a to S6d).

In step S6, the processes of steps S6a to S6d are executed in parallel. In step S6a, the notification unit 13 terminates notification to the driver. In step S6b, the data recording unit 14 finishes recording the behavior data. In step S6c, the motion control unit 15 ends the accident avoidance control. In step S6d, the communication unit 16 transmits the danger elimination signal to the communication unit 26 of the other vehicle 2 and the infrastructure.

Although not shown, the communication unit 16 may transmit the data recorded in the data recording unit 14 to the other vehicle 2 or a server on the infrastructure side after step S6.

<Process Executed by Other Vehicle 2> The process shown in the flowchart of FIG. 3 is a process executed from the standpoint of the other vehicle 2, which is notified of the danger of surrounding objects from the outside.

In step S<b>11 , the communication unit 26 receives communication from the communication unit 16 of the own vehicle 1 and transmits the communication to the risk determination unit 22 .

In step S2, the danger determination unit 22 determines whether the received communication includes a danger signal. Then, if there is no danger signal, the process returns to step S11, and if there is a danger signal, the danger determination unit 22 transmits the danger signal to the notification unit 23, the data recording unit 24, and the movement control unit 25, and then step S13. (Steps S13a to S13c).

In step S13, the processes of steps S13a to S13c are executed in parallel. In step S13a, the reporting unit 23 starts reporting that the driver of the other vehicle 2 has been notified of the possibility of an accident. In step S13b, the data recording unit 24 starts recording the behavior data of the other vehicle 2 and surrounding objects. In step S13c, the motion control unit 25 starts motion control of the other vehicle 2 according to the expected accident mode.

In step S14, the communication unit 26 receives communication from the communication unit 16 of the host vehicle 1 and transmits the communication to the risk determination unit 22, as in step S11.

In step S15, the danger determination unit 22 determines whether the received communication includes a danger elimination signal. If there is no danger elimination signal, the process returns to step S14, and if there is a danger elimination signal, the danger determination section 22 transmits the danger elimination signal to the notification section 23, the data recording section 24, and the movement control section 25. , the process proceeds to step S16 (steps S16a to S16c).

In step S16, the processes of steps S16a to S16c are executed in parallel. In step S16a, the notification unit 23 terminates the notification to the driver. In step S16b, the data recording unit 24 finishes recording the data. In step S16c, the motion control unit 25 ends the accident avoidance control.

Although not shown, the communication unit 26 may transmit the data recorded in the data recording unit 24 to the own vehicle 1 or the server on the infrastructure side after step S16. In addition, here, the contents of the processing of the other vehicle 2 are illustrated, but the monitoring camera of the infrastructure that receives the danger signal and the danger elimination signal from the own vehicle 1 may perform the processing other than the steps S13a, S13c, S16a, and S16c described above. By executing , necessary data may be recorded by a monitoring camera of the infrastructure or the like.

Next, specific behaviors of the own vehicle 1 and the other vehicle 2 under various environments will be described. In the following description, description of the notification unit 13 and the like that exhibit the same behavior regardless of the environment will be omitted, and redundant description will be omitted for the contents that have already been described under the preceding environment.

<Environment A>
FIG. 4 shows a scene in which the own vehicle 1 determines that the preceding vehicle is a dangerous vehicle 3 that causes an accident at an intersection, and the dangerous vehicle 3 suddenly accelerates after the traffic signal 4 changes from green to yellow. show the scene.

In this case, the peripheral information acquisition unit 11 of the own vehicle 1 transmits changes in the traffic signal 4, sudden acceleration of the dangerous vehicle 3, positions of the other vehicles 2a to 2c, and the like to the danger determination unit 12. FIG. When the danger judgment unit 12 judges the possibility 5 of an accident occurring in which the sudden acceleration of the dangerous vehicle 3 is the cause of the accident, the danger judgment unit 12 transmits a danger signal to the notification unit 13, the data recording unit 14, the motion control unit 15, and the communication unit 16. do. The data recording unit 14 that has received the danger signal starts recording the behavior data of the surrounding objects including the dangerous vehicle 3, and the communication unit 16 that has received the danger signal spreads the danger signal to other vehicles 2 and others in the vicinity. Send to infrastructure.
As a result, the data recording unit 24 of the other vehicle 2 and the monitoring camera of the infrastructure that have received the danger signal also start recording the behavior data of the surrounding objects including the dangerous vehicle 3 .

After that, when the danger determination unit 12 confirms that the dangerous vehicle 3 has safely passed through the intersection, or confirms that some kind of accident caused by the dangerous vehicle 3 has occurred, the danger determination unit 12 issues a danger elimination signal to the notification unit 13 and data recording. It is transmitted to the unit 14 , the motion control unit 15 and the communication unit 16 . The data recording unit 14 that has received the danger elimination signal finishes recording the behavior data, and the communication unit 16 that has received the danger elimination signal transmits the danger elimination signal to the surrounding other vehicles 2 and infrastructure. As a result, the data recording unit 24 of the other vehicle 2 and the monitoring camera of the infrastructure that have received the danger elimination signal also end data recording.

<Environment B>
FIG. 5 shows a scene in which the own vehicle 1 determines that the preceding vehicle is a dangerous vehicle 3 that may cause an accident on a straight road, and the dangerous vehicle 3 traveling in the left lane at a constant speed changes lanes to the right lane. As a result, another vehicle 2a in the right lane brakes suddenly.

In this case, the peripheral information acquisition unit 11 of the own vehicle 1 transmits the positions of the other vehicles 2 a and 2 b and the lateral speed of the dangerous vehicle 3 to the risk determination unit 12 . When the danger judgment unit 12 judges the possibility 5 of an accident occurring in which the lane change of the dangerous vehicle 3 becomes an accident factor, the danger judgment unit 12 transmits a danger signal to the notification unit 13, the data recording unit 14, the motion control unit 15, and the communication unit 16. do. The data recording unit 14 that has received the danger signal starts recording the behavior data of surrounding objects including the dangerous vehicle 3, and the communication unit 16 that has received the danger signal transmits the danger signal to other vehicles 2 and infrastructure. do. As a result, the data recording unit 24 of the other vehicle 2 and the monitoring camera of the infrastructure that have received the danger signal also start recording the behavior data of the surrounding objects including the dangerous vehicle 3 .

After that, when the danger determination unit 12 confirms that the dangerous vehicle 3 has successfully completed the lane change, or confirms that some kind of accident caused by the dangerous vehicle 3 has occurred, the danger determination unit 12 outputs a danger elimination signal to the notification unit 13 and the data. It is transmitted to the recording unit 14 , motion control unit 15 and communication unit 16 . The data recording unit 14 that has received the danger elimination signal finishes recording the behavior data, and the communication unit 16 that has received the danger elimination signal transmits the danger elimination signal to the surrounding other vehicles 2 and infrastructure. As a result, the data recording unit 24 of the other vehicle 2 and the monitoring camera of the infrastructure that have received the danger elimination signal also end data recording.

<Environment C>
FIG. 6 shows a scene in which the host vehicle 1 following another vehicle 2a on a straight road automatically performs deceleration control to ensure its own safety after grasping the possibility 5 of an accident. This is a scene in which the positions of the own vehicle 1 and the other vehicle 2b are exchanged.

In this case, the own vehicle 1 receives a danger signal from the other vehicle 2a or the other vehicle 2b. After that, the motion control unit 15 increases the inter-vehicle distance between the own vehicle 1 and the other vehicle 2a by decelerating in advance, assuming that the preceding other vehicle 2 brakes suddenly. As a result, even if the other vehicle 2a brakes suddenly, it is possible to avoid an accident in which the own vehicle 1 collides with the other vehicle 2a.

<Environment D>
FIG. 7 shows a scene in which the own vehicle 1 following another vehicle 2a on a straight road automatically performs steering control to ensure its own safety after grasping the possibility 5 of an accident. 2b is absent, so it is possible to change lanes to the left lane.

In this case, own vehicle 1 receives a danger signal from other vehicle 2a. After that, the motion control unit 15 assumes that the preceding other vehicle 2a brakes suddenly, and steers the vehicle to the left in advance to change the lane to the left lane. As a result, even if the other vehicle 2a brakes suddenly, it is possible to avoid an accident in which the own vehicle 1 collides with the other vehicle 2a.

<Environment E>
FIG. 8 shows a scene at an intersection where own vehicle 1 determines that own vehicle 1 is a dangerous vehicle that may cause an accident for other vehicles 2. After traffic signal 4 changes from green to yellow, own vehicle 1 shows a scene in which is rapidly accelerated.

In this case, the peripheral information acquisition unit 11 of the own vehicle 1 transmits changes in the traffic signal 4, sudden acceleration of the own vehicle 1, positions of the other vehicles 2a to 2c, and the like to the danger determination unit 12. FIG. When the danger judgment unit 12 judges the possibility 5 of an accident occurring in which the sudden acceleration of the own vehicle 1 is the cause of the accident, the danger judgment unit 12 transmits a danger signal to the notification unit 13, the data recording unit 14, the motion control unit 15, and the communication unit 16. do. The data recording unit 14 that has received the danger signal starts recording the behavior data of the own vehicle 1, and the communication unit 16 that has received the danger signal transmits the danger signal to other vehicles 2 and infrastructure in the vicinity. . As a result, the data recording unit 24 of the other vehicle 2 and the monitoring camera of the infrastructure that have received the danger signal also start recording the behavior data of the own vehicle 1 .

The motion control unit 15 receives the danger signal, considers the state of the traffic signal 4, the distance to the stop line, etc., determines whether to stop before the intersection or pass through the intersection, and performs the determined action. Acceleration/deceleration of the own vehicle 1 is controlled so that it can be carried out safely.

<Environment F>
FIG. 9 shows a scene in which the own vehicle 1 determines that the own vehicle 1 is a dangerous vehicle that may cause an accident for other vehicles 2 on a straight road, and the own vehicle 1 traveling in the left lane at a constant speed moves into the right lane. A scene is shown in which another vehicle 2a in the right lane brakes suddenly as a result of lane change.

In this case, the peripheral information acquisition unit 11 of the own vehicle 1 transmits the position information of the other vehicles 2a to 2c and the lateral speed of the own vehicle 1 to the danger determination unit 12. FIG. At this time, the peripheral information acquisition unit 11 may use an abnormality signal from the external recognition sensor. When the danger judgment unit 12 judges the possibility 5 of an accident occurring in which the lane change of the own vehicle 1 becomes an accident factor, the danger judgment unit 12 transmits a danger signal to the notification unit 13, the data recording unit 14, the motion control unit 15, and the communication unit 16. do. The data recording unit 14 that has received the danger signal starts recording the behavior data of the own vehicle 1, and the communication unit 16 that has received the danger signal transmits the danger signal to the other vehicle 2 and the infrastructure. As a result, the data recording unit 24 of the other vehicle 2 and the monitoring camera of the infrastructure that have received the danger signal also start recording the behavior data of the own vehicle 1 .

Note that the motion control unit 15 that has received the danger signal determines whether to stop or continue the lane change in consideration of the latest situation of the own vehicle 1 and the other vehicle 2, so that the determined operation can be carried out safely. , controls the steering and acceleration/deceleration of the own vehicle 1 .

As described above, according to the vehicle system 100 of the present embodiment, when a danger signal is generated, both the own vehicle 1 and the other vehicle 2 are capable of Since behavior data is recorded, it is possible to record multifaceted events from the occurrence of accident factors to the occurrence of accidents under various environments. Therefore, when an accident actually occurs, the environment before and after the accident can be accurately reproduced, and the cause of the accident can be correctly identified.

REFERENCE SIGNS LIST 100 vehicle system 1 own vehicle 10 in-vehicle device 11 peripheral information acquisition unit 12 danger determination unit 13 notification unit 14 data recording unit 15 motion control unit 16 communication unit 2 other vehicle 20 in-vehicle device 21 peripheral information acquisition unit 22 danger determination unit 23 notification unit 24 Data recording unit 25 Motion control unit 26 Communication unit 3 Dangerous vehicle 4 Traffic signal 5 Possibility of accident occurrence

Claims (1)

A vehicle system in which an in-vehicle device of one's own vehicle and an in-vehicle device of another vehicle are connected by wireless communication,
The in-vehicle device of the own vehicle,
a peripheral information acquisition unit that acquires peripheral information about peripheral objects other than the own vehicle from an external recognition sensor, vehicle-to-vehicle communication, or road-to-vehicle communication;
The danger of the surrounding object is determined based on the surrounding information, and a danger signal is output when the surrounding object is determined to be dangerous, and a danger cancellation signal is output when the surrounding object is determined to be free of danger. a danger determination unit to
a communication unit that transmits the danger signal or the danger elimination signal to the other vehicle;
is equipped with
The in-vehicle device of the other vehicle,
a communication unit that receives the danger signal or the danger elimination signal;
a data recording unit that starts recording the behavior data of the surrounding object when the danger signal is received and finishes recording the behavior data when the danger elimination signal is received;
a motion control unit that controls the behavior of the other vehicle so as to ensure safety when the danger signal is received;
and
The other vehicle is an oncoming vehicle on the road on which the vehicle is traveling, a stopped vehicle on the road that intersects the road on which the vehicle is traveling, or a vehicle on an adjacent lane of the road on which the vehicle is traveling. A vehicle system characterized by :

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