WO2011013238A1 - Driving support device, driving support system, driving support method, and program - Google Patents

Driving support device, driving support system, driving support method, and program Download PDF

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Publication number
WO2011013238A1
WO2011013238A1 PCT/JP2009/063646 JP2009063646W WO2011013238A1 WO 2011013238 A1 WO2011013238 A1 WO 2011013238A1 JP 2009063646 W JP2009063646 W JP 2009063646W WO 2011013238 A1 WO2011013238 A1 WO 2011013238A1
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WO
WIPO (PCT)
Prior art keywords
emergency vehicle
vehicle
information
emergency
distance
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Application number
PCT/JP2009/063646
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French (fr)
Japanese (ja)
Inventor
吉和 竹内
尋 瀬尾
哲也 鳥生
Original Assignee
パイオニア株式会社
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Publication date
Application filed by パイオニア株式会社 filed Critical パイオニア株式会社
Priority to PCT/JP2009/063646 priority Critical patent/WO2011013238A1/en
Priority to JP2011524591A priority patent/JP5282143B2/en
Publication of WO2011013238A1 publication Critical patent/WO2011013238A1/en

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    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/0965—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages responding to signals from another vehicle, e.g. emergency vehicle

Definitions

  • the present invention relates to a driving support device, a driving support system, a driving support method, and a program.
  • Patent Document 1 determines a retreat mode that supports the passage of an emergency vehicle with respect to a specific vehicle located on a lane where the emergency vehicle is scheduled to travel, and supports the retraction of the specific vehicle.
  • Patent Document 2 proposes a technique for providing information by changing the content of support according to the presence or absence of an evacuation action of the host vehicle.
  • Patent Document 1 there is a problem that it becomes difficult to perform appropriate retraction guidance when communication between an emergency vehicle and a general vehicle is interrupted, and a service is performed to make a centralized determination at one place. There was a problem that it became a large-scale system that anticipated the maximum number of vehicles to perform. Moreover, in the technique described in Patent Document 2, there is a problem that it is necessary for communication to be stable in order to estimate an emergency vehicle from the retreat behavior of a general vehicle.
  • An object of the present invention is to provide a driving support device, a driving support system, a driving support method, and a program capable of performing evacuation guidance at an appropriate timing according to the state of a general vehicle.
  • a driving support device that is mounted on a general vehicle and supports driving of a driver receives emergency vehicle information including the position, speed, and traveling direction of the emergency vehicle distributed by the emergency vehicle.
  • the invention described in claim 12 is a driving support system, which is mounted on a general vehicle.
  • the driving support device according to any one of claims 1 to 11, and the emergency vehicle mounted on the emergency vehicle.
  • Emergency vehicle information distribution means for distributing emergency vehicle information including the position, speed, and travel direction of the emergency vehicle when the vehicle is in an emergency travel state.
  • the invention described in claim 16 is executed by a device mounted on a general vehicle, and a driving support method for supporting driving of a driver includes the position, speed, and traveling direction of the emergency vehicle distributed by the emergency vehicle.
  • the emergency vehicle information receiving step of receiving emergency vehicle information, and the emergency vehicle information receiving step receiving the emergency vehicle information when the emergency vehicle is in an emergency running state, the vehicle is approaching the general vehicle A first notification step of notifying the driver of the presence of an emergency vehicle; and a second notification step of notifying the driver of at least a position and timing at which the general vehicle should be retracted after the first notification step notifies the driver. And.
  • the invention according to claim 17 is executed by a device mounted on a general vehicle, and a driving support program for assisting a driver's driving includes: the emergency vehicle's position, speed, and Emergency vehicle information receiving means for receiving emergency vehicle information including a traveling direction; and when the emergency vehicle information receiving means receives the emergency vehicle information when the emergency vehicle is in an emergency running state, the emergency vehicle information approaching means approaches the general vehicle.
  • a driving support device mounted on a general vehicle and supporting driving of a driver receives emergency vehicle information including the position, speed, and traveling direction of the emergency vehicle distributed by the emergency vehicle.
  • the above-mentioned driving support device is suitably used for supporting the evacuation behavior of a general vehicle by providing information on an emergency vehicle.
  • the emergency vehicle information receiving means receives emergency vehicle information including the position, speed, and traveling direction of the emergency vehicle.
  • reports presence of the emergency vehicle which has approached the general vehicle, when emergency vehicle information is received.
  • the second notification means notifies the instruction information necessary for the evacuation behavior of the general vehicle after the notification by the first notification means.
  • the driving support device provides information step by step in two steps. As a result, information can be provided at an appropriate timing, and the position and timing at which the driver of the general vehicle performs the retreat action can be easily understood. Therefore, it is possible to reduce the driver's evacuation behavior, delay, delay, and the like.
  • the instruction information necessary for the retreat behavior of the general vehicle includes a retreat position where the general vehicle retreats, timing for starting retreat, and the like.
  • the second notifying unit ensures that a safety distance is secured between the general vehicle and the emergency vehicle when the general vehicle performs a retreat action and stops.
  • a timing for notifying that the retreating action should be notified is obtained, and the instruction information is notified at the timing.
  • the retreat guidance can be performed at an appropriate timing according to the state of the general vehicle.
  • the second notification unit ensures that the safety distance is secured between the general vehicle and the emergency vehicle when the general vehicle performs a retreat action and stops.
  • the retraction guide distance indicating the distance between the general vehicle and the emergency vehicle to be notified that the retreat action should be performed is calculated, and the distance between the general vehicle and the emergency vehicle becomes the retraction guide distance.
  • the timing at which the evacuation action should be performed can be used as the timing to notify.
  • the second notification unit is configured to adjust the speed of the emergency vehicle, the speed of the general vehicle, the distance between the general vehicle and the emergency vehicle, and the braking characteristics of the general vehicle. Based on this, the timing for notifying that the evacuation action should be performed is obtained. This makes it possible to ensure a safe distance between the general vehicle and the emergency vehicle when the general vehicle performs a retreat action and stops.
  • the second notification unit learns the braking characteristics of the general vehicle and notifies the fact that the retreat action should be performed based on the learned braking characteristics. Ask for. As a result, the braking distance of the general vehicle can be grasped with high accuracy, and a more appropriate retraction guide timing can be obtained.
  • the second notification unit obtains a timing for notifying that the general vehicle should perform the retreat action so that the general vehicle does not perform the retreat action within the intersection. Thereby, the contact by the evacuation action in the intersection, a rear-end collision, etc. can be prevented effectively.
  • the second notification unit learns the driving pattern of the driver and notifies the timing to notify that the retreat action should be performed based on the learned driving pattern. Ask. Thereby, the evacuation guidance timing can be adjusted to a timing that suits the individual characteristics.
  • the safety distance is included in the emergency vehicle information received by the emergency vehicle information receiving means. That is, the safety distance is set on the emergency vehicle side. Thereby, an appropriate evacuation area can be designated from the emergency vehicle to the general vehicle.
  • the emergency vehicle information receiving unit receives the emergency vehicle information distributed at a predetermined cycle, and the emergency vehicle information receiving unit normally receives the emergency vehicle information. If not, the vehicle further comprises emergency vehicle position estimating means for estimating the position of the emergency vehicle based on the emergency vehicle information that has been normally received by the emergency vehicle information receiving means and map information. The first notification unit and the second notification unit perform notification based on the position of the emergency vehicle estimated by the emergency vehicle position estimation unit. Thereby, for example, even when communication between a general vehicle and an emergency vehicle becomes unstable, it is possible to reliably provide information to the driver.
  • the emergency vehicle information receiving unit should report an approach information provision distance indicating a distance between the general vehicle and the emergency vehicle, which should notify the presence of the emergency vehicle.
  • the first notification means notifies the presence of the emergency vehicle when the distance between the general vehicle and the emergency vehicle is equal to or less than the approach information provision distance.
  • the approach information is provided at a timing designated by the emergency vehicle. As a result, it is possible to prevent variations in the time until the retreat action is performed.
  • the first notification means notifies the presence of the emergency vehicle based on a distance obtained by offsetting the approach information providing distance according to a vehicle type.
  • the first notification means can set the approach information providing timing earlier for the two-wheeled vehicle than the four-wheeled vehicle because the two-wheeled vehicle has a risk of being involved due to the retreat of the four-wheeled vehicle. By doing so, it is possible to prevent the motorcycle from slipping through, and it is possible to prevent a contact accident due to a retreating behavior of a normal vehicle or the like.
  • a driving support system is mounted on a general vehicle, the driving support device according to any one of claims 1 to 11, and an emergency vehicle mounted on the emergency vehicle.
  • Emergency vehicle information distribution means for distributing emergency vehicle information including speed and traveling direction. Even with such a driving support system, it is possible to provide information at an appropriate timing, and it is possible to reduce a driver's evacuation behavior, delay, and the like.
  • the emergency vehicle information distribution unit should notify the presence of the emergency vehicle, the approach information providing distance indicating the distance between the general vehicle and the emergency vehicle, and the general When the vehicle performs a retreat action and stops, the safety distance that should be secured between the general vehicle and the emergency vehicle is distributed as the emergency vehicle information.
  • the safety distance is set on the emergency vehicle side.
  • an evacuation area can be appropriately designated with respect to a general vehicle from an emergency vehicle, the contact to the emergency vehicle by a general vehicle, a rear-end collision, etc. can be prevented effectively.
  • the approach information providing distance is designated on the emergency vehicle side, it is easy to recognize the area where information is provided on the emergency vehicle side.
  • the driving support system further includes means for changing the approach information providing distance and the safety distance based on any one or more of map information, traffic information, road surface information, and weather information. . Accordingly, it is possible to set an appropriate approach information providing distance and a safe distance according to map information, traffic information, road surface information, weather information, and the like.
  • the driving support system described above further includes means mounted on the emergency vehicle and for distributing the planned travel route of the emergency vehicle and the planned travel time of each road link. As a result, the scheduled travel time is distributed, so that information can be provided at an appropriate timing even when communication radio waves are interrupted.
  • a driving support method that is executed by a device mounted on a general vehicle and supports driving of a driver includes the position, speed, and traveling direction of the emergency vehicle distributed by the emergency vehicle.
  • the emergency vehicle information receiving step of receiving emergency vehicle information, and the emergency vehicle information receiving step receiving the emergency vehicle information when the emergency vehicle is in an emergency running state, the vehicle is approaching the general vehicle A first notification step of notifying the driver of the presence of an emergency vehicle; and a second notification step of notifying the driver of at least a position and timing at which the general vehicle should be retracted after the first notification step notifies the driver. And comprising.
  • a driving support program that is executed by a device mounted on a general vehicle and supports a driver's driving is a position and speed of the emergency vehicle that the emergency vehicle distributes the device.
  • emergency vehicle information receiving means for receiving emergency vehicle information including a traveling direction, and when the emergency vehicle information receiving means receives the emergency vehicle information when the emergency vehicle is in an emergency running state,
  • First notification means for notifying the driver of the presence of the emergency vehicle that is approaching, and after the first notification means notifies, the driver is notified of at least a position and timing at which the general vehicle should be retracted. It functions as a second notification means.
  • FIG. 1 is a diagram schematically showing a driving support system 100 in the present embodiment.
  • the driving support system 100 includes an emergency vehicle 1 and general vehicles 2a, 2b, and 2c.
  • the driving support system 100 is basically a system that supports the evacuation behavior of the general vehicles 2a, 2b, and 2c by providing information related to the emergency vehicle 1.
  • general vehicles 2 when the general vehicles 2a, 2b, and 2c are used without being distinguished, they are simply referred to as “general vehicles 2”.
  • general vehicles 2 In FIG. 1, for convenience of explanation, three general vehicles 2 a, 2 b, and 2 c are shown, but actually, the driving support system 100 is composed of, for example, four or more general vehicles 2.
  • the emergency vehicle 1 delivers emergency vehicle information to the general vehicle 2 as indicated by arrows 71, 72, 73 when the emergency vehicle 1 enters an emergency running state.
  • the emergency vehicle 1 broadcasts emergency vehicle information by inter-vehicle communication.
  • the emergency vehicle information includes information related to the emergency travel state, the position, speed, and travel direction of the emergency vehicle 1.
  • the emergency travel state is a status indicating whether or not the emergency vehicle 1 is traveling in an emergency.
  • the emergency vehicle 1 delivers emergency vehicle information at a predetermined cycle. In this case, the emergency vehicle 1 delivers the emergency vehicle information changed at the predetermined cycle.
  • General vehicle 2 receives emergency vehicle information distributed from emergency vehicle 1, and provides information to the driver in two steps based on this information. Specifically, the general vehicle 2 first performs notification for notifying the driver of the presence of the emergency vehicle 1 (hereinafter, such notification is referred to as “approach information provision”), and then the driver is notified. A notification for notifying instruction information necessary for the retreat action of the general vehicle 2 (hereinafter, such notification is referred to as “retraction guide”) is performed. That is, the general vehicle 2 provides information in stages when the emergency vehicle 1 approaches the host vehicle, and then provides information in stages by providing retraction guidance when the emergency vehicle 1 further approaches.
  • approval information provision notification for notifying the driver of the presence of the emergency vehicle 1
  • retraction guide A notification for notifying instruction information necessary for the retreat action of the general vehicle 2
  • Providing access information has the meaning of notifying the driver of the presence of the emergency vehicle 1 approaching the vehicle.
  • the evacuation guide has a meaning of notifying the driver that the vehicle cannot be stopped while maintaining a safe distance from the emergency vehicle 1 unless the evacuation action is started immediately after the information is provided.
  • the safety distance is for preventing a collision and contact between the general vehicle 2 and the emergency vehicle 1, and also has a meaning of suppressing a speed reduction when the emergency vehicle 1 passes.
  • the general vehicle 2 When the general vehicle 2 performs the evacuation guidance, the general vehicle 2 informs at least the position to be evacuated and the timing to start moving to the position as instruction information.
  • the instruction information includes the distance between the emergency vehicle 1 and the general vehicle 2 and the intersection of the general vehicle 2 with the emergency vehicle 1 in addition to the position to be retracted and the timing to start moving to the position.
  • the time to perform (in other words, remaining time) is exemplified.
  • the processing related to information provision performed in the general vehicle 2 as described above is actually performed by a driving support device mounted on the general vehicle 2.
  • the driving support device executes a process (hereinafter referred to as an “information provision determination process”) for determining at what timing or position the approach information provision and evacuation guidance should be performed.
  • an information provision determination process for determining at what timing or position the approach information provision and evacuation guidance should be performed.
  • the driving support apparatus 20 includes an inter-vehicle communication device 21, a map database 22, a GPS receiver 23, a vehicle information acquisition unit 24, a control unit 25, and a notification unit 27.
  • the driving support device 20 corresponds to an in-vehicle navigation device.
  • the inter-vehicle communication device 21 receives emergency vehicle information distributed when the emergency vehicle 1 is in an emergency travel state. Specifically, the inter-vehicle communication device 21 receives emergency vehicle information distributed by the emergency vehicle 1 at a predetermined cycle. The inter-vehicle communication device 21 supplies the received emergency vehicle information to the control unit 25.
  • the inter-vehicle communication device 21 is not limited to receiving emergency vehicle information directly from the emergency vehicle 1, and is transmitted in multihop (that is, retransmitted) from another general vehicle 2 or roadside device that has received the emergency vehicle information. The transmitted emergency vehicle information may be received.
  • the emergency vehicle information 30 includes an emergency travel state 30a, a current time 30b, a current position 30c of the emergency vehicle 1, a travel speed 30d of the emergency vehicle 1, and a travel direction 30e of the emergency vehicle 1. , A safe distance 30f and an approach information providing distance 30g.
  • the current time 30b, the current position 30c, the traveling speed 30d, and the traveling direction 30e are information generated by, for example, a navigation device mounted on the emergency vehicle 1.
  • the emergency driving state 30a, the safety distance 30f, and the approach information provision distance 30g are numerical data set by the administrator of the emergency vehicle 1 or the like.
  • the emergency travel state is a status indicating whether or not the emergency vehicle 1 is traveling in an emergency.
  • the emergency running state is basically set manually, but may be set in conjunction with a siren switch or the like.
  • the safety distance 30f and the approach information provision distance 30g are numerical data for controlling information provision judgment on the general vehicle 2 side.
  • the safety distance 30f is a distance that should be secured between the general vehicle 2 and the emergency vehicle 1 when the general vehicle 2 stops by performing a retreat action. That is, the safety distance 30f corresponds to the distance between the ordinary vehicle 2 and the emergency vehicle 1 that allows the emergency vehicle 1 to pass through the ordinary vehicle 2 safely without causing a collision or contact.
  • the distribution of the safety distance 30f by the emergency vehicle 1 as the emergency vehicle information 30 in this way is equivalent to designating an evacuation area from the emergency vehicle 1 to the general vehicle 2.
  • the approach information provision distance 30g is a distance at which the presence of the emergency vehicle 1 may be provided to the general vehicle 2 side. That is, the approach information provision distance 30g corresponds to a distance in which the approach information provision is permitted because the emergency vehicle 1 is approaching the general vehicle 2. As described above, the emergency vehicle 1 distributes the approach information providing distance 30g as the emergency vehicle information 30, so that it is easy to recognize the area where the approach information is provided on the emergency vehicle 1 side.
  • a preset fixed value is used for the safety distance 30f and the approach information provision distance 30g.
  • the safety distance 30f and the approach information provision distance 30g may be obtained by using map information stored in the navigation device or traffic information from VICS (Vehicle Information Communication System), etc.
  • VICS Vehicle Information Communication System
  • a value calculated according to the environment is used.
  • the navigation device mounted on the emergency vehicle 1 calculates the safety distance 30f and the approach information provision distance 30g.
  • the emergency vehicle information 30 as described above since the distribution data from the emergency vehicle 1 is small, the band of inter-vehicle communication can be used effectively. Moreover, since the route information of the emergency vehicle 1 is not distributed, personal information and business information can be protected.
  • the evacuation area can be designated from the emergency vehicle 1 to the general vehicle 2, so that the general vehicle 2 can contact the emergency vehicle 1 or have a rear-end collision. It can be effectively prevented. As a result, the emergency vehicle 1 does not need to slow down so much when the general vehicle 2 is overtaken, so that the arrival time to the destination can be shortened.
  • the emergency vehicle information 30, the emergency traveling state 30a, the current time 30b, the current position 30c, the traveling speed 30d, the traveling direction 30e, the safety distance 30f, and the approach information providing distance 30g are added to the end of these symbols. Is omitted.
  • inter-vehicle distance means the distance between the general vehicle 2 and the emergency vehicle 1 calculated along the road.
  • the map database 22 stores map information and road environment information such as road shapes, lanes, highways, and buildings.
  • the map database 22 supplies the stored map information and the like to the control unit 25.
  • the GPS receiver 23 receives radio waves carrying downlink data including positioning data from a plurality of GPS satellites. The positioning data is used to detect the absolute position of the general vehicle 2 from latitude and longitude information.
  • the GPS receiver 23 supplies the detected position of the general vehicle 2 to the control unit 25.
  • the position of the general vehicle 2 may be detected by map matching or the like using an independent positioning sensor instead of the GPS receiver 23.
  • the vehicle information acquisition unit 24 is detected by a vehicle speed sensor provided in the general vehicle 2. The obtained speed is acquired as vehicle information.
  • the vehicle information acquisition unit 24 supplies the acquired vehicle information to the control unit 25.
  • the control unit 25 includes an emergency vehicle position estimation unit 25a and an information provision determination unit 25b.
  • the emergency vehicle position estimation unit 25a estimates the position of the emergency vehicle 1 when the emergency vehicle information is not normally received. Specifically, the emergency vehicle position estimation unit 25a is based on emergency vehicle information that has been normally received before, for example, the position, speed, and traveling direction of the emergency vehicle 1, and map information stored in the map database 22. Thus, the position of the emergency vehicle 1 is estimated.
  • Such estimation is performed because the inter-vehicle communication is easily affected by the environment such as the road shape, the building, the traveling vehicle, and the communication volume (for example, excessive communication), and is therefore broadcast from the emergency vehicle 1 at a predetermined cycle. This is because emergency vehicle information may not be received.
  • the information provision determination process in the information provision determination unit 25b which will be described later, is started when the emergency vehicle information is received, and therefore the process cannot be performed if the information cannot be received. Therefore, in order to prevent these, the position of the emergency vehicle 1 is estimated.
  • the information provision determination unit 25b performs a process for providing information step by step to the driver based on the emergency vehicle information, specifically, an information provision determination process. As described above, the approach information is provided first, and then the evacuation guidance is performed. In this case, the information provision determination unit 25b determines the timing for providing approach information and the timing for performing retraction guidance. Specifically, the information provision determination unit 25b performs the approach information provision based on the approach information provision distance acquired as emergency vehicle information from the inter-vehicle communication device 21 (hereinafter referred to as “approach information provision timing”). .) Specifically, the information provision determination unit 25b determines that the approach information should be provided when the inter-vehicle distance between the general vehicle 2 and the emergency vehicle 1 is equal to or less than the approach information provision distance.
  • the information provision determination unit 25b obtains a timing for performing evacuation guidance (hereinafter referred to as “evacuation guidance timing”) based on the safety distance acquired as emergency vehicle information from the inter-vehicle communication device 21. Specifically, the information provision determination unit 25b ensures that a safety distance is secured between the general vehicle 2 and the emergency vehicle 1 when the general vehicle 2 stops by performing a retreating action, in other words, the general vehicle 2. When the distance between the vehicle and the emergency vehicle 1 becomes a safe distance, the retraction guide timing is obtained so that the general vehicle 2 is at least in the retreated state.
  • evacuation guidance timing a timing for performing evacuation guidance
  • the information provision determination unit 25b informs that the retreat action should be performed so that a safe distance is secured between the general vehicle 2 and the emergency vehicle 1 when the general vehicle 2 is retreated and stopped.
  • the distance between the general vehicle 2 and the emergency vehicle 1 (hereinafter referred to as “retraction guide distance”) to be calculated is calculated.
  • the information provision determination unit 25b may guide the evacuation based on the speed of the emergency vehicle 1, the speed of the general vehicle 2, the distance between the general vehicle 2 and the emergency vehicle 1, the safety distance, and the braking characteristics of the general vehicle 2. Calculate the distance.
  • the information provision determination unit 25b determines that the retreat guidance should be performed when the inter-vehicle distance between the general vehicle 2 and the emergency vehicle 1 is equal to or less than the retraction guide distance.
  • the general vehicle 2 side determines the host vehicle status and performs retraction guidance at an appropriate timing so that the general vehicle 2 can stop within the retreat area.
  • the information provision determination unit 25b does not perform the evacuation guidance when the evacuation action is performed immediately after the approach information is provided. Can make a decision. By doing so, the effect of psychologically encouraging the evacuation action can be expected, and the troublesomeness of the driver can be reduced.
  • the information provision determination unit 25b can make a decision to issue a warning to the driver when the general vehicle 2 increases the speed after performing the evacuation guidance. Further, depending on the speed of the emergency vehicle 1 or the general vehicle 2, the information provision determination unit 25 b performs the evacuation guidance without providing the approach information when the speed of the emergency vehicle 1 or the general vehicle 2 is greater than a predetermined speed, for example. Can make a decision.
  • the processing performed by the emergency vehicle position estimation unit 25a and the information provision determination unit 25b as described above is performed by a CPU (Central Processing Unit) (not shown) in the driving support device 20 that stores a program stored in a ROM (Read Only Memory). It is executed by reading.
  • a CPU Central Processing Unit
  • ROM Read Only Memory
  • the notification unit 27 performs notification about the approach information provision and the evacuation guidance based on the determination of the information provision judgment unit 25b, specifically, at the approach information provision timing and the evacuation guide timing obtained by the information provision judgment unit 25b.
  • reporting part 27 displays the information regarding approach information provision and evacuation guidance on the display part which is not shown in figure, and / or outputs a sound from a speaker.
  • the notification unit 27 when providing the approach information, notifies information such as “an emergency vehicle is approaching”. In addition, the notification unit 27 notifies information such as “please perform evacuation action” when performing evacuation guidance.
  • the driving support device 20 functions as emergency vehicle information receiving means, first notification means, second notification means, and emergency vehicle position estimation means in the present invention.
  • the inter-vehicle communication device 21 functions as an emergency vehicle information receiving unit
  • the information provision determination unit 25b and the notification unit 27 function as a first notification unit and a second notification unit
  • the emergency vehicle position estimation unit 25a Functions as emergency vehicle position estimation means.
  • the retreat guidance can be appropriately performed at the timing according to the state of the general vehicle 2.
  • the limit for performing the retreat action is clarified by the retreat guidance, so that the position and timing at which the driver of the general vehicle 2 performs the retreat action can be easily understood, and it is possible to reduce the evacuation action's ambiguity and delay. .
  • FIG. 4 shows time on the horizontal axis and speed on the vertical axis.
  • the speed of the general vehicle 2 is “V2”.
  • Access information is provided at time t1. That is, time t1 corresponds to the approach information provision timing.
  • the approach information provision timing is determined based on the approach information provision distance distributed from the emergency vehicle 1 by the information provision determination unit 25b. Specifically, the information provision determination unit 25b sets the timing at which the inter-vehicle distance between the general vehicle 2 and the emergency vehicle 1 becomes the approach information provision distance as the approach information provision timing.
  • the information provision determination unit 25b does not provide the approach information. This is because providing access information has the meaning of encouraging evacuation behavior, so providing it too early may interfere with driving or restrict navigation information, which may cause adverse effects on driving. Because. In addition, because the range of radio waves varies depending on the road environment, the time from when information is received to when the evacuation action is performed varies, and the driver needs to consider the timing of the evacuation action each time. It is. In addition, since the timing concept varies depending on the driver, the driving operation of the emergency vehicle 1 may be hindered without a consistent retreat behavior when viewed from the emergency vehicle 1. Therefore, it can be said that it is desirable that the timing for providing the approach information is consistent to some extent.
  • the information provision determination unit 25b may determine the approach information provision timing based on a distance obtained by offsetting the approach information provision distance, for example, according to a vehicle type such as a normal vehicle, a motorcycle, or a large vehicle.
  • the time required to shift to the retreat action may vary depending on the vehicle type.
  • the information provision determining unit 25b can set the approach information provision timing for the two-wheeled vehicle earlier than the four-wheeled vehicle. By doing so, it is possible to prevent the motorcycle from slipping through, and it is possible to prevent a contact accident caused by a retreating behavior of a normal vehicle or the like. In this case, it can be said that it is desirable to set the approach information provision distance in the sense that the driver can easily recognize at what timing the approach information is provided to the surrounding vehicles.
  • evacuation guidance is performed at time t2. That is, the time t2 corresponds to the evacuation guidance timing.
  • the driver of the general vehicle 2 depresses the brake and decelerates, so that the general vehicle 2 stops at time t3.
  • the evacuation guidance timing at time t2 is determined by the information provision determination unit 25b based on the safety distance delivered from the emergency vehicle 1 or the like. Specifically, the information provision determination unit 25b obtains the evacuation guidance timing so that a safe distance is secured between the ordinary vehicle 2 and the emergency vehicle 1 when the ordinary vehicle 2 stops due to the evacuation action. . In this case, the information provision determination unit 25b retreats based on the speed of the emergency vehicle 1, the speed of the general vehicle 2, the distance between the general vehicle 2 and the emergency vehicle 1, the safety distance, and the braking characteristics of the general vehicle 2. Find the guidance timing.
  • the information provision determination unit 25b determines the evacuation guidance timing in consideration of these. Specifically, the information provision determination unit 25b calculates the evacuation guide distance by the procedure as described above, and determines the evacuation guide timing based on the calculated distance.
  • the information provision determination part 25b may learn the braking characteristic of the general vehicle 2, and may determine the evacuation guidance timing in consideration of the learned braking characteristic. Specifically, it is possible to learn vehicle characteristics from when information is provided to when the vehicle stops during normal driving. For example, it is possible to learn how the brake works with respect to the brake operation. By doing so, it is possible to accurately grasp the braking distance and to calculate a more appropriate retraction guide distance.
  • the information provision determination unit 25b may learn the driving pattern of the driver and determine the evacuation guide timing in consideration of the learned driving pattern. Specifically, the previous evacuation behavior pattern can be analyzed and stored. For example, it is possible to analyze and store a driver's recognition time, a brake operation, and a steering wheel operation during a retreat action as a retreat action pattern. By doing so, the evacuation guidance timing can be appropriately adjusted to a timing that suits individual characteristics. [Specific examples of information provision judgment] Next, specific examples of information provision determination will be described with reference to FIGS.
  • FIG. 5 is a diagram showing a specific example when the emergency vehicle 1 approaches from the rear of the general vehicle 2.
  • Arrow A1a indicates the traveling direction of the emergency vehicle 1
  • arrow A1b indicates the traveling direction of the general vehicle 2.
  • the emergency vehicle 1 is fixed at the position P1a.
  • FIG. 5 the case where the general vehicle 2 is drive
  • the distance D1b between the position P1a and the position P1b corresponds to the approach information providing distance
  • the distance D1c between the position P1a and the position P1c corresponds to the retraction guide distance
  • the distance D1d between the position P1a and the position P1d corresponds to the safe distance.
  • the approach information providing distance D1b and the safety distance D1d are distances distributed by the emergency vehicle 1.
  • the evacuation guide distance D1c is a distance calculated by the general vehicle 2. Specifically, the evacuation guide distance D1c is calculated by the information provision determination unit 25b in the driving support device 20 in the procedure as described above.
  • the information provision determination unit 25b When the distance between the general vehicle 2 and the emergency vehicle 1 is a distance D1a larger than the approach information provision distance D1b, in other words, the information provision determination unit 25b is separated from the emergency vehicle 1 more than the position P1b. Do not provide access information when driving through a location.
  • the information provision judgment part 25b provides approach information when the distance between the general vehicle 2 and the emergency vehicle 1 becomes the approach information provision distance D1b or less.
  • the information provision judgment part 25b performs evacuation guidance when the distance between the general vehicle 2 and the emergency vehicle 1 becomes the evacuation guidance distance D1c. When the evacuation action is performed according to such evacuation guidance, the general vehicle 2 stops at a position where a distance equal to or greater than the safety distance D1d is left with the emergency vehicle 1.
  • the information provision determination unit 25b issues a warning to the driver.
  • FIG. 6 is a diagram illustrating a specific example when the emergency vehicle 1 approaches from the front of the general vehicle 2.
  • Arrow A2a indicates the traveling direction of the emergency vehicle 1
  • arrow A2b indicates the traveling direction of the general vehicle 2.
  • the emergency vehicle 1 is fixed at the position P2a.
  • FIG. 6 the case where the general vehicle 2 is drive
  • the distance D2b between the position P2a and the position P2b corresponds to the approach information providing distance
  • the distance D2c between the position P2a and the position P2c corresponds to the retraction guide distance
  • the distance D2d between the position P2a and the position P2d corresponds to the safety distance.
  • the approach information provision distance D2b and the safety distance D2d are distances distributed by the emergency vehicle 1.
  • the retreat guide distance D2c is a distance calculated by the general vehicle 2.
  • the evacuation guide distance D2c is calculated by the information provision determination unit 25b in the driving support device 20 in the procedure as described above.
  • the retraction guide distance D2c is calculated to be larger than the retraction guide distance D1c described above.
  • the information provision judgment part 25b provides approach information when the distance between the general vehicle 2 and the emergency vehicle 1 becomes the approach information provision distance D2b.
  • the information provision judgment part 25b performs evacuation guidance when the distance between the general vehicle 2 and the emergency vehicle 1 becomes the evacuation guidance distance D2c.
  • the information provision determination unit 25b issues a warning to the driver.
  • FIG. 7 is a diagram showing a specific example when the general vehicle 2 enters the intersection.
  • the information provision determination process is performed in the same procedure as when the emergency vehicle 1 approaches from the front of the general vehicle 2 (see FIG. 6). That is, when approaching an intersection, it is handled in the same way as a folded forward approach on a straight road.
  • Arrow A3a indicates the traveling direction of the emergency vehicle 1
  • arrow A3b indicates the traveling direction of the general vehicle 2.
  • the emergency vehicle 1 is fixed at the position P3a.
  • the general vehicle 2 is drive
  • working the position P3c is illustrated.
  • the symbol N1 indicates the next intersection (that is, node) where the general vehicle 2 and the emergency vehicle 1 arrive.
  • Such an intersection N1 is calculated by the general vehicle 2.
  • the information provision determination unit 25b in the driving support device 20 compares the current position and traveling direction of the emergency vehicle 1 received as emergency vehicle information with the map information stored in the map database 22, and the road By following the link in the traveling direction, the next intersection where the emergency vehicle 1 arrives is obtained. Then, the information provision determination unit 25b follows the road link by a predetermined distance in the front-rear direction of the general vehicle position, and searches for an intersection corresponding to the next intersection position of the emergency vehicle 1. When an intersection is detected by the search, the information provision determination unit 25b performs the information provision determination process as described above based on the distance of the searched route.
  • the general vehicle 2 is not limited to detecting the intersection as described above, and the intersection detected by the emergency vehicle 1 may be distributed to the general vehicle 2.
  • the emergency vehicle 1 searches for an intersection within a predetermined distance in front of the host vehicle link, and distributes the information of the intersection to the general vehicle 2 when the intersection is detected. And the general vehicle 2 searches whether the intersection received in this way is included in the road link destination of the own vehicle.
  • the distance D3b between the position P3a and the position P3b corresponds to the approach information provision distance
  • the distance D3c between the position P3a and the position P3c corresponds to the retraction guide distance
  • the distance D3d between the position P3a and the position P3d Corresponds to a safety distance.
  • the approach information providing distance D3b and the safe distance D3d are distances distributed by the emergency vehicle 1.
  • the evacuation guide distance D3c is a distance calculated by the general vehicle 2. Specifically, the evacuation guide distance D3c is calculated by the information provision determining unit 25b in the driving support device 20 in the procedure as described above.
  • the information provision determination unit 25b calculates a retreat guide distance D3c so that the general vehicle 2 does not retreat within the intersection N1. That is, the information provision determination unit 25b calculates, as the evacuation guide distance D3c, a distance at which the general vehicle 2 can stop before the stop line L1 when the general vehicle 2 stops by performing a retreat action.
  • the information provision determination part 25b provides approach information when the inter-vehicle distance between the general vehicle 2 and the emergency vehicle 1 becomes the approach information provision distance D3b.
  • the information provision judgment part 25b performs evacuation guidance when the distance between the general vehicle 2 and the emergency vehicle 1 becomes the evacuation guidance distance D3c.
  • the general vehicle 2 stops at a position where a distance equal to or greater than the safety distance D3d is left with the emergency vehicle 1. For example, when the emergency vehicle 1 approaches the safe distance D3d to the intersection N1, the general vehicle 2 stops at the stop line L1 at the intersection N1 due to the retreat action.
  • FIG. 8 is a diagram showing a specific example when the general vehicle 2 leaves the intersection.
  • the information provision determination process is performed in the same procedure as when the emergency vehicle 1 approaches from behind the general vehicle 2 (see FIG. 5).
  • the emergency vehicle 1 approaches from behind the general vehicle 2 (see FIG. 5).
  • it is handled in the same way as folding back approach on a straight road.
  • Arrow A4a indicates the traveling direction of the emergency vehicle 1
  • arrow A4b indicates the traveling direction of the general vehicle 2.
  • the emergency vehicle 1 is fixed at the position P4a.
  • the general vehicle 2 is drive
  • working the position P4c is illustrated.
  • the symbol N2 indicates the next intersection that the emergency vehicle 1 will reach. Such an intersection N2 is detected by the general vehicle 2 or the emergency vehicle 1 as described above.
  • the distance D4b between the position P4a and the position P4b corresponds to the approach information providing distance
  • the distance D4c between the position P4a and the position P4c corresponds to the retraction guide distance
  • the distance D4d between the position P4a and the position P4d corresponds to the safe distance.
  • the approach information provision distance D4b and the safety distance D4d are distances distributed by the emergency vehicle 1.
  • the evacuation guide distance D4c is a distance calculated by the general vehicle 2.
  • the evacuation guide distance D4c is calculated by the information provision determination unit 25b in the driving support device 20 in the procedure as described above.
  • the information provision determination unit 25b calculates the retreat guide distance D4c so that the general vehicle 2 does not retreat within the intersection N2.
  • the information provision determination unit 25b calculates a distance at which the general vehicle 2 can stop at the position where the general vehicle 2 leaves the intersection N2 as the retraction guide distance D4c. In this case, for example, when the position of the general vehicle 2 is within the intersection N2, the information provision determination unit 25b delays the evacuation guidance timing.
  • the information provision judgment part 25b provides approach information when the distance between the general vehicle 2 and the emergency vehicle 1 becomes the approach information provision distance D4b.
  • the information provision judgment part 25b performs evacuation guidance when the distance between the general vehicle 2 and the emergency vehicle 1 becomes the evacuation guidance distance D4c.
  • the general vehicle 2 stops at a position where a distance equal to or greater than the safety distance D4d is left with the emergency vehicle 1.
  • FIG. 9 is a flowchart showing the entire process in the information provision determination process.
  • This process is repeatedly executed at a predetermined cycle by the driving support device 20. Specifically, this processing is executed every time emergency vehicle information is received, and after the emergency vehicle 1 passes the general vehicle 2, the distance between the general vehicle 2 and the emergency vehicle 1 becomes a predetermined distance or more. It ends at the point. Or, it ends when the emergency running state is canceled. Note that this processing is executed, for example, when the CPU reads a program stored in the ROM.
  • step S101 the driving support device 20 receives emergency vehicle information distributed by the emergency vehicle 1. Specifically, the inter-vehicle communication device 21 in the driving support device 20 receives emergency vehicle information. Then, the process proceeds to step S102. If the emergency vehicle information is not normally received, the subsequent processing is performed using the emergency vehicle position estimated by the emergency vehicle position estimation process described later.
  • step S102 the driving support device 20 reads the map information stored in the map database 22. Then, the process proceeds to step S103.
  • step S103 the driving support device 20 detects a front intersection position.
  • the driving assistance device 20 obtains the positional relationship between the general vehicle 2 and the emergency vehicle 1.
  • the information provision determination unit 25b in the driving support device 20 compares the current position and traveling direction of the emergency vehicle 1 with the map information stored in the map database 22 and traces the road link in the traveling direction. The next intersection where the emergency vehicle 1 arrives is obtained. Then, the information provision determination unit 25b follows the road link by a predetermined distance in the front-rear direction of the general vehicle position, and searches for an intersection corresponding to the next intersection position of the emergency vehicle 1. By doing so, it is possible to provide accurate information even if the general vehicle 2 and the emergency vehicle 1 are in a positional relationship with an intersection therebetween.
  • the process proceeds to step S104.
  • step S104 the driving support device 20 reads the speed of the general vehicle 2 (that is, the own vehicle speed). Specifically, the vehicle information acquisition unit 24 in the driving support device 20 acquires the speed detected by the vehicle speed sensor provided in the general vehicle 2. Then, the process proceeds to step S105.
  • step S105 the driving support device 20 calculates the evacuation guidance timing. Specifically, the information provision determination unit 25b in the driving support device 20 ensures that a safety distance is secured between the ordinary vehicle 2 and the emergency vehicle 1 when the ordinary vehicle 2 stops by performing a retreat action. In other words, the retreat guidance timing is obtained so that the general vehicle 2 is at least in the retracted state when the distance between the general vehicle 2 and the emergency vehicle 1 becomes a safe distance. Then, the process proceeds to step S106.
  • step S106 the driving support device 20 executes an information provision determination process described later. Specifically, the information provision determination unit 25b in the driving support device 20 determines whether to provide approach information and whether to perform retraction guidance. Then, the process proceeds to step S107.
  • step S107 the driving support apparatus 20 provides information based on the determination result in the information provision determination process. Specifically, the notification unit 27 in the driving support device 20 performs notification about approach information provision and evacuation guidance. Then, the process ends.
  • FIG. 10 is a flowchart showing the information provision determination process. This process is repeatedly executed at a predetermined cycle by the information provision determination unit 25b in the driving support device 20. For example, it is executed by the CPU reading a program stored in the ROM.
  • step S201 the information provision determination unit 25b calculates the inter-vehicle distance between the general vehicle 2 and the emergency vehicle 1. Specifically, the information provision determination unit 25b calculates the distance along the road from the general vehicle 2 to the emergency vehicle 1 as the inter-vehicle distance. Specifically, the information provision determination unit 25b stores the map stored in the map database 22 from the current position of the emergency vehicle 1 received as emergency vehicle information and the current position of the general vehicle 2 detected by the GPS receiver 23. An inter-vehicle distance is calculated based on the information. Then, the process proceeds to step S202.
  • the information provision determination unit 25b calculates an evacuation guide distance. Specifically, the information provision determination unit 25b determines the speed of the emergency vehicle 1 so that a safety distance is ensured between the general vehicle 2 and the emergency vehicle 1 when the general vehicle 2 performs a retreat action and stops. Based on the speed of the general vehicle 2, the distance between the general vehicle 2 and the emergency vehicle 1, the safety distance, and the braking characteristics of the general vehicle 2, the evacuation guide distance is calculated. In this case, when the general vehicle 2 enters the intersection or leaves the intersection, the information provision determination unit 25b calculates the retreat guide distance so that the general vehicle 2 does not perform the retreat action in the intersection. In addition, the information provision determination unit 25b can calculate the retraction guide distance in consideration of the learned braking characteristics and the driving pattern (that is, the retreat action pattern). Then, the process proceeds to step S203.
  • step S203 the information provision determination unit 25b determines whether the inter-vehicle distance is greater than the retraction guide distance. If the inter-vehicle distance is greater than the retraction guide distance (step S203; Yes), the process proceeds to step S204. On the other hand, when the inter-vehicle distance is equal to or less than the retraction guide distance (step S203; No), the process proceeds to step S206. In this case, the information provision determination unit 25b turns on the evacuation guidance. Then, the process ends.
  • step S204 the information provision determination unit 25b determines whether or not the inter-vehicle distance is equal to or less than the approach information provision distance. If the inter-vehicle distance is equal to or less than the approach information provision distance (step S204; Yes), the process proceeds to step S205. In this case, the information provision determination unit 25b turns on the approach information provision. Then, the process ends. On the other hand, when the distance between vehicles is larger than the approach information provision distance (step S204; No), the process ends. In this case, neither access information provision nor evacuation guidance is turned on.
  • the retreat guidance can be performed at an appropriate timing according to the state of the general vehicle 2. Therefore, it is possible to reduce the driver's evacuation behavior, delay, delay, and the like.
  • the emergency vehicle position estimation performed by the emergency vehicle position estimation unit 25a in the driving support device 20 will be described in detail with reference to FIGS. 11 and 12.
  • FIG. 11 is a diagram for specifically explaining the estimation of the emergency vehicle position.
  • the position P5a indicates the position of the emergency vehicle 1 at time “T”
  • the position P5b indicates the position of the emergency vehicle 1 at time “T + 1”.
  • the position P6a indicates the position of the general vehicle 2 at time “T”
  • the position P6b indicates the position of the general vehicle 2 at time “T + 1”.
  • the time “T + 1” is assumed to be a time later than the time “T”. For example, the time from time “T” to time “T + 1” corresponds to one cycle of the emergency vehicle information distribution cycle.
  • the emergency vehicle position estimation part 25a is based on the emergency vehicle information received normally normally before, for example in emergency vehicle information received at time "T”. Based on this, the emergency vehicle position is estimated.
  • the emergency vehicle position estimation unit 25a is configured to execute the emergency vehicle position based on the position, speed, and traveling direction of the emergency vehicle 1 acquired as emergency vehicle information and the map information stored in the map database 22. Is estimated. For example, the emergency vehicle position estimation unit 25a estimates the inter-vehicle distance D5 between the general vehicle 2 and the emergency vehicle 1.
  • the emergency vehicle position estimation unit 25a stores a history of the received emergency vehicle information, and estimates the emergency vehicle position based on the data thus stored.
  • FIG. 12 is a flowchart showing emergency vehicle position estimation processing. This process is repeatedly executed at a predetermined cycle by the emergency vehicle position estimation unit 25a. Specifically, it is executed in accordance with the delivery period of emergency vehicle information. This distribution cycle is assumed to be known or distributed as emergency vehicle information. In addition, this process is performed in parallel with the information provision determination process described above. Note that this processing is executed, for example, when the CPU reads a program stored in the ROM.
  • step S301 the emergency vehicle position estimation unit 25a acquires emergency vehicle information distributed by the emergency vehicle 1. Specifically, the emergency vehicle position estimation unit 25a acquires emergency vehicle information received by the inter-vehicle communication device 21. Then, the process proceeds to step S302. In step S302, the emergency vehicle position estimation unit 25a starts a timer. Then, the process proceeds to step S303.
  • step S303 the emergency vehicle position estimation unit 25a identifies the emergency vehicle position based on the emergency vehicle information acquired in step S301.
  • the emergency vehicle position is information included in the emergency vehicle information. Then, the process proceeds to step S304.
  • step S304 the emergency vehicle position estimation unit 25a waits for reception of the next emergency vehicle information for a predetermined time based on the time counted by the timer. Specifically, the emergency vehicle position estimation unit 25a waits for a time corresponding to the delivery cycle of emergency vehicle information. Then, the process proceeds to step S305.
  • step S305 the emergency vehicle position estimation unit 25a determines whether or not the emergency vehicle information has been successfully received.
  • the emergency vehicle information is received not only when the emergency vehicle information is directly received from the emergency vehicle 1, but also when the emergency vehicle information transmitted in multihop from another general vehicle 2 or the roadside device is received. Shall be included.
  • step S305 If the reception is successful (step S305; Yes), the process returns to step S303.
  • the emergency vehicle position estimation unit 25a identifies the emergency vehicle position based on the received emergency vehicle information (step S303). When reception is successful in this way, the previously estimated emergency vehicle position is discarded, that is, reset.
  • step S305 the process proceeds to step S306.
  • the emergency vehicle position estimation unit 25a estimates the emergency vehicle position. Specifically, the emergency vehicle position estimator 25a generates an emergency based on the position, speed, and traveling direction of the emergency vehicle 1 previously acquired as emergency vehicle information and the map information stored in the map database 22. Estimate the vehicle position. Then, the process proceeds to step S307. If the reception is not successful, the information provision determination process (see FIGS. 9 and 10) described above is executed based on the emergency vehicle position estimated in this way. If the reception is not successful, a standby state is entered.
  • step S307 the emergency vehicle position estimation unit 25a determines whether or not the emergency vehicle 1 is separated from a predetermined distance. Here, it is determined whether or not the emergency vehicle information can be received and the emergency vehicle 1 has left a place where there is no influence on the host vehicle. Specifically, the emergency vehicle position estimation unit 25a determines whether or not the distance between the general vehicle 2 and the emergency vehicle 1 has become greater than a predetermined distance after the emergency vehicle 1 has passed the general vehicle 2. .
  • step S307 If the emergency vehicle 1 is away from the predetermined distance (step S307; Yes), the process proceeds to step S308. In this case, the emergency vehicle position estimation unit 25a ends the timer (step S308), and the process ends. On the other hand, when the emergency vehicle 1 is not separated from the predetermined distance (step S307; No), the process returns to step S304, and the processes after step S304 are performed again.
  • the planned travel route and the planned travel time of each road link on the route are distributed from the emergency vehicle 1 to the general vehicle 2.
  • the emergency vehicle 1 obtains traffic information from a VICS, a probe, or the like, and obtains a scheduled travel time for each road link in the planned travel route.
  • the general vehicle 2 provides information as described above based on the scheduled traveling time distributed from the emergency vehicle 1. It can be said that such a modification does not require real-time performance as in the above-described embodiments.
  • the distribution data tends to increase, information may be distributed using a mobile phone network, a public LAN, or the like.
  • the estimated position of the emergency vehicle 1 may be corrected in real time by further utilizing inter-vehicle communication.
  • a modification can be applied also to the structure which does not have an inter-vehicle communication apparatus.
  • the safe distance and the approach information provision distance can be changed based on any one or more of map information, traffic information, road surface information, and weather information. For example, based on road environment information such as road shapes, lanes, highways, and buildings stored in the map database 22 and / or weather information such as rainy weather, snow, and fog obtained from communication means such as a mobile phone.
  • the approach information providing distance, the evacuation guide distance, and the safety distance can be changed. Such a change is performed by the emergency vehicle 1 and / or the general vehicle 2.
  • the present invention can be used for in-vehicle navigation devices.

Abstract

A driving support device is suitably used in order to support the evacuating behavior of general vehicles by providing information relating to an emergency vehicle. An emergency vehicle information reception means receives the information relating to the emergency vehicle containing the position, velocity, and traveling direction of the emergency vehicle. When the information relating to the emergency vehicle is received, a first notification means provides notification relating to the existence of the emergency vehicle approaching the general vehicles. After the notification by the first notification means, a second notification means provides instruction information necessary for the evacuating behavior of the general vehicles. Like this, the driving support device provides the information gradually in two steps. This allows the provision of the information at a proper timing, thereby reducing hesitation or delay in the evacuating behavior of drivers.

Description

運転支援装置、運転支援システム、運転支援方法及びプログラムDriving support device, driving support system, driving support method and program
　本発明は、運転支援装置、運転支援システム、運転支援方法及びプログラムに関する。 The present invention relates to a driving support device, a driving support system, a driving support method, and a program.
　従来から、救急車両や警察車両などの緊急車両が接近中であることを一般車両のドライバに報知する技術や、一般車両に接近する緊急車両からの退避行動を支援する技術が知られている。例えば、特許文献１には、緊急車両の走行が予定される車線上に位置する特定車両に対して緊急車両の通過を支援するような退避態様を決定すると共に、特定車両の退避を支援するような走行態様を当該特定車両以外の他の一般車両に対して決定する技術が提案されている。また、特許文献２には、自車の退避行動の有無に応じて支援内容を変更して情報提供を行う技術が提案されている。 Conventionally, a technique for notifying an ordinary vehicle driver that an emergency vehicle such as an emergency vehicle or a police vehicle is approaching, and a technology for assisting an evacuation action from an emergency vehicle approaching the ordinary vehicle are known. For example, Patent Document 1 determines a retreat mode that supports the passage of an emergency vehicle with respect to a specific vehicle located on a lane where the emergency vehicle is scheduled to travel, and supports the retraction of the specific vehicle. A technique has been proposed for determining a simple driving mode for other general vehicles other than the specific vehicle. Patent Document 2 proposes a technique for providing information by changing the content of support according to the presence or absence of an evacuation action of the host vehicle.
特許４１８７６６９号公報Japanese Patent No. 4187669 特開２００８－８４００４号公報JP 2008-84004 A
　しかしながら、特許文献１に記載された技術では、緊急車両と一般車両との通信が途切れた際に適切な退避案内を行うことが困難となるといった問題や、１箇所で集中判断を行うため、サービスを行う最大の車両台数を見込んだ大規模なシステムになるといった問題があった。また、特許文献２に記載された技術では、緊急車両を一般車両の退避行動から推定するため、通信が安定していることが必要であるといった問題があった。 However, in the technique described in Patent Document 1, there is a problem that it becomes difficult to perform appropriate retraction guidance when communication between an emergency vehicle and a general vehicle is interrupted, and a service is performed to make a centralized determination at one place. There was a problem that it became a large-scale system that anticipated the maximum number of vehicles to perform. Moreover, in the technique described in Patent Document 2, there is a problem that it is necessary for communication to be stable in order to estimate an emergency vehicle from the retreat behavior of a general vehicle.
　ところで、一般車両に対して退避行動を案内してから停止するまでに要する時間は、一般車両の速度や制動特性などに応じて、各車両ごとに異なるものと考えられる。したがって、退避行動を案内するタイミングは、一般車両の速度や制動特性などを考慮して、各車両ごとに求めることが望ましいと言える。上記した特許文献１及び２には、これらを考慮して、退避行動を案内するタイミングを求めることについては記載されていない。 By the way, it is considered that the time required to stop after guiding the evacuation behavior to a general vehicle differs for each vehicle according to the speed and braking characteristics of the general vehicle. Therefore, it can be said that it is desirable to obtain the timing for guiding the retreat action for each vehicle in consideration of the speed and braking characteristics of a general vehicle. In Patent Documents 1 and 2 described above, there is no description about obtaining the timing for guiding the retreat action in consideration of these.
　本発明が解決しようとする課題としては、上記のものが一例として挙げられる。本発明は、一般車両の状態に応じた適切なタイミングで退避案内を行うことが可能な運転支援装置、運転支援システム、運転支援方法及びプログラムを提供することを目的とする。 The above is one example of problems to be solved by the present invention. An object of the present invention is to provide a driving support device, a driving support system, a driving support method, and a program capable of performing evacuation guidance at an appropriate timing according to the state of a general vehicle.
　請求項１に記載の発明は、一般車両に搭載され、ドライバの運転を支援する運転支援装置は、緊急車両が配信する、前記緊急車両の位置、速度、及び走行方向を含む緊急車両情報を受信する緊急車両情報受信手段と、前記緊急車両が緊急走行状態にある際に前記緊急車両情報受信手段が前記緊急車両情報を受信した場合に、前記一般車両に接近している前記緊急車両の存在を前記ドライバに報知する第１報知手段と、前記第１報知手段が報知を行った後に、前記一般車両の退避行動に必要な指示情報を前記ドライバに報知する第２報知手段と、を備えることを特徴とする。 According to the first aspect of the present invention, a driving support device that is mounted on a general vehicle and supports driving of a driver receives emergency vehicle information including the position, speed, and traveling direction of the emergency vehicle distributed by the emergency vehicle. The presence of the emergency vehicle approaching the general vehicle when the emergency vehicle information receiving means receives the emergency vehicle information when the emergency vehicle is in an emergency travel state. First notifying means for notifying the driver, and second notifying means for notifying the driver of instruction information necessary for the evacuation behavior of the general vehicle after the first notifying means notifies the driver. Features.
　請求項１２に記載の発明は、運転支援システムであって、一般車両に搭載される、請求項１乃至１１のいずれか一項に記載の運転支援装置と、緊急車両に搭載され、前記緊急車両が緊急走行状態にある際に、前記緊急車両の位置、速度、及び走行方向を含む緊急車両情報を配信する緊急車両情報配信手段と、を備えることを特徴とする。 The invention described in claim 12 is a driving support system, which is mounted on a general vehicle. The driving support device according to any one of claims 1 to 11, and the emergency vehicle mounted on the emergency vehicle. Emergency vehicle information distribution means for distributing emergency vehicle information including the position, speed, and travel direction of the emergency vehicle when the vehicle is in an emergency travel state.
　請求項１６に記載の発明は、一般車両に搭載される装置によって実行され、ドライバの運転を支援する運転支援方法は、緊急車両が配信する、前記緊急車両の位置、速度、及び走行方向を含む緊急車両情報を受信する緊急車両情報受信工程と、前記緊急車両が緊急走行状態にある際に前記緊急車両情報受信工程が前記緊急車両情報を受信した場合に、前記一般車両に接近している前記緊急車両の存在を前記ドライバに報知する第１報知工程と、前記第１報知工程が報知を行った後に、少なくとも前記一般車両を退避行動すべき位置及びタイミングを前記ドライバに報知する第２報知工程と、を備えることを特徴とする。 The invention described in claim 16 is executed by a device mounted on a general vehicle, and a driving support method for supporting driving of a driver includes the position, speed, and traveling direction of the emergency vehicle distributed by the emergency vehicle. The emergency vehicle information receiving step of receiving emergency vehicle information, and the emergency vehicle information receiving step receiving the emergency vehicle information when the emergency vehicle is in an emergency running state, the vehicle is approaching the general vehicle A first notification step of notifying the driver of the presence of an emergency vehicle; and a second notification step of notifying the driver of at least a position and timing at which the general vehicle should be retracted after the first notification step notifies the driver. And.
　請求項１７に記載の発明は、一般車両に搭載される装置によって実行され、ドライバの運転を支援する運転支援プログラムは、前記装置を、緊急車両が配信する、前記緊急車両の位置、速度、及び走行方向を含む緊急車両情報を受信する緊急車両情報受信手段、前記緊急車両が緊急走行状態にある際に前記緊急車両情報受信手段が前記緊急車両情報を受信した場合に、前記一般車両に接近している前記緊急車両の存在を前記ドライバに報知する第１報知手段、前記第１報知手段が報知を行った後に、少なくとも前記一般車両を退避行動すべき位置及びタイミングを前記ドライバに報知する第２報知手段、として機能させることを特徴とする。 The invention according to claim 17 is executed by a device mounted on a general vehicle, and a driving support program for assisting a driver's driving includes: the emergency vehicle's position, speed, and Emergency vehicle information receiving means for receiving emergency vehicle information including a traveling direction; and when the emergency vehicle information receiving means receives the emergency vehicle information when the emergency vehicle is in an emergency running state, the emergency vehicle information approaching means approaches the general vehicle. A first notification means for notifying the driver of the presence of the emergency vehicle, and a second notification for notifying the driver of at least a position and timing at which the general vehicle should be retracted after the first notification means notifies the driver. It functions as a notification means.
本実施例における運転支援システムを概略的に示す図である。It is a figure showing roughly the driving support system in a present Example. 本実施例における運転支援装置のシステム構成を概略的に示す図である。It is a figure which shows roughly the system configuration | structure of the driving assistance apparatus in a present Example. 緊急車両情報のデータ構造を示す図である。It is a figure which shows the data structure of emergency vehicle information. 接近情報提供タイミング及び退避案内タイミングを具体的に説明するための図を示す。The figure for demonstrating concretely an approach information provision timing and evacuation guidance timing is shown. 緊急車両が一般車両の後方から接近する場合の具体例を示す図である。It is a figure which shows the specific example in case an emergency vehicle approaches from the back of a general vehicle. 緊急車両が一般車両の前方から接近する場合の具体例を示す図である。It is a figure which shows the specific example in case an emergency vehicle approaches from the front of a general vehicle. 一般車両が交差点に進入する場合の具体例を示す図である。It is a figure which shows the specific example in case a general vehicle approachs an intersection. 一般車両が交差点から退出する場合の具体例を示す図である。It is a figure which shows the specific example in case a general vehicle leaves from an intersection. 情報提供判断処理における全体処理を示すフローチャートである。It is a flowchart which shows the whole process in an information provision judgment process. 情報提供判断処理を示すフローチャートである。It is a flowchart which shows an information provision judgment process. 緊急車両位置の推定を具体的に説明するための図である。It is a figure for demonstrating concrete estimation of an emergency vehicle position. 緊急車両位置推定処理を示すフローチャートである。It is a flowchart which shows an emergency vehicle position estimation process.
　本発明の１つの実施形態では、一般車両に搭載され、ドライバの運転を支援する運転支援装置は、緊急車両が配信する、前記緊急車両の位置、速度、及び走行方向を含む緊急車両情報を受信する緊急車両情報受信手段と、前記緊急車両が緊急走行状態にある際に前記緊急車両情報受信手段が前記緊急車両情報を受信した場合に、前記一般車両に接近している前記緊急車両の存在を前記ドライバに報知する第１報知手段と、前記第１報知手段が報知を行った後に、前記一般車両の退避行動に必要な指示情報を前記ドライバに報知する第２報知手段と、を備える。 In one embodiment of the present invention, a driving support device mounted on a general vehicle and supporting driving of a driver receives emergency vehicle information including the position, speed, and traveling direction of the emergency vehicle distributed by the emergency vehicle. The presence of the emergency vehicle approaching the general vehicle when the emergency vehicle information receiving means receives the emergency vehicle information when the emergency vehicle is in an emergency travel state. First notifying means for notifying the driver, and second notifying means for notifying the driver of instruction information necessary for the evacuation behavior of the general vehicle after the first notifying means notifies the driver.
　上記の運転支援装置は、緊急車両に関する情報提供を行うことにより、一般車両の退避行動を支援するために好適に利用される。緊急車両情報受信手段は、緊急車両の位置、速度、及び走行方向を含む緊急車両情報を受信する。第１報知手段は、緊急車両情報が受信された場合に、一般車両に接近している緊急車両の存在を報知する。第２報知手段は、第１報知手段による報知後に、一般車両の退避行動に必要な指示情報を報知する。このように、運転支援装置は、２ステップで段階的に情報提供を行う。これにより、適切なタイミングで情報提供を行うことができ、一般車両のドライバが退避行動を行う位置及びタイミングがわかりやすくなる。よって、ドライバの退避行動の迷いや遅れ等を減少させることが可能となる。なお、一般車両の退避行動に必要な指示情報としては、当該一般車両が退避する退避位置や退避を開始するタイミングなどが例示される。 The above-mentioned driving support device is suitably used for supporting the evacuation behavior of a general vehicle by providing information on an emergency vehicle. The emergency vehicle information receiving means receives emergency vehicle information including the position, speed, and traveling direction of the emergency vehicle. A 1st alerting | reporting means alert | reports presence of the emergency vehicle which has approached the general vehicle, when emergency vehicle information is received. The second notification means notifies the instruction information necessary for the evacuation behavior of the general vehicle after the notification by the first notification means. Thus, the driving support device provides information step by step in two steps. As a result, information can be provided at an appropriate timing, and the position and timing at which the driver of the general vehicle performs the retreat action can be easily understood. Therefore, it is possible to reduce the driver's evacuation behavior, delay, delay, and the like. The instruction information necessary for the retreat behavior of the general vehicle includes a retreat position where the general vehicle retreats, timing for starting retreat, and the like.
　上記の運転支援装置の一態様では、前記第２報知手段は、前記一般車両が退避行動を行って停止した際に前記一般車両と前記緊急車両との間に安全距離が確保されるように、前記退避行動すべきことを報知するタイミングを求め、前記タイミングで前記指示情報の報知を行う。この態様によれば、一般車両の状態に応じた適切にタイミングで、退避案内を行うことができる。 In one aspect of the above-described driving support device, the second notifying unit ensures that a safety distance is secured between the general vehicle and the emergency vehicle when the general vehicle performs a retreat action and stops. A timing for notifying that the retreating action should be notified is obtained, and the instruction information is notified at the timing. According to this aspect, the retreat guidance can be performed at an appropriate timing according to the state of the general vehicle.
　上記の運転支援装置において好適には、前記第２報知手段は、前記一般車両が退避行動を行って停止した際に前記一般車両と前記緊急車両との間に前記安全距離が確保されるように、前記退避行動すべきことを報知すべき、前記一般車両と前記緊急車両との間の距離を示す退避案内距離を算出し、前記一般車両と前記緊急車両との距離が前記退避案内距離になったタイミングを、前記退避行動すべきことを報知するタイミングとすることができる。 Preferably, in the above driving support device, the second notification unit ensures that the safety distance is secured between the general vehicle and the emergency vehicle when the general vehicle performs a retreat action and stops. The retraction guide distance indicating the distance between the general vehicle and the emergency vehicle to be notified that the retreat action should be performed is calculated, and the distance between the general vehicle and the emergency vehicle becomes the retraction guide distance. The timing at which the evacuation action should be performed can be used as the timing to notify.
　上記の運転支援装置の他の一態様では、前記第２報知手段は、前記緊急車両の速度、前記一般車両の速度、前記一般車両と前記緊急車両との距離、及び前記一般車両の制動特性に基づいて、前記退避行動すべきことを報知するタイミングを求める。これにより、一般車両が退避行動を行って停止した際に、一般車両と緊急車両との間に確実に安全距離を確保することが可能となる。 In another aspect of the driving support apparatus described above, the second notification unit is configured to adjust the speed of the emergency vehicle, the speed of the general vehicle, the distance between the general vehicle and the emergency vehicle, and the braking characteristics of the general vehicle. Based on this, the timing for notifying that the evacuation action should be performed is obtained. This makes it possible to ensure a safe distance between the general vehicle and the emergency vehicle when the general vehicle performs a retreat action and stops.
　上記の運転支援装置の他の一態様では、前記第２報知手段は、前記一般車両の制動特性を学習しておき、学習された前記制動特性に基づいて前記退避行動すべきことを報知するタイミングを求める。これにより、一般車両の制動距離を精度良く把握することができ、より適切な退避案内タイミングを求めることが可能となる。 In another aspect of the driving support apparatus described above, the second notification unit learns the braking characteristics of the general vehicle and notifies the fact that the retreat action should be performed based on the learned braking characteristics. Ask for. As a result, the braking distance of the general vehicle can be grasped with high accuracy, and a more appropriate retraction guide timing can be obtained.
　上記の運転支援装置の他の一態様では、前記第２報知手段は、前記一般車両が交差点内で退避行動を行わないように、前記退避行動すべきことを報知するタイミングを求める。これにより、交差点内での退避行動による接触や追突事故などを効果的に防止することができる。 In another aspect of the driving support device described above, the second notification unit obtains a timing for notifying that the general vehicle should perform the retreat action so that the general vehicle does not perform the retreat action within the intersection. Thereby, the contact by the evacuation action in the intersection, a rear-end collision, etc. can be prevented effectively.
　上記の運転支援装置の他の一態様では、前記第２報知手段は、前記ドライバの運転パターンを学習しておき、学習された前記運転パターンに基づいて前記退避行動すべきことを報知するタイミングを求める。これにより、退避案内タイミングを個人特性にあったタイミングに調整することができる。 In another aspect of the driving support apparatus described above, the second notification unit learns the driving pattern of the driver and notifies the timing to notify that the retreat action should be performed based on the learned driving pattern. Ask. Thereby, the evacuation guidance timing can be adjusted to a timing that suits the individual characteristics.
　上記の運転支援装置の他の一態様では、前記安全距離は、前記緊急車両情報受信手段によって受信される前記緊急車両情報に含まれる。つまり、安全距離は、緊急車両側で設定される。これにより、緊急車両から一般車両に対して、適切な退避エリアを指定することができる。 In another aspect of the above driving assistance device, the safety distance is included in the emergency vehicle information received by the emergency vehicle information receiving means. That is, the safety distance is set on the emergency vehicle side. Thereby, an appropriate evacuation area can be designated from the emergency vehicle to the general vehicle.
　上記の運転支援装置の他の一態様では、前記緊急車両情報受信手段は、所定周期で配信される前記緊急車両情報を受信し、前記緊急車両情報受信手段によって前記緊急車両情報が正常に受信されなかった場合に、前記緊急車両情報受信手段によって以前に正常に受信された前記緊急車両情報、及び地図情報に基づいて、前記緊急車両の位置を推定する緊急車両位置推定手段を更に備え、前記第１報知手段及び前記第２報知手段は、前記緊急車両位置推定手段によって推定された前記緊急車両の位置に基づいて報知を行う。これにより、例えば一般車両と緊急車両との通信が不安定となった場合でも、ドライバに対して確実に情報提供を行うことが可能となる。 In another aspect of the driving support apparatus, the emergency vehicle information receiving unit receives the emergency vehicle information distributed at a predetermined cycle, and the emergency vehicle information receiving unit normally receives the emergency vehicle information. If not, the vehicle further comprises emergency vehicle position estimating means for estimating the position of the emergency vehicle based on the emergency vehicle information that has been normally received by the emergency vehicle information receiving means and map information. The first notification unit and the second notification unit perform notification based on the position of the emergency vehicle estimated by the emergency vehicle position estimation unit. Thereby, for example, even when communication between a general vehicle and an emergency vehicle becomes unstable, it is possible to reliably provide information to the driver.
　上記の運転支援装置の他の一態様では、前記緊急車両情報受信手段は、前記緊急車両の存在を報知すべき、前記一般車両と前記緊急車両との間の距離を示す接近情報提供距離を、前記緊急車両情報として受信し、前記第１報知手段は、前記一般車両と前記緊急車両との距離が前記接近情報提供距離以下になった際に、前記緊急車両の存在を報知する。この態様では、緊急車両から指定されたタイミングで接近情報提供を行う。これにより、退避行動を行うまでの時間にばらつきが生じることを防止することが可能となる。 In another aspect of the above-described driving support device, the emergency vehicle information receiving unit should report an approach information provision distance indicating a distance between the general vehicle and the emergency vehicle, which should notify the presence of the emergency vehicle. Received as the emergency vehicle information, the first notification means notifies the presence of the emergency vehicle when the distance between the general vehicle and the emergency vehicle is equal to or less than the approach information provision distance. In this aspect, the approach information is provided at a timing designated by the emergency vehicle. As a result, it is possible to prevent variations in the time until the retreat action is performed.
　上記の運転支援装置において好適には、前記第１報知手段は、車種に応じて前記接近情報提供距離をオフセットした距離に基づいて、前記緊急車両の存在を報知する。例えば、第１報知手段は、二輪車は四輪車の退避による巻き込みの危険性があるので、二輪車について、接近情報提供タイミングを四輪車よりも早めに設定することができる。こうすることで、二輪車のすり抜けなどを抑止することができ、普通車などの退避行動による接触事故を防止することが可能となる。 Preferably, in the above driving assistance device, the first notification means notifies the presence of the emergency vehicle based on a distance obtained by offsetting the approach information providing distance according to a vehicle type. For example, the first notification means can set the approach information providing timing earlier for the two-wheeled vehicle than the four-wheeled vehicle because the two-wheeled vehicle has a risk of being involved due to the retreat of the four-wheeled vehicle. By doing so, it is possible to prevent the motorcycle from slipping through, and it is possible to prevent a contact accident due to a retreating behavior of a normal vehicle or the like.
　本発明の他の実施形態では、運転支援システムは、一般車両に搭載される、請求項１乃至１１のいずれか一項に記載の運転支援装置と、緊急車両に搭載され、前記緊急車両の位置、速度、及び走行方向を含む緊急車両情報を配信する緊急車両情報配信手段と、を備える。このような運転支援システムによっても、適切なタイミングで情報提供を行うことができ、ドライバの退避行動の迷いや遅れ等を減少させることが可能となる。 In another embodiment of the present invention, a driving support system is mounted on a general vehicle, the driving support device according to any one of claims 1 to 11, and an emergency vehicle mounted on the emergency vehicle. Emergency vehicle information distribution means for distributing emergency vehicle information including speed and traveling direction. Even with such a driving support system, it is possible to provide information at an appropriate timing, and it is possible to reduce a driver's evacuation behavior, delay, and the like.
　上記の運転支援システムの一態様では、前記緊急車両情報配信手段は、前記緊急車両の存在を報知すべき、前記一般車両と前記緊急車両との間の距離を示す接近情報提供距離と、前記一般車両が退避行動を行って停止した際に前記一般車両と前記緊急車両との間に確保されるべき安全距離と、を前記緊急車両情報として配信する。 In one aspect of the above-described driving support system, the emergency vehicle information distribution unit should notify the presence of the emergency vehicle, the approach information providing distance indicating the distance between the general vehicle and the emergency vehicle, and the general When the vehicle performs a retreat action and stops, the safety distance that should be secured between the general vehicle and the emergency vehicle is distributed as the emergency vehicle information.
　この態様では、緊急車両側で安全距離を設定する。これにより、緊急車両から一般車両に対して適切に退避エリアを指定することができるため、一般車両による緊急車両への接触や追突事故などを効果的に防止することができる。その結果、緊急車両は、一般車両の追い越し時などにそれほど速度を緩める必要がなくなるため、目的地までの到着時間を短縮することが可能となる。更に、当該態様では、緊急車両側で接近情報提供距離を指定するので、緊急車両側で情報提供が行われているエリアを認識しやすくなる。 In this mode, the safety distance is set on the emergency vehicle side. Thereby, since an evacuation area can be appropriately designated with respect to a general vehicle from an emergency vehicle, the contact to the emergency vehicle by a general vehicle, a rear-end collision, etc. can be prevented effectively. As a result, it is not necessary for the emergency vehicle to slow down so much when the general vehicle is overtaking, and the arrival time to the destination can be shortened. Furthermore, in this aspect, since the approach information providing distance is designated on the emergency vehicle side, it is easy to recognize the area where information is provided on the emergency vehicle side.
　上記の運転支援システムにおいて好適には、地図情報、交通情報、路面情報、及び天候情報のうちのいずれか１つ以上に基づいて、前記接近情報提供距離及び前記安全距離を変更する手段を更に備える。これにより、地図情報や交通情報や路面情報や天候情報などに応じた、適切な接近情報提供距離及び安全距離を設定することができる。 Preferably, the driving support system further includes means for changing the approach information providing distance and the safety distance based on any one or more of map information, traffic information, road surface information, and weather information. . Accordingly, it is possible to set an appropriate approach information providing distance and a safe distance according to map information, traffic information, road surface information, weather information, and the like.
　また好適には、上記の運転支援システムは、前記緊急車両に搭載され、前記緊急車両の走行予定ルート及び各道路リンクの走行予定時刻を配信する手段を更に備える。これにより、走行予定時刻が配信されるため、通信の電波が途絶えた際にも、適切なタイミングで情報提供を行うことができる。 Also preferably, the driving support system described above further includes means mounted on the emergency vehicle and for distributing the planned travel route of the emergency vehicle and the planned travel time of each road link. As a result, the scheduled travel time is distributed, so that information can be provided at an appropriate timing even when communication radio waves are interrupted.
　本発明の他の実施形態では、一般車両に搭載される装置によって実行され、ドライバの運転を支援する運転支援方法は、緊急車両が配信する、前記緊急車両の位置、速度、及び走行方向を含む緊急車両情報を受信する緊急車両情報受信工程と、前記緊急車両が緊急走行状態にある際に前記緊急車両情報受信工程が前記緊急車両情報を受信した場合に、前記一般車両に接近している前記緊急車両の存在を前記ドライバに報知する第１報知工程と、前記第１報知工程が報知を行った後に、少なくとも前記一般車両を退避行動すべき位置及びタイミングを前記ドライバに報知する第２報知工程と、を備える。 In another embodiment of the present invention, a driving support method that is executed by a device mounted on a general vehicle and supports driving of a driver includes the position, speed, and traveling direction of the emergency vehicle distributed by the emergency vehicle. The emergency vehicle information receiving step of receiving emergency vehicle information, and the emergency vehicle information receiving step receiving the emergency vehicle information when the emergency vehicle is in an emergency running state, the vehicle is approaching the general vehicle A first notification step of notifying the driver of the presence of an emergency vehicle; and a second notification step of notifying the driver of at least a position and timing at which the general vehicle should be retracted after the first notification step notifies the driver. And comprising.
　また、本発明の他の実施形態では、一般車両に搭載される装置によって実行され、ドライバの運転を支援する運転支援プログラムは、前記装置を、緊急車両が配信する、前記緊急車両の位置、速度、及び走行方向を含む緊急車両情報を受信する緊急車両情報受信手段、前記緊急車両が緊急走行状態にある際に前記緊急車両情報受信手段が前記緊急車両情報を受信した場合に、前記一般車両に接近している前記緊急車両の存在を前記ドライバに報知する第１報知手段、前記第１報知手段が報知を行った後に、少なくとも前記一般車両を退避行動すべき位置及びタイミングを前記ドライバに報知する第２報知手段、として機能させる。 In another embodiment of the present invention, a driving support program that is executed by a device mounted on a general vehicle and supports a driver's driving is a position and speed of the emergency vehicle that the emergency vehicle distributes the device. And emergency vehicle information receiving means for receiving emergency vehicle information including a traveling direction, and when the emergency vehicle information receiving means receives the emergency vehicle information when the emergency vehicle is in an emergency running state, First notification means for notifying the driver of the presence of the emergency vehicle that is approaching, and after the first notification means notifies, the driver is notified of at least a position and timing at which the general vehicle should be retracted. It functions as a second notification means.
　上記の運転支援方法及び運転支援プログラムによっても、適切なタイミングで情報提供を行うことができ、ドライバの退避行動の迷いや遅れ等を減少させることが可能となる。 Also according to the driving support method and driving support program described above, it is possible to provide information at an appropriate timing, and it is possible to reduce the driver's evacuation behavior and delays.
　以下、図面を参照して本発明の好適な実施例について説明する。
［運転支援システムの構成］
　図１は、本実施例における運転支援システム１００を概略的に示す図である。運転支援システム１００は、緊急車両１及び一般車両２ａ、２ｂ、２ｃを有する。運転支援システム１００は、基本的には、緊急車両１に関する情報提供を行うことにより、一般車両２ａ、２ｂ、２ｃの退避行動を支援するシステムである。以下では、一般車両２ａ、２ｂ、２ｃを区別しないで用いる場合には、単に「一般車両２」と表記する。また、図１では、説明の便宜上、３台の一般車両２ａ、２ｂ、２ｃを示しているが、実際には、運転支援システム１００は例えば４台以上の一般車両２で構成される。 Hereinafter, preferred embodiments of the present invention will be described with reference to the drawings.
[Configuration of driving support system]
FIG. 1 is a diagram schematically showing a driving support system 100 in the present embodiment. The driving support system 100 includes an emergency vehicle 1 and general vehicles 2a, 2b, and 2c. The driving support system 100 is basically a system that supports the evacuation behavior of the general vehicles 2a, 2b, and 2c by providing information related to the emergency vehicle 1. Hereinafter, when the general vehicles 2a, 2b, and 2c are used without being distinguished, they are simply referred to as “general vehicles 2”. In FIG. 1, for convenience of explanation, three general vehicles 2 a, 2 b, and 2 c are shown, but actually, the driving support system 100 is composed of, for example, four or more general vehicles 2.
　緊急車両１は、緊急走行状態となった際に、矢印７１、７２、７３に示すように、一般車両２に対して緊急車両情報を配信する。具体的には、緊急車両１は、車車間通信により、緊急車両情報を同報配信する。例えば、緊急車両情報には、緊急走行状態、緊急車両１の位置、速度、及び走行方向に関する情報が含まれる。緊急走行状態は、緊急車両１が緊急走行中であるか否かを示すステータスである。緊急車両１は、所定周期で緊急車両情報を配信する。この場合、緊急車両１は、当該所定周期で変更した緊急車両情報を配信する。 The emergency vehicle 1 delivers emergency vehicle information to the general vehicle 2 as indicated by arrows 71, 72, 73 when the emergency vehicle 1 enters an emergency running state. Specifically, the emergency vehicle 1 broadcasts emergency vehicle information by inter-vehicle communication. For example, the emergency vehicle information includes information related to the emergency travel state, the position, speed, and travel direction of the emergency vehicle 1. The emergency travel state is a status indicating whether or not the emergency vehicle 1 is traveling in an emergency. The emergency vehicle 1 delivers emergency vehicle information at a predetermined cycle. In this case, the emergency vehicle 1 delivers the emergency vehicle information changed at the predetermined cycle.
　一般車両２は、緊急車両１から配信される緊急車両情報を受信し、これに基づいて、ドライバに対して２ステップで情報提供を行う。具体的には、一般車両２は、最初に、ドライバに緊急車両１の存在を知らせるための報知（以下、このような報知を「接近情報提供」と呼ぶ。）を行い、その後に、ドライバに一般車両２の退避行動に必要な指示情報を知らせるための報知（以下、このような報知を「退避案内」と呼ぶ。）を行う。つまり、一般車両２は、緊急車両１が自車に接近した際に接近情報提供を行い、その後、緊急車両１が更に接近した際に退避案内を行うことで、段階的に情報提供を行う。 General vehicle 2 receives emergency vehicle information distributed from emergency vehicle 1, and provides information to the driver in two steps based on this information. Specifically, the general vehicle 2 first performs notification for notifying the driver of the presence of the emergency vehicle 1 (hereinafter, such notification is referred to as “approach information provision”), and then the driver is notified. A notification for notifying instruction information necessary for the retreat action of the general vehicle 2 (hereinafter, such notification is referred to as “retraction guide”) is performed. That is, the general vehicle 2 provides information in stages when the emergency vehicle 1 approaches the host vehicle, and then provides information in stages by providing retraction guidance when the emergency vehicle 1 further approaches.
　接近情報提供は、自車に接近している緊急車両１の存在をドライバに知らせる意味を持つ。退避案内は、この情報提供後にすぐに退避行動に移行しないと、緊急車両１との安全距離を保って停止できないことをドライバに知らせる意味を持つ。安全距離は、一般車両２と緊急車両１との衝突や接触を防止するためのものであり、また緊急車両１の通過時の速度低下を抑える意味もある。 Providing access information has the meaning of notifying the driver of the presence of the emergency vehicle 1 approaching the vehicle. The evacuation guide has a meaning of notifying the driver that the vehicle cannot be stopped while maintaining a safe distance from the emergency vehicle 1 unless the evacuation action is started immediately after the information is provided. The safety distance is for preventing a collision and contact between the general vehicle 2 and the emergency vehicle 1, and also has a meaning of suppressing a speed reduction when the emergency vehicle 1 passes.
　一般車両２は、退避案内を行う際に、少なくとも、退避行動すべき位置及び当該位置への移動を開始するタイミングを、指示情報として報知する。なお、指示情報は、このような退避すべき位置や当該位置への移動を開始するタイミングの他に、緊急車両１と一般車両２との間の距離や、一般車両２が緊急車両１と交錯する時間（言い換えると残り時間）などが例示される。 When the general vehicle 2 performs the evacuation guidance, the general vehicle 2 informs at least the position to be evacuated and the timing to start moving to the position as instruction information. The instruction information includes the distance between the emergency vehicle 1 and the general vehicle 2 and the intersection of the general vehicle 2 with the emergency vehicle 1 in addition to the position to be retracted and the timing to start moving to the position. The time to perform (in other words, remaining time) is exemplified.
　上記したような一般車両２で行われる情報提供に関する処理は、実際には一般車両２に搭載される運転支援装置によって行われる。例えば、運転支援装置は、どういったタイミング又は位置で接近情報提供及び退避案内を行うべきかについて判断する処理（以下、「情報提供判断処理」と呼ぶ）を実行する。
［運転支援装置の構成］
　次に、図２を参照して、一般車両２に搭載される運転支援装置２０の構成について説明する。図２は、本実施例における運転支援装置２０のシステム構成を概略的に示す図である。 The processing related to information provision performed in the general vehicle 2 as described above is actually performed by a driving support device mounted on the general vehicle 2. For example, the driving support device executes a process (hereinafter referred to as an “information provision determination process”) for determining at what timing or position the approach information provision and evacuation guidance should be performed.
[Configuration of driving support device]
Next, with reference to FIG. 2, the structure of the driving assistance apparatus 20 mounted in the general vehicle 2 is demonstrated. FIG. 2 is a diagram schematically showing a system configuration of the driving support device 20 in the present embodiment.
　運転支援装置２０は、車車間通信機２１と、地図データベース２２と、ＧＰＳ受信機２３と、車両情報取得部２４と、制御部２５と、報知部２７と、を有する。例えば、運転支援装置２０は、車載用のナビゲーション装置に相当する。 The driving support apparatus 20 includes an inter-vehicle communication device 21, a map database 22, a GPS receiver 23, a vehicle information acquisition unit 24, a control unit 25, and a notification unit 27. For example, the driving support device 20 corresponds to an in-vehicle navigation device.
　車車間通信機２１は、緊急車両１が緊急走行状態にある際に配信する緊急車両情報を受信する。具体的には、車車間通信機２１は、緊急車両１が所定周期で配信する緊急車両情報を受信する。車車間通信機２１は、受信した緊急車両情報を制御部２５に供給する。なお、車車間通信機２１は、緊急車両１から緊急車両情報を直接受信することに限定はされず、緊急車両情報を受信した他の一般車両２や路側装置から、マルチホップで送信（つまり再送信）された緊急車両情報を受信しても良い。 The inter-vehicle communication device 21 receives emergency vehicle information distributed when the emergency vehicle 1 is in an emergency travel state. Specifically, the inter-vehicle communication device 21 receives emergency vehicle information distributed by the emergency vehicle 1 at a predetermined cycle. The inter-vehicle communication device 21 supplies the received emergency vehicle information to the control unit 25. The inter-vehicle communication device 21 is not limited to receiving emergency vehicle information directly from the emergency vehicle 1, and is transmitted in multihop (that is, retransmitted) from another general vehicle 2 or roadside device that has received the emergency vehicle information. The transmitted emergency vehicle information may be received.
　ここで、図３を参照して、緊急車両１が配信する緊急車両情報のデータ構造について説明する。図３に示すように、緊急車両情報３０は、緊急走行状態３０ａと、現在時刻３０ｂと、緊急車両１の現在位置３０ｃと、緊急車両１の走行速度３０ｄと、緊急車両１の走行方向３０ｅと、安全距離３０ｆと、接近情報提供距離３０ｇと、を有する。現在時刻３０ｂ、現在位置３０ｃ、走行速度３０ｄ、及び走行方向３０ｅは、例えば緊急車両１に搭載されたナビゲーション装置が生成する情報である。 Here, the data structure of emergency vehicle information distributed by the emergency vehicle 1 will be described with reference to FIG. As shown in FIG. 3, the emergency vehicle information 30 includes an emergency travel state 30a, a current time 30b, a current position 30c of the emergency vehicle 1, a travel speed 30d of the emergency vehicle 1, and a travel direction 30e of the emergency vehicle 1. , A safe distance 30f and an approach information providing distance 30g. The current time 30b, the current position 30c, the traveling speed 30d, and the traveling direction 30e are information generated by, for example, a navigation device mounted on the emergency vehicle 1.
　緊急走行状態３０ａ、安全距離３０ｆ、及び接近情報提供距離３０ｇは、緊急車両１の管理者などが設定する数値データである。緊急走行状態は、緊急車両１が緊急走行中であるか否かを示すステータスである。緊急走行状態は、基本的には手動で設定されるものであるが、サイレンのスイッチ等に連動して設定されても良い。安全距離３０ｆ及び接近情報提供距離３０ｇは、一般車両２側の情報提供判断を制御するための数値データである。 The emergency driving state 30a, the safety distance 30f, and the approach information provision distance 30g are numerical data set by the administrator of the emergency vehicle 1 or the like. The emergency travel state is a status indicating whether or not the emergency vehicle 1 is traveling in an emergency. The emergency running state is basically set manually, but may be set in conjunction with a siren switch or the like. The safety distance 30f and the approach information provision distance 30g are numerical data for controlling information provision judgment on the general vehicle 2 side.
　具体的には、安全距離３０ｆは、一般車両２が退避行動を行って停止した際に一般車両２と緊急車両１との間に確保されるべき距離である。つまり、安全距離３０ｆは、緊急車両１が衝突や接触を起こすことなく安全に一般車両２を通過できるような、一般車両２と緊急車両１との間の距離に相当する。このように安全距離３０ｆを緊急車両１が緊急車両情報３０として配信することは、緊急車両１から一般車両２に対して退避エリアを指定することに相当する。 Specifically, the safety distance 30f is a distance that should be secured between the general vehicle 2 and the emergency vehicle 1 when the general vehicle 2 stops by performing a retreat action. That is, the safety distance 30f corresponds to the distance between the ordinary vehicle 2 and the emergency vehicle 1 that allows the emergency vehicle 1 to pass through the ordinary vehicle 2 safely without causing a collision or contact. The distribution of the safety distance 30f by the emergency vehicle 1 as the emergency vehicle information 30 in this way is equivalent to designating an evacuation area from the emergency vehicle 1 to the general vehicle 2.
　一方、接近情報提供距離３０ｇは、緊急車両１の存在を一般車両２側に提供してもよい距離である。つまり、接近情報提供距離３０ｇは、緊急車両１が一般車両２に接近しているために、接近情報提供を行うことが許可される距離に相当する。このように接近情報提供距離３０ｇを緊急車両１が緊急車両情報３０として配信することにより、緊急車両１側で接近情報提供が行われているエリアを認識しやすくなる。 On the other hand, the approach information provision distance 30g is a distance at which the presence of the emergency vehicle 1 may be provided to the general vehicle 2 side. That is, the approach information provision distance 30g corresponds to a distance in which the approach information provision is permitted because the emergency vehicle 1 is approaching the general vehicle 2. As described above, the emergency vehicle 1 distributes the approach information providing distance 30g as the emergency vehicle information 30, so that it is easy to recognize the area where the approach information is provided on the emergency vehicle 1 side.
　１つの例では、安全距離３０ｆ及び接近情報提供距離３０ｇは、予め設定された固定値が用いられる。他の例では、安全距離３０ｆ及び接近情報提供距離３０ｇは、ナビゲーション装置に記憶された地図情報やＶＩＣＳ（Ｖｅｈｉｃｌｅ　Ｉｎｆｏｒｍａｔｉｏｎ　Ｃｏｍｍｕｎｉｃａｔｉｏｎ　Ｓｙｓｔｅｍ）等からの交通情報を利用して、道路状況や走行時間帯などの環境に応じて算出された値が用いられる。例えば、緊急車両１に搭載されたナビゲーション装置が、このような安全距離３０ｆ及び接近情報提供距離３０ｇを算出する。 In one example, a preset fixed value is used for the safety distance 30f and the approach information provision distance 30g. In another example, the safety distance 30f and the approach information provision distance 30g may be obtained by using map information stored in the navigation device or traffic information from VICS (Vehicle Information Communication System), etc. A value calculated according to the environment is used. For example, the navigation device mounted on the emergency vehicle 1 calculates the safety distance 30f and the approach information provision distance 30g.
　上記のような緊急車両情報３０を用いた場合、緊急車両１からの配信データが少ないため、車車間通信の帯域を有効に活用することができる。また、緊急車両１のルート情報を配信しないので、個人情報や業務情報を保護することができる。 When the emergency vehicle information 30 as described above is used, since the distribution data from the emergency vehicle 1 is small, the band of inter-vehicle communication can be used effectively. Moreover, since the route information of the emergency vehicle 1 is not distributed, personal information and business information can be protected.
　更に、緊急車両１で安全距離３０ｆを設定することで、緊急車両１から一般車両２に対して退避エリアを指定することができるため、一般車両２による緊急車両１への接触や追突事故などを効果的に防止することが可能となる。その結果、緊急車両１は、一般車両２の追い越し時などに、それほど速度を緩める必要がなくなるため、目的地までの到着時間を短縮することが可能となる。 Furthermore, since a safety area 30f is set in the emergency vehicle 1, the evacuation area can be designated from the emergency vehicle 1 to the general vehicle 2, so that the general vehicle 2 can contact the emergency vehicle 1 or have a rear-end collision. It can be effectively prevented. As a result, the emergency vehicle 1 does not need to slow down so much when the general vehicle 2 is overtaken, so that the arrival time to the destination can be shortened.
　以下の説明では、緊急車両情報３０、緊急走行状態３０ａ、現在時刻３０ｂ、現在位置３０ｃ、走行速度３０ｄ、走行方向３０ｅ、安全距離３０ｆ、及び接近情報提供距離３０ｇを、これらの末尾に付した符号を省略して表記する。 In the following description, the emergency vehicle information 30, the emergency traveling state 30a, the current time 30b, the current position 30c, the traveling speed 30d, the traveling direction 30e, the safety distance 30f, and the approach information providing distance 30g are added to the end of these symbols. Is omitted.
　また、以下では、一般車両２と緊急車両１との間の距離を単に「車両間距離」と表記する。この車両間距離は、道路に沿って計算された、一般車両２と緊急車両１との間の距離を意味する。 In the following, the distance between the general vehicle 2 and the emergency vehicle 1 is simply referred to as “inter-vehicle distance”. This inter-vehicle distance means the distance between the general vehicle 2 and the emergency vehicle 1 calculated along the road.
　図２に戻って説明を行う。地図データベース２２は、地図情報や、道路形状、車線、高速道路、建物などの道路環境情報が記憶されている。地図データベース２２は、記憶している地図情報などを制御部２５に供給する。ＧＰＳ受信機２３は、複数のＧＰＳ衛星から、測位用データを含む下り回線データを搬送する電波を受信する。測位用データは、緯度及び経度情報等から一般車両２の絶対的な位置を検出するために用いられる。ＧＰＳ受信機２３は、検出した一般車両２の位置を制御部２５に供給する。なお、ＧＰＳ受信機２３の代わりに自立測位センサを用いて、マップマッチングなどにより一般車両２の位置を検出しても良い、車両情報取得部２４は、一般車両２に設けられた車速センサが検出した速度などを車両情報として取得する。車両情報取得部２４は、取得した車両情報を制御部２５に供給する。 Referring back to FIG. The map database 22 stores map information and road environment information such as road shapes, lanes, highways, and buildings. The map database 22 supplies the stored map information and the like to the control unit 25. The GPS receiver 23 receives radio waves carrying downlink data including positioning data from a plurality of GPS satellites. The positioning data is used to detect the absolute position of the general vehicle 2 from latitude and longitude information. The GPS receiver 23 supplies the detected position of the general vehicle 2 to the control unit 25. The position of the general vehicle 2 may be detected by map matching or the like using an independent positioning sensor instead of the GPS receiver 23. The vehicle information acquisition unit 24 is detected by a vehicle speed sensor provided in the general vehicle 2. The obtained speed is acquired as vehicle information. The vehicle information acquisition unit 24 supplies the acquired vehicle information to the control unit 25.
　制御部２５は、緊急車両位置推定部２５ａ及び情報提供判断部２５ｂを有する。緊急車両位置推定部２５ａは、緊急車両情報が正常に受信されなかった場合に、緊急車両１の位置を推定する。具体的には、緊急車両位置推定部２５ａは、以前に正常に受信された緊急車両情報、例えば緊急車両１の位置、速度、及び走行方向、及び、地図データベース２２に記憶された地図情報に基づいて、緊急車両１の位置を推定する。このような推定を行うのは、車車間通信は道路形状、建造物、走行車両、通信量（例えば通信過多）などの環境により影響を受けやすいため、緊急車両１から所定周期で同報配信される緊急車両情報を受信できない場合があるからである。つまり、後述する情報提供判断部２５ｂでの情報提供判断処理は緊急車両情報の受信により開始されるため、受信できない場合には当該処理を行うことができないことになるからである。したがって、これらを防止するために、緊急車両１の位置の推定を行っている。 The control unit 25 includes an emergency vehicle position estimation unit 25a and an information provision determination unit 25b. The emergency vehicle position estimation unit 25a estimates the position of the emergency vehicle 1 when the emergency vehicle information is not normally received. Specifically, the emergency vehicle position estimation unit 25a is based on emergency vehicle information that has been normally received before, for example, the position, speed, and traveling direction of the emergency vehicle 1, and map information stored in the map database 22. Thus, the position of the emergency vehicle 1 is estimated. Such estimation is performed because the inter-vehicle communication is easily affected by the environment such as the road shape, the building, the traveling vehicle, and the communication volume (for example, excessive communication), and is therefore broadcast from the emergency vehicle 1 at a predetermined cycle. This is because emergency vehicle information may not be received. In other words, the information provision determination process in the information provision determination unit 25b, which will be described later, is started when the emergency vehicle information is received, and therefore the process cannot be performed if the information cannot be received. Therefore, in order to prevent these, the position of the emergency vehicle 1 is estimated.
　情報提供判断部２５ｂは、緊急車両情報に基づいて、ドライバに対して２ステップで段階的に情報提供を行うための処理、具体的には情報提供判断処理を行う。前述したように、最初に接近情報提供が行われ、その後に退避案内が行われる。この場合、情報提供判断部２５ｂは、接近情報提供を行うタイミング、及び退避案内を行うタイミングについての判断を行う。具体的には、情報提供判断部２５ｂは、車車間通信機２１より緊急車両情報として取得された接近情報提供距離に基づいて、接近情報提供を行うタイミング（以下、「接近情報提供タイミング」と呼ぶ。）を決める。詳しくは、情報提供判断部２５ｂは、一般車両２と緊急車両１との車両間距離が接近情報提供距離以下になった際に、接近情報提供を行うべきであると判断する。 The information provision determination unit 25b performs a process for providing information step by step to the driver based on the emergency vehicle information, specifically, an information provision determination process. As described above, the approach information is provided first, and then the evacuation guidance is performed. In this case, the information provision determination unit 25b determines the timing for providing approach information and the timing for performing retraction guidance. Specifically, the information provision determination unit 25b performs the approach information provision based on the approach information provision distance acquired as emergency vehicle information from the inter-vehicle communication device 21 (hereinafter referred to as “approach information provision timing”). .) Specifically, the information provision determination unit 25b determines that the approach information should be provided when the inter-vehicle distance between the general vehicle 2 and the emergency vehicle 1 is equal to or less than the approach information provision distance.
　また、情報提供判断部２５ｂは、車車間通信機２１より緊急車両情報として取得された安全距離などに基づいて、退避案内を行うタイミング（以下、「退避案内タイミング」と呼ぶ。）を求める。具体的には、情報提供判断部２５ｂは、一般車両２が退避行動を行って停止した際に一般車両２と緊急車両１との間に安全距離が確保されるように、言い換えると一般車両２と緊急車両１との車両間距離が安全距離となった時点で一般車両２が少なくとも退避状態となっているように、退避案内タイミングを求める。詳しくは、情報提供判断部２５ｂは、一般車両２が退避行動を行って停止した際に一般車両２と緊急車両１との間に安全距離が確保されるように、退避行動すべきことを報知すべき、一般車両２と緊急車両１との間の距離（以下、「退避案内距離」と呼ぶ。）を算出する。例えば、情報提供判断部２５ｂは、緊急車両１の速度、一般車両２の速度、一般車両２と緊急車両１との車両間距離、安全距離、及び一般車両２の制動特性に基づいて、退避案内距離を算出する。そして、情報提供判断部２５ｂは、一般車両２と緊急車両１との車両間距離が退避案内距離以下になった際に退避案内を行うべきであると判断する。このように本実施例では、退避エリア内で一般車両２が停止できるように、一般車両２側で自車状況を判断して、適切なタイミングで退避案内を行う。 Also, the information provision determination unit 25b obtains a timing for performing evacuation guidance (hereinafter referred to as “evacuation guidance timing”) based on the safety distance acquired as emergency vehicle information from the inter-vehicle communication device 21. Specifically, the information provision determination unit 25b ensures that a safety distance is secured between the general vehicle 2 and the emergency vehicle 1 when the general vehicle 2 stops by performing a retreating action, in other words, the general vehicle 2. When the distance between the vehicle and the emergency vehicle 1 becomes a safe distance, the retraction guide timing is obtained so that the general vehicle 2 is at least in the retreated state. Specifically, the information provision determination unit 25b informs that the retreat action should be performed so that a safe distance is secured between the general vehicle 2 and the emergency vehicle 1 when the general vehicle 2 is retreated and stopped. The distance between the general vehicle 2 and the emergency vehicle 1 (hereinafter referred to as “retraction guide distance”) to be calculated is calculated. For example, the information provision determination unit 25b may guide the evacuation based on the speed of the emergency vehicle 1, the speed of the general vehicle 2, the distance between the general vehicle 2 and the emergency vehicle 1, the safety distance, and the braking characteristics of the general vehicle 2. Calculate the distance. Then, the information provision determination unit 25b determines that the retreat guidance should be performed when the inter-vehicle distance between the general vehicle 2 and the emergency vehicle 1 is equal to or less than the retraction guide distance. As described above, in this embodiment, the general vehicle 2 side determines the host vehicle status and performs retraction guidance at an appropriate timing so that the general vehicle 2 can stop within the retreat area.
　ここで、退避案内は安全距離を保証する最後のタイミングに相当するため、接近情報提供が行われた直後に退避行動が行われた場合には、情報提供判断部２５ｂは、退避案内を行わないとの決定を出すことができる。こうすることで、心理的に退避行動を促す効果が見込め、ドライバの煩わしさを減少させることができる。 Here, since the evacuation guidance corresponds to the final timing for guaranteeing the safe distance, the information provision determination unit 25b does not perform the evacuation guidance when the evacuation action is performed immediately after the approach information is provided. Can make a decision. By doing so, the effect of psychologically encouraging the evacuation action can be expected, and the troublesomeness of the driver can be reduced.
　また、情報提供判断部２５ｂは、退避案内を行ってから一般車両２が速度を上げた場合には、ドライバに対して警告を発するための決定を出すことができる。更に、情報提供判断部２５ｂは、緊急車両１又は一般車両２の速度によっては、例えば緊急車両１又は一般車両２の速度が所定速度よりも大きい場合、接近情報提供を行わないで退避案内を行うとの決定を出すことができる。 Also, the information provision determination unit 25b can make a decision to issue a warning to the driver when the general vehicle 2 increases the speed after performing the evacuation guidance. Further, depending on the speed of the emergency vehicle 1 or the general vehicle 2, the information provision determination unit 25 b performs the evacuation guidance without providing the approach information when the speed of the emergency vehicle 1 or the general vehicle 2 is greater than a predetermined speed, for example. Can make a decision.
　上記のような緊急車両位置推定部２５ａ及び情報提供判断部２５ｂによって行われる処理は、運転支援装置２０内の図示しないＣＰＵ（Ｃｅｎｔｒａｌ　Ｐｒｏｃｅｓｓｉｎｇ　Ｕｎｉｔ）が、ＲＯＭ（Ｒｅａｄ　Ｏｎｌｙ　Ｍｅｍｏｒｙ）に記憶されたプログラムを読み出すことで実行される。 The processing performed by the emergency vehicle position estimation unit 25a and the information provision determination unit 25b as described above is performed by a CPU (Central Processing Unit) (not shown) in the driving support device 20 that stores a program stored in a ROM (Read Only Memory). It is executed by reading.
　報知部２７は、情報提供判断部２５ｂの判断に基づいて、具体的には情報提供判断部２５ｂが求めた接近情報提供タイミング及び退避案内タイミングで、接近情報提供及び退避案内についての報知を行う。この場合、報知部２７は、接近情報提供及び退避案内に関する情報を、図示しない表示部に表示させる、及び／又はスピーカより音声出力させる。例えば、報知部２７は、接近情報提供を行う場合には「緊急車両が接近中です」といった情報を報知する。また、報知部２７は、退避案内を行う場合には「退避行動を行って下さい」といった情報を報知する。 The notification unit 27 performs notification about the approach information provision and the evacuation guidance based on the determination of the information provision judgment unit 25b, specifically, at the approach information provision timing and the evacuation guide timing obtained by the information provision judgment unit 25b. In this case, the alerting | reporting part 27 displays the information regarding approach information provision and evacuation guidance on the display part which is not shown in figure, and / or outputs a sound from a speaker. For example, when providing the approach information, the notification unit 27 notifies information such as “an emergency vehicle is approaching”. In addition, the notification unit 27 notifies information such as “please perform evacuation action” when performing evacuation guidance.
　このように、運転支援装置２０は、本発明における緊急車両情報受信手段、第１報知手段、第２報知手段、及び緊急車両位置推定手段として機能する。具体的には、車車間通信機２１が緊急車両情報受信手段として機能し、情報提供判断部２５ｂ及び報知部２７が第１報知手段及び第２報知手段として機能し、緊急車両位置推定部２５ａが緊急車両位置推定手段として機能する。 Thus, the driving support device 20 functions as emergency vehicle information receiving means, first notification means, second notification means, and emergency vehicle position estimation means in the present invention. Specifically, the inter-vehicle communication device 21 functions as an emergency vehicle information receiving unit, the information provision determination unit 25b and the notification unit 27 function as a first notification unit and a second notification unit, and the emergency vehicle position estimation unit 25a Functions as emergency vehicle position estimation means.
　以上説明した運転支援装置２０によれば、一般車両２の状態に応じたタイミングで、適切に退避案内を行うことができる。これにより、退避案内により退避行動を行う限界が明確となるため、一般車両２のドライバが退避行動を行う位置及びタイミングがわかりやすくなり、退避行動の迷いや遅れ等を減少させることが可能となる。
［接近情報提供タイミング及び退避案内タイミング］
　次に、図４を参照して、接近情報提供タイミング及び退避案内タイミングについて具体的に説明する。図４は、横軸に時間を示し、縦軸に速度を示している。ここでは、説明の便宜上、緊急車両１の速度が「Ｖ１＝０」である場合について説明する。また、一般車両２の速度は「Ｖ２」である。 According to the driving support device 20 described above, the retreat guidance can be appropriately performed at the timing according to the state of the general vehicle 2. As a result, the limit for performing the retreat action is clarified by the retreat guidance, so that the position and timing at which the driver of the general vehicle 2 performs the retreat action can be easily understood, and it is possible to reduce the evacuation action's ambiguity and delay. .
[Access information provision timing and evacuation guidance timing]
Next, with reference to FIG. 4, the approach information provision timing and the evacuation guidance timing will be specifically described. FIG. 4 shows time on the horizontal axis and speed on the vertical axis. Here, for convenience of explanation, a case where the speed of the emergency vehicle 1 is “V1 = 0” will be described. The speed of the general vehicle 2 is “V2”.
　時刻ｔ１で、接近情報提供が行われる。つまり、時刻ｔ１は接近情報提供タイミングに相当する。基本的には、この接近情報提供タイミングは、情報提供判断部２５ｂによって、緊急車両１から配信される接近情報提供距離に基づいて決定される。具体的には、情報提供判断部２５ｂは、一般車両２と緊急車両１との車両間距離が接近情報提供距離になったタイミングを、接近情報提供タイミングとする。 Access information is provided at time t1. That is, time t1 corresponds to the approach information provision timing. Basically, the approach information provision timing is determined based on the approach information provision distance distributed from the emergency vehicle 1 by the information provision determination unit 25b. Specifically, the information provision determination unit 25b sets the timing at which the inter-vehicle distance between the general vehicle 2 and the emergency vehicle 1 becomes the approach information provision distance as the approach information provision timing.
　一方で、情報提供判断部２５ｂは、一般車両２と緊急車両１との車両間距離が接近情報提供距離より大きい場合は、接近情報提供を行わない。こうするのは、接近情報提供は退避行動を促す意味を持つので、早期に提供しすぎることで却って運転に支障を及ぼしたり、ナビ情報が制限されたりするため、運転に弊害が生じることがあるからである。また、道路環境により電波の届く範囲が異なるため、情報を受けてから退避行動を行うまでの時間にばらつきが生じることになり、退避行動を行うタイミングをその都度ドライバが考える必要が生じてしまうからである。更に、ドライバによりタイミングの考え方が異なるため、緊急車両１から見ると一貫性のある退避行動とならずに、緊急車両１の運転に支障が出ることにもなるからである。よって、接近情報提供タイミングはある程度そろっていることが望ましいと言える。 On the other hand, when the distance between the general vehicle 2 and the emergency vehicle 1 is greater than the approach information provision distance, the information provision determination unit 25b does not provide the approach information. This is because providing access information has the meaning of encouraging evacuation behavior, so providing it too early may interfere with driving or restrict navigation information, which may cause adverse effects on driving. Because. In addition, because the range of radio waves varies depending on the road environment, the time from when information is received to when the evacuation action is performed varies, and the driver needs to consider the timing of the evacuation action each time. It is. In addition, since the timing concept varies depending on the driver, the driving operation of the emergency vehicle 1 may be hindered without a consistent retreat behavior when viewed from the emergency vehicle 1. Therefore, it can be said that it is desirable that the timing for providing the approach information is consistent to some extent.
　なお、情報提供判断部２５ｂは、例えば普通車、二輪車、大型車などの車種に応じて、接近情報提供距離をオフセットした距離に基づいて、接近情報提供タイミングを決定しても良い。つまり、車種により退避行動に移行するまでの時間に差を持たせても良い。例えば、二輪車は四輪車の退避による巻き込みの危険性があるので、情報提供判断部２５ｂは、二輪車について、接近情報提供タイミングを四輪車よりも早めに設定することができる。こうすることで、二輪車のすり抜けなどを抑止することができ、普通車などの退避行動による接触事故などを防止することが可能となる。この場合、周囲の車両に接近情報提供がどのようなタイミングで行われているかをドライバが認知しやすくなる意味においても、接近情報提供距離を設定することが望ましいと言える。 Note that the information provision determination unit 25b may determine the approach information provision timing based on a distance obtained by offsetting the approach information provision distance, for example, according to a vehicle type such as a normal vehicle, a motorcycle, or a large vehicle. In other words, the time required to shift to the retreat action may vary depending on the vehicle type. For example, since a two-wheeled vehicle has a risk of being involved due to the retreat of a four-wheeled vehicle, the information provision determining unit 25b can set the approach information provision timing for the two-wheeled vehicle earlier than the four-wheeled vehicle. By doing so, it is possible to prevent the motorcycle from slipping through, and it is possible to prevent a contact accident caused by a retreating behavior of a normal vehicle or the like. In this case, it can be said that it is desirable to set the approach information provision distance in the sense that the driver can easily recognize at what timing the approach information is provided to the surrounding vehicles.
　次に、時刻ｔ２で、退避案内が行われる。つまり、時刻ｔ２は、退避案内タイミングに相当する。このように退避案内が行われることで、一般車両２のドライバがブレーキを踏んで減速を行うことにより、時刻ｔ３で一般車両２が停止する。 Next, evacuation guidance is performed at time t2. That is, the time t2 corresponds to the evacuation guidance timing. By performing the evacuation guidance in this manner, the driver of the general vehicle 2 depresses the brake and decelerates, so that the general vehicle 2 stops at time t3.
　時刻ｔ２の退避案内タイミングは、情報提供判断部２５ｂによって、緊急車両１から配信される安全距離などに基づいて決定される。具体的には、情報提供判断部２５ｂは、一般車両２が退避行動を行って停止した際に一般車両２と緊急車両１との間に安全距離が確保されるように、退避案内タイミングを求める。この場合、情報提供判断部２５ｂは、緊急車両１の速度、一般車両２の速度、一般車両２と緊急車両１との車両間距離、安全距離、及び一般車両２の制動特性に基づいて、退避案内タイミングを求める。こうしているのは、減速時における速度の傾きＫが車種や制動特性などにより異なり、また、退避案内してから停止までに要する時間Ｔ１が走行速度Ｖ２などにより変わるからである。したがって、情報提供判断部２５ｂは、これらを考慮して、退避案内タイミングを決定する。具体的には、情報提供判断部２５ｂは、前述したような手順で退避案内距離を算出し、これに基づいて退避案内タイミングを決定する。 The evacuation guidance timing at time t2 is determined by the information provision determination unit 25b based on the safety distance delivered from the emergency vehicle 1 or the like. Specifically, the information provision determination unit 25b obtains the evacuation guidance timing so that a safe distance is secured between the ordinary vehicle 2 and the emergency vehicle 1 when the ordinary vehicle 2 stops due to the evacuation action. . In this case, the information provision determination unit 25b retreats based on the speed of the emergency vehicle 1, the speed of the general vehicle 2, the distance between the general vehicle 2 and the emergency vehicle 1, the safety distance, and the braking characteristics of the general vehicle 2. Find the guidance timing. This is because the speed gradient K at the time of deceleration varies depending on the vehicle type, braking characteristics, etc., and the time T1 required from the retraction guide to the stop varies depending on the traveling speed V2. Therefore, the information provision determination unit 25b determines the evacuation guidance timing in consideration of these. Specifically, the information provision determination unit 25b calculates the evacuation guide distance by the procedure as described above, and determines the evacuation guide timing based on the calculated distance.
　なお、情報提供判断部２５ｂは、一般車両２の制動特性を学習しておき、学習された制動特性を考慮して退避案内タイミングを決定しても良い。具体的には、通常走行時において情報提供してから停止するまでの車両特性を学習しておくことができる。例えば、ブレーキ操作に対するブレーキの利き具合を学習することができる。こうすることにより、制動距離を精度良く把握することができ、より適切な退避案内距離を算出することが可能となる。 In addition, the information provision determination part 25b may learn the braking characteristic of the general vehicle 2, and may determine the evacuation guidance timing in consideration of the learned braking characteristic. Specifically, it is possible to learn vehicle characteristics from when information is provided to when the vehicle stops during normal driving. For example, it is possible to learn how the brake works with respect to the brake operation. By doing so, it is possible to accurately grasp the braking distance and to calculate a more appropriate retraction guide distance.
　また、情報提供判断部２５ｂは、ドライバの運転パターンを学習しておき、学習された運転パターンを考慮して退避案内タイミングを決定しても良い。具体的には、以前の退避行動パターンを解析及び記憶しておくことができる。例えば、退避行動時におけるドライバの認知時間やブレーキ操作やハンドル操作を、退避行動パターンとして解析及び記憶しておくことができる。こうすることにより、退避案内タイミングを個人特性にあったタイミングに適切に調整することができる。
［情報提供判断の具体例］
　次に、図５乃至図８を参照して、情報提供判断の具体例について説明する。 In addition, the information provision determination unit 25b may learn the driving pattern of the driver and determine the evacuation guide timing in consideration of the learned driving pattern. Specifically, the previous evacuation behavior pattern can be analyzed and stored. For example, it is possible to analyze and store a driver's recognition time, a brake operation, and a steering wheel operation during a retreat action as a retreat action pattern. By doing so, the evacuation guidance timing can be appropriately adjusted to a timing that suits individual characteristics.
[Specific examples of information provision judgment]
Next, specific examples of information provision determination will be described with reference to FIGS.
　図５は、緊急車両１が一般車両２の後方から接近する場合の具体例を示す図である。矢印Ａ１ａは緊急車両１の走行方向を示し、矢印Ａ１ｂは一般車両２の走行方向を示している。ここでは、説明の便宜上、緊急車両１を位置Ｐ１ａに固定した場合を考える。また、図５では、一般車両２が位置Ｐ１ｃを走行している場合を例示している。 FIG. 5 is a diagram showing a specific example when the emergency vehicle 1 approaches from the rear of the general vehicle 2. Arrow A1a indicates the traveling direction of the emergency vehicle 1, and arrow A1b indicates the traveling direction of the general vehicle 2. Here, for convenience of explanation, consider a case where the emergency vehicle 1 is fixed at the position P1a. Moreover, in FIG. 5, the case where the general vehicle 2 is drive | working the position P1c is illustrated.
　位置Ｐ１ａと位置Ｐ１ｂとの距離Ｄ１ｂは接近情報提供距離に相当し、位置Ｐ１ａと位置Ｐ１ｃとの距離Ｄ１ｃは退避案内距離に相当し、位置Ｐ１ａと位置Ｐ１ｄとの距離Ｄ１ｄは安全距離に相当する。接近情報提供距離Ｄ１ｂ及び安全距離Ｄ１ｄは、緊急車両１によって配信される距離である。退避案内距離Ｄ１ｃは、一般車両２によって算出される距離である。具体的には、退避案内距離Ｄ１ｃは、前述したような手順で、運転支援装置２０内の情報提供判断部２５ｂによって算出される。 The distance D1b between the position P1a and the position P1b corresponds to the approach information providing distance, the distance D1c between the position P1a and the position P1c corresponds to the retraction guide distance, and the distance D1d between the position P1a and the position P1d corresponds to the safe distance. . The approach information providing distance D1b and the safety distance D1d are distances distributed by the emergency vehicle 1. The evacuation guide distance D1c is a distance calculated by the general vehicle 2. Specifically, the evacuation guide distance D1c is calculated by the information provision determination unit 25b in the driving support device 20 in the procedure as described above.
　情報提供判断部２５ｂは、一般車両２と緊急車両１との車両間距離が接近情報提供距離Ｄ１ｂよりも大きな距離Ｄ１ａである場合、言い換えると一般車両２が位置Ｐ１ｂよりも緊急車両１から離れた位置を走行している際、接近情報提供を行わない。次に、情報提供判断部２５ｂは、一般車両２と緊急車両１との車両間距離が接近情報提供距離Ｄ１ｂ以下となった際に、接近情報提供を行う。次に、情報提供判断部２５ｂは、一般車両２と緊急車両１との車両間距離が退避案内距離Ｄ１ｃとなった際に、退避案内を行う。このような退避案内に従って退避行動を行った場合、一般車両２は、緊急車両１との間に安全距離Ｄ１ｄ以上の距離を残した位置で停止することとなる。 When the distance between the general vehicle 2 and the emergency vehicle 1 is a distance D1a larger than the approach information provision distance D1b, in other words, the information provision determination unit 25b is separated from the emergency vehicle 1 more than the position P1b. Do not provide access information when driving through a location. Next, the information provision judgment part 25b provides approach information when the distance between the general vehicle 2 and the emergency vehicle 1 becomes the approach information provision distance D1b or less. Next, the information provision judgment part 25b performs evacuation guidance when the distance between the general vehicle 2 and the emergency vehicle 1 becomes the evacuation guidance distance D1c. When the evacuation action is performed according to such evacuation guidance, the general vehicle 2 stops at a position where a distance equal to or greater than the safety distance D1d is left with the emergency vehicle 1.
　なお、例えば、一般車両２と緊急車両１との車両間距離が安全距離Ｄ１ｄ未満となっても一般車両２がまだ停止していない場合や、退避案内を行ってから一般車両２が速度を上げた場合には、情報提供判断部２５ｂはドライバに対して警告を発する。 Note that, for example, when the distance between the general vehicle 2 and the emergency vehicle 1 is less than the safety distance D1d, the general vehicle 2 has not stopped yet, or the general vehicle 2 increases its speed after performing the retreat guidance. If the information is provided, the information provision determination unit 25b issues a warning to the driver.
　図６は、緊急車両１が一般車両２の前方から接近する場合の具体例を示す図である。矢印Ａ２ａは緊急車両１の走行方向を示し、矢印Ａ２ｂは一般車両２の走行方向を示している。ここでは、説明の便宜上、緊急車両１を位置Ｐ２ａに固定した場合を考える。また、図６では、一般車両２が位置Ｐ２ｃを走行している場合を例示している。 FIG. 6 is a diagram illustrating a specific example when the emergency vehicle 1 approaches from the front of the general vehicle 2. Arrow A2a indicates the traveling direction of the emergency vehicle 1, and arrow A2b indicates the traveling direction of the general vehicle 2. Here, for convenience of explanation, consider a case where the emergency vehicle 1 is fixed at the position P2a. Moreover, in FIG. 6, the case where the general vehicle 2 is drive | working the position P2c is illustrated.
　位置Ｐ２ａと位置Ｐ２ｂとの距離Ｄ２ｂは接近情報提供距離に相当し、位置Ｐ２ａと位置Ｐ２ｃとの距離Ｄ２ｃは退避案内距離に相当し、位置Ｐ２ａと位置Ｐ２ｄとの距離Ｄ２ｄは安全距離に相当する。接近情報提供距離Ｄ２ｂ及び安全距離Ｄ２ｄは、緊急車両１によって配信される距離である。退避案内距離Ｄ２ｃは、一般車両２によって算出される距離である。具体的には、退避案内距離Ｄ２ｃは、前述したような手順で、運転支援装置２０内の情報提供判断部２５ｂによって算出される。緊急車両１が一般車両２の前方から接近する場合には、緊急車両１が一般車両２の後方から接近する場合と比較して、一般車両２と緊急車両１との車両間距離が速く減少することとなるため、例えば、退避案内距離Ｄ２ｃは上記した退避案内距離Ｄ１ｃよりも大きな値が算出される。 The distance D2b between the position P2a and the position P2b corresponds to the approach information providing distance, the distance D2c between the position P2a and the position P2c corresponds to the retraction guide distance, and the distance D2d between the position P2a and the position P2d corresponds to the safety distance. . The approach information provision distance D2b and the safety distance D2d are distances distributed by the emergency vehicle 1. The retreat guide distance D2c is a distance calculated by the general vehicle 2. Specifically, the evacuation guide distance D2c is calculated by the information provision determination unit 25b in the driving support device 20 in the procedure as described above. When the emergency vehicle 1 approaches from the front of the general vehicle 2, the inter-vehicle distance between the general vehicle 2 and the emergency vehicle 1 decreases more quickly than when the emergency vehicle 1 approaches from the rear of the general vehicle 2. Therefore, for example, the retraction guide distance D2c is calculated to be larger than the retraction guide distance D1c described above.
　情報提供判断部２５ｂは、一般車両２と緊急車両１との車両間距離が接近情報提供距離Ｄ２ｂよりも大きな距離Ｄ２ａである場合、言い換えると一般車両２が位置Ｐ２ｂよりも緊急車両１から離れた位置を走行している際、接近情報提供を行わない。次に、情報提供判断部２５ｂは、一般車両２と緊急車両１との車両間距離が接近情報提供距離Ｄ２ｂとなった際に、接近情報提供を行う。次に、情報提供判断部２５ｂは、一般車両２と緊急車両１との車両間距離が退避案内距離Ｄ２ｃとなった際に、退避案内を行う。このような退避案内に従って退避行動を行った場合、一般車両２は、緊急車両１との間に安全距離Ｄ２ｄ以上の距離を残した位置で停止することとなる。 When the distance between the general vehicle 2 and the emergency vehicle 1 is a distance D2a larger than the approach information provision distance D2b, in other words, the general information vehicle 2 is separated from the emergency vehicle 1 more than the position P2b. Do not provide access information when driving through a location. Next, the information provision judgment part 25b provides approach information when the distance between the general vehicle 2 and the emergency vehicle 1 becomes the approach information provision distance D2b. Next, the information provision judgment part 25b performs evacuation guidance when the distance between the general vehicle 2 and the emergency vehicle 1 becomes the evacuation guidance distance D2c. When the evacuation action is performed according to such evacuation guidance, the general vehicle 2 stops at a position where a distance equal to or greater than the safety distance D2d is left with the emergency vehicle 1.
　なお、例えば、一般車両２と緊急車両１との車両間距離が安全距離Ｄ２ｄ未満となっても一般車両２がまだ停止していない場合や、退避案内を行ってから一般車両２が速度を上げた場合には、情報提供判断部２５ｂはドライバに対して警告を発する。 Note that, for example, when the distance between the ordinary vehicle 2 and the emergency vehicle 1 is less than the safety distance D2d, the ordinary vehicle 2 has not stopped yet, or the ordinary vehicle 2 increases its speed after performing the retreat guidance. If the information is provided, the information provision determination unit 25b issues a warning to the driver.
　図７は、一般車両２が交差点に進入する場合の具体例を示す図である。この場合、基本的には、緊急車両１が一般車両２の前方から接近する場合（図６参照）と同様の手順で情報提供判断処理が行われる。つまり、交差点に進入する場合は、直線道路での前方接近を折り曲げたものと同等の扱いとなる。 FIG. 7 is a diagram showing a specific example when the general vehicle 2 enters the intersection. In this case, basically, the information provision determination process is performed in the same procedure as when the emergency vehicle 1 approaches from the front of the general vehicle 2 (see FIG. 6). That is, when approaching an intersection, it is handled in the same way as a folded forward approach on a straight road.
　矢印Ａ３ａは緊急車両１の走行方向を示し、矢印Ａ３ｂは一般車両２の走行方向を示している。ここでは、説明の便宜上、緊急車両１を位置Ｐ３ａに固定した場合を考える。また、図７では、一般車両２が位置Ｐ３ｃを走行している場合を例示している。 Arrow A3a indicates the traveling direction of the emergency vehicle 1, and arrow A3b indicates the traveling direction of the general vehicle 2. Here, for convenience of explanation, consider a case where the emergency vehicle 1 is fixed at the position P3a. Moreover, in FIG. 7, the case where the general vehicle 2 is drive | working the position P3c is illustrated.
　符号Ｎ１は、一般車両２及び緊急車両１が到達する次の交差点（即ちノード）を示している。このような交差点Ｎ１は、一般車両２によって算出される。具体的には、運転支援装置２０内の情報提供判断部２５ｂが、緊急車両情報として受信された緊急車両１の現在位置及び走行方向を、地図データベース２２に記憶された地図情報に照らし合わせ、道路リンクを進行方向に辿ることで、緊急車両１が到達する次の交差点を求める。そして、情報提供判断部２５ｂは、一般車両位置の前後方向に所定距離だけ道路リンクを辿って行き、緊急車両１の次の交差点位置に相当する交差点を探索する。情報提供判断部２５ｂは、当該検索により交差点が検出された場合には、探索経路の距離に基づいて、前述したような情報提供判断処理を行う。 The symbol N1 indicates the next intersection (that is, node) where the general vehicle 2 and the emergency vehicle 1 arrive. Such an intersection N1 is calculated by the general vehicle 2. Specifically, the information provision determination unit 25b in the driving support device 20 compares the current position and traveling direction of the emergency vehicle 1 received as emergency vehicle information with the map information stored in the map database 22, and the road By following the link in the traveling direction, the next intersection where the emergency vehicle 1 arrives is obtained. Then, the information provision determination unit 25b follows the road link by a predetermined distance in the front-rear direction of the general vehicle position, and searches for an intersection corresponding to the next intersection position of the emergency vehicle 1. When an intersection is detected by the search, the information provision determination unit 25b performs the information provision determination process as described above based on the distance of the searched route.
　なお、このように一般車両２が交差点を検出することに限定されず、緊急車両１が検出した交差点を一般車両２に配信することとしても良い。この場合には、緊急車両１は、自車リンクの前方の所定距離内に交差点があるかを検索し、交差点が検出された場合に当該交差点の情報を一般車両２に配信する。そして、一般車両２は、こうして受信された交差点が、自車の道路リンク先に含まれるか否かを検索する。 Note that the general vehicle 2 is not limited to detecting the intersection as described above, and the intersection detected by the emergency vehicle 1 may be distributed to the general vehicle 2. In this case, the emergency vehicle 1 searches for an intersection within a predetermined distance in front of the host vehicle link, and distributes the information of the intersection to the general vehicle 2 when the intersection is detected. And the general vehicle 2 searches whether the intersection received in this way is included in the road link destination of the own vehicle.
　また、図７において、位置Ｐ３ａと位置Ｐ３ｂとの距離Ｄ３ｂは接近情報提供距離に相当し、位置Ｐ３ａと位置Ｐ３ｃとの距離Ｄ３ｃは退避案内距離に相当し、位置Ｐ３ａと位置Ｐ３ｄとの距離Ｄ３ｄは安全距離に相当する。接近情報提供距離Ｄ３ｂ及び安全距離Ｄ３ｄは、緊急車両１によって配信される距離である。退避案内距離Ｄ３ｃは、一般車両２によって算出される距離である。具体的には、退避案内距離Ｄ３ｃは、前述したような手順で、運転支援装置２０内の情報提供判断部２５ｂによって算出される。詳しくは、情報提供判断部２５ｂは、一般車両２が交差点Ｎ１内で退避行動を行わないように、退避案内距離Ｄ３ｃを算出する。つまり、情報提供判断部２５ｂは、一般車両２が退避行動を行って停止した際に、一般車両２が停止線Ｌ１の手前で停止できるような距離を、退避案内距離Ｄ３ｃとして算出する。 In FIG. 7, the distance D3b between the position P3a and the position P3b corresponds to the approach information provision distance, the distance D3c between the position P3a and the position P3c corresponds to the retraction guide distance, and the distance D3d between the position P3a and the position P3d. Corresponds to a safety distance. The approach information providing distance D3b and the safe distance D3d are distances distributed by the emergency vehicle 1. The evacuation guide distance D3c is a distance calculated by the general vehicle 2. Specifically, the evacuation guide distance D3c is calculated by the information provision determining unit 25b in the driving support device 20 in the procedure as described above. Specifically, the information provision determination unit 25b calculates a retreat guide distance D3c so that the general vehicle 2 does not retreat within the intersection N1. That is, the information provision determination unit 25b calculates, as the evacuation guide distance D3c, a distance at which the general vehicle 2 can stop before the stop line L1 when the general vehicle 2 stops by performing a retreat action.
　情報提供判断部２５ｂは、一般車両２と緊急車両１との車両間距離が接近情報提供距離Ｄ３ｂよりも大きな距離Ｄ３ａである場合、言い換えると一般車両２が位置Ｐ３ｂよりも緊急車両１から離れた位置を走行している際、接近情報提供を行わない。次に、情報提供判断部２５ｂは、一般車両２と緊急車両１との車両間距離が接近情報提供距離Ｄ３ｂとなった際に、接近情報提供を行う。次に、情報提供判断部２５ｂは、一般車両２と緊急車両１との車両間距離が退避案内距離Ｄ３ｃとなった際に、退避案内を行う。このような退避案内に従って退避行動を行った場合、一般車両２は、緊急車両１との間に安全距離Ｄ３ｄ以上の距離を残した位置で停止することとなる。例えば、緊急車両１が交差点Ｎ１までの安全距離Ｄ３ｄに近づいた時点で、退避行動により、一般車両２が交差点Ｎ１の停止線Ｌ１で停止することとなる。 When the distance between the general vehicle 2 and the emergency vehicle 1 is a distance D3a larger than the approach information provision distance D3b, in other words, the general information vehicle 2 is separated from the emergency vehicle 1 more than the position P3b. Do not provide access information when driving through a location. Next, the information provision determination part 25b provides approach information when the inter-vehicle distance between the general vehicle 2 and the emergency vehicle 1 becomes the approach information provision distance D3b. Next, the information provision judgment part 25b performs evacuation guidance when the distance between the general vehicle 2 and the emergency vehicle 1 becomes the evacuation guidance distance D3c. When the evacuation action is performed according to such evacuation guidance, the general vehicle 2 stops at a position where a distance equal to or greater than the safety distance D3d is left with the emergency vehicle 1. For example, when the emergency vehicle 1 approaches the safe distance D3d to the intersection N1, the general vehicle 2 stops at the stop line L1 at the intersection N1 due to the retreat action.
　図８は、一般車両２が交差点から退出する場合の具体例を示す図である。この場合、基本的には、緊急車両１が一般車両２の後方から接近する場合（図５参照）と同様の手順で情報提供判断処理が行われる。つまり、交差点から退出する場合は、直線道路での後方接近を折り曲げたものと同等の扱いとなる。 FIG. 8 is a diagram showing a specific example when the general vehicle 2 leaves the intersection. In this case, basically, the information provision determination process is performed in the same procedure as when the emergency vehicle 1 approaches from behind the general vehicle 2 (see FIG. 5). In other words, when exiting from an intersection, it is handled in the same way as folding back approach on a straight road.
　矢印Ａ４ａは緊急車両１の走行方向を示し、矢印Ａ４ｂは一般車両２の走行方向を示している。ここでは、説明の便宜上、緊急車両１を位置Ｐ４ａに固定した場合を考える。また、図８では、一般車両２が位置Ｐ４ｃを走行している場合を例示している。符号Ｎ２は、緊急車両１が到達する次の交差点を示している。このような交差点Ｎ２は、前述しように、一般車両２又は緊急車両１によって検出される。 Arrow A4a indicates the traveling direction of the emergency vehicle 1, and arrow A4b indicates the traveling direction of the general vehicle 2. Here, for convenience of explanation, consider a case where the emergency vehicle 1 is fixed at the position P4a. Moreover, in FIG. 8, the case where the general vehicle 2 is drive | working the position P4c is illustrated. The symbol N2 indicates the next intersection that the emergency vehicle 1 will reach. Such an intersection N2 is detected by the general vehicle 2 or the emergency vehicle 1 as described above.
　位置Ｐ４ａと位置Ｐ４ｂとの距離Ｄ４ｂは接近情報提供距離に相当し、位置Ｐ４ａと位置Ｐ４ｃとの距離Ｄ４ｃは退避案内距離に相当し、位置Ｐ４ａと位置Ｐ４ｄとの距離Ｄ４ｄは安全距離に相当する。接近情報提供距離Ｄ４ｂ及び安全距離Ｄ４ｄは、緊急車両１によって配信される距離である。退避案内距離Ｄ４ｃは、一般車両２によって算出される距離である。具体的には、退避案内距離Ｄ４ｃは、前述したような手順で、運転支援装置２０内の情報提供判断部２５ｂによって算出される。詳しくは、情報提供判断部２５ｂは、一般車両２が交差点Ｎ２内で退避行動を行わないように、退避案内距離Ｄ４ｃを算出する。つまり、情報提供判断部２５ｂは、一般車両２が交差点Ｎ２を退出した位置で停止できるような距離を、退避案内距離Ｄ４ｃとして算出する。この場合、情報提供判断部２５ｂは、例えば、一般車両２の位置が交差点Ｎ２内である場合には退避案内タイミングを遅延させることとなる。 The distance D4b between the position P4a and the position P4b corresponds to the approach information providing distance, the distance D4c between the position P4a and the position P4c corresponds to the retraction guide distance, and the distance D4d between the position P4a and the position P4d corresponds to the safe distance. . The approach information provision distance D4b and the safety distance D4d are distances distributed by the emergency vehicle 1. The evacuation guide distance D4c is a distance calculated by the general vehicle 2. Specifically, the evacuation guide distance D4c is calculated by the information provision determination unit 25b in the driving support device 20 in the procedure as described above. Specifically, the information provision determination unit 25b calculates the retreat guide distance D4c so that the general vehicle 2 does not retreat within the intersection N2. In other words, the information provision determination unit 25b calculates a distance at which the general vehicle 2 can stop at the position where the general vehicle 2 leaves the intersection N2 as the retraction guide distance D4c. In this case, for example, when the position of the general vehicle 2 is within the intersection N2, the information provision determination unit 25b delays the evacuation guidance timing.
　情報提供判断部２５ｂは、一般車両２と緊急車両１との車両間距離が接近情報提供距離Ｄ４ｂよりも大きな距離Ｄ４ａである場合、言い換えると一般車両２が位置Ｐ４ｂよりも緊急車両１から離れた位置を走行している際、接近情報提供を行わない。次に、情報提供判断部２５ｂは、一般車両２と緊急車両１との車両間距離が接近情報提供距離Ｄ４ｂとなった際に、接近情報提供を行う。次に、情報提供判断部２５ｂは、一般車両２と緊急車両１との車両間距離が退避案内距離Ｄ４ｃとなった際に、退避案内を行う。このような退避案内に従って退避行動を行った場合、一般車両２は、緊急車両１との間に安全距離Ｄ４ｄ以上の距離を残した位置で停止することとなる。
［情報提供判断処理のフロー］
　次に、図９及び図１１を参照して、情報提供判断処理について具体的に説明する。 When the distance between the general vehicle 2 and the emergency vehicle 1 is a distance D4a larger than the approach information provision distance D4b, in other words, the general information vehicle 2 is separated from the emergency vehicle 1 more than the position P4b. Do not provide access information when driving through a location. Next, the information provision judgment part 25b provides approach information when the distance between the general vehicle 2 and the emergency vehicle 1 becomes the approach information provision distance D4b. Next, the information provision judgment part 25b performs evacuation guidance when the distance between the general vehicle 2 and the emergency vehicle 1 becomes the evacuation guidance distance D4c. When the evacuation action is performed according to such evacuation guidance, the general vehicle 2 stops at a position where a distance equal to or greater than the safety distance D4d is left with the emergency vehicle 1.
[Flow of information determination process]
Next, the information provision determination process will be specifically described with reference to FIGS. 9 and 11.
　図９は、情報提供判断処理における全体処理を示すフローチャートである。この処理は、運転支援装置２０によって所定の周期で繰り返し実行される。具体的には、当該処理は、緊急車両情報を受信するたびに実行され、緊急車両１が一般車両２を通り過ぎた後に、一般車両２と緊急車両１との車両間距離が所定距離以上になった時点で終了する。若しくは、緊急走行状態が解除された時点で終了する。なお、当該処理は、例えばＣＰＵがＲＯＭに記憶されたプログラムを読み出すことで実行される。 FIG. 9 is a flowchart showing the entire process in the information provision determination process. This process is repeatedly executed at a predetermined cycle by the driving support device 20. Specifically, this processing is executed every time emergency vehicle information is received, and after the emergency vehicle 1 passes the general vehicle 2, the distance between the general vehicle 2 and the emergency vehicle 1 becomes a predetermined distance or more. It ends at the point. Or, it ends when the emergency running state is canceled. Note that this processing is executed, for example, when the CPU reads a program stored in the ROM.
　まず、ステップＳ１０１では、運転支援装置２０は、緊急車両１が配信した緊急車両情報を受信する。具体的には、運転支援装置２０内の車車間通信機２１が緊急車両情報を受信する。そして、処理はステップＳ１０２に進む。なお、緊急車両情報が正常に受信されなかった場合には、後述する緊急車両位置推定処理で推定された緊急車両位置などを用いて、以降の処理が行われる。 First, in step S101, the driving support device 20 receives emergency vehicle information distributed by the emergency vehicle 1. Specifically, the inter-vehicle communication device 21 in the driving support device 20 receives emergency vehicle information. Then, the process proceeds to step S102. If the emergency vehicle information is not normally received, the subsequent processing is performed using the emergency vehicle position estimated by the emergency vehicle position estimation process described later.
　ステップＳ１０２では、運転支援装置２０は、地図データベース２２に記憶された地図情報を読み出す。そして、処理はステップＳ１０３に進む。 In step S102, the driving support device 20 reads the map information stored in the map database 22. Then, the process proceeds to step S103.
　ステップＳ１０３では、運転支援装置２０は、前方の交差点位置を検出する。この場合、運転支援装置２０は、一般車両２と緊急車両１との位置関係を求める。具体的には、運転支援装置２０内の情報提供判断部２５ｂが、緊急車両１の現在位置及び走行方向を地図データベース２２に記憶された地図情報に照らし合わせ、道路リンクを進行方向に辿ることで、緊急車両１が到達する次の交差点を求める。そして、情報提供判断部２５ｂは、一般車両位置の前後方向に所定距離だけ道路リンクを辿って行き、緊急車両１の次の交差点位置に相当する交差点を探索する。こうすることで、一般車両２と緊急車両１とが交差点を挟んだ位置関係にあっても、正確な情報提供を行うことが可能となる。以上の処理が終了すると、処理はステップＳ１０４に進む。 In step S103, the driving support device 20 detects a front intersection position. In this case, the driving assistance device 20 obtains the positional relationship between the general vehicle 2 and the emergency vehicle 1. Specifically, the information provision determination unit 25b in the driving support device 20 compares the current position and traveling direction of the emergency vehicle 1 with the map information stored in the map database 22 and traces the road link in the traveling direction. The next intersection where the emergency vehicle 1 arrives is obtained. Then, the information provision determination unit 25b follows the road link by a predetermined distance in the front-rear direction of the general vehicle position, and searches for an intersection corresponding to the next intersection position of the emergency vehicle 1. By doing so, it is possible to provide accurate information even if the general vehicle 2 and the emergency vehicle 1 are in a positional relationship with an intersection therebetween. When the above process ends, the process proceeds to step S104.
　ステップＳ１０４では、運転支援装置２０は、一般車両２の速度（即ち自車速度）を読み出す。具体的には、運転支援装置２０内の車両情報取得部２４が、一般車両２に設けられた車速センサが検出した速度を取得する。そして、処理はステップＳ１０５に進む。 In step S104, the driving support device 20 reads the speed of the general vehicle 2 (that is, the own vehicle speed). Specifically, the vehicle information acquisition unit 24 in the driving support device 20 acquires the speed detected by the vehicle speed sensor provided in the general vehicle 2. Then, the process proceeds to step S105.
　ステップＳ１０５では、運転支援装置２０は、退避案内タイミングを算出する。具体的には、運転支援装置２０内の情報提供判断部２５ｂが、一般車両２が退避行動を行って停止した際に一般車両２と緊急車両１との間に安全距離が確保されるように、言い換えると、一般車両２と緊急車両１との車両間距離が安全距離となった時点で一般車両２が少なくとも退避状態となっているように、退避案内タイミングを求める。そして、処理はステップＳ１０６に進む。 In step S105, the driving support device 20 calculates the evacuation guidance timing. Specifically, the information provision determination unit 25b in the driving support device 20 ensures that a safety distance is secured between the ordinary vehicle 2 and the emergency vehicle 1 when the ordinary vehicle 2 stops by performing a retreat action. In other words, the retreat guidance timing is obtained so that the general vehicle 2 is at least in the retracted state when the distance between the general vehicle 2 and the emergency vehicle 1 becomes a safe distance. Then, the process proceeds to step S106.
　ステップＳ１０６では、運転支援装置２０は、後述する情報提供判断処理を実行する。具体的には、運転支援装置２０内の情報提供判断部２５ｂが、接近情報提供を行うべきか否か、及び退避案内を行うべきか否かの判断を行う。そして、処理はステップＳ１０７に進む。ステップＳ１０７では、運転支援装置２０は、情報提供判断処理での判断結果に基づいて、情報提供を行う。具体的には、運転支援装置２０内の報知部２７が、接近情報提供及び退避案内についての報知を行う。そして、処理は終了する。 In step S106, the driving support device 20 executes an information provision determination process described later. Specifically, the information provision determination unit 25b in the driving support device 20 determines whether to provide approach information and whether to perform retraction guidance. Then, the process proceeds to step S107. In step S107, the driving support apparatus 20 provides information based on the determination result in the information provision determination process. Specifically, the notification unit 27 in the driving support device 20 performs notification about approach information provision and evacuation guidance. Then, the process ends.
　次に、図１０を参照して、ステップＳ１０６で行われる情報提供判断処理について説明する。図１０は、情報提供判断処理を示すフローチャートである。この処理は、運転支援装置２０内の情報提供判断部２５ｂによって所定の周期で繰り返し実行される。例えば、ＣＰＵがＲＯＭに記憶されたプログラムを読み出すことで実行される。 Next, the information provision determination process performed in step S106 will be described with reference to FIG. FIG. 10 is a flowchart showing the information provision determination process. This process is repeatedly executed at a predetermined cycle by the information provision determination unit 25b in the driving support device 20. For example, it is executed by the CPU reading a program stored in the ROM.
　まず、ステップＳ２０１では、情報提供判断部２５ｂは、一般車両２と緊急車両１との車両間距離を算出する。具体的には、情報提供判断部２５ｂは、一般車両２から緊急車両１までの道路に沿った距離を車両間距離として算出する。詳しくは、情報提供判断部２５ｂは、緊急車両情報として受信された緊急車両１の現在位置と、ＧＰＳ受信機２３より検出された一般車両２の現在位置とから、地図データベース２２に記憶された地図情報に基づいて、車両間距離を算出する。そして、処理はステップＳ２０２に進む。 First, in step S201, the information provision determination unit 25b calculates the inter-vehicle distance between the general vehicle 2 and the emergency vehicle 1. Specifically, the information provision determination unit 25b calculates the distance along the road from the general vehicle 2 to the emergency vehicle 1 as the inter-vehicle distance. Specifically, the information provision determination unit 25b stores the map stored in the map database 22 from the current position of the emergency vehicle 1 received as emergency vehicle information and the current position of the general vehicle 2 detected by the GPS receiver 23. An inter-vehicle distance is calculated based on the information. Then, the process proceeds to step S202.
　ステップＳ２０２では、情報提供判断部２５ｂは、退避案内距離を算出する。具体的には、情報提供判断部２５ｂは、一般車両２が退避行動を行って停止した際に一般車両２と緊急車両１との間に安全距離が確保されるように、緊急車両１の速度、一般車両２の速度、一般車両２と緊急車両１との車両間距離、安全距離、及び一般車両２の制動特性に基づいて、退避案内距離を算出する。この場合、情報提供判断部２５ｂは、一般車両２が交差点に進入する場合や交差点から退出する場合には、一般車両２が交差点内で退避行動を行わないように退避案内距離を算出する。また、情報提供判断部２５ｂは、学習された制動特性や運転パターン（即ち退避行動パターン）も考慮して、退避案内距離を算出することができる。そして、処理はステップＳ２０３に進む。 In step S202, the information provision determination unit 25b calculates an evacuation guide distance. Specifically, the information provision determination unit 25b determines the speed of the emergency vehicle 1 so that a safety distance is ensured between the general vehicle 2 and the emergency vehicle 1 when the general vehicle 2 performs a retreat action and stops. Based on the speed of the general vehicle 2, the distance between the general vehicle 2 and the emergency vehicle 1, the safety distance, and the braking characteristics of the general vehicle 2, the evacuation guide distance is calculated. In this case, when the general vehicle 2 enters the intersection or leaves the intersection, the information provision determination unit 25b calculates the retreat guide distance so that the general vehicle 2 does not perform the retreat action in the intersection. In addition, the information provision determination unit 25b can calculate the retraction guide distance in consideration of the learned braking characteristics and the driving pattern (that is, the retreat action pattern). Then, the process proceeds to step S203.
　ステップＳ２０３では、情報提供判断部２５ｂは、車両間距離が退避案内距離よりも大きいか否かを判定する。車両間距離が退避案内距離よりも大きい場合（ステップＳ２０３；Ｙｅｓ）、処理はステップＳ２０４に進む。これに対して、車両間距離が退避案内距離以下である場合（ステップＳ２０３；Ｎｏ）、処理はステップＳ２０６に進む。この場合には、情報提供判断部２５ｂは、退避案内をオンにする。そして、処理は終了する。 In step S203, the information provision determination unit 25b determines whether the inter-vehicle distance is greater than the retraction guide distance. If the inter-vehicle distance is greater than the retraction guide distance (step S203; Yes), the process proceeds to step S204. On the other hand, when the inter-vehicle distance is equal to or less than the retraction guide distance (step S203; No), the process proceeds to step S206. In this case, the information provision determination unit 25b turns on the evacuation guidance. Then, the process ends.
　ステップＳ２０４では、情報提供判断部２５ｂは、車両間距離が接近情報提供距離以下であるか否かを判定する。車両間距離が接近情報提供距離以下である場合（ステップＳ２０４；Ｙｅｓ）、処理はステップＳ２０５に進む。この場合には、情報提供判断部２５ｂは、接近情報提供をオンにする。そして、処理は終了する。これに対して、車両間距離が接近情報提供距離よりも大きい場合（ステップＳ２０４；Ｎｏ）、処理は終了する。この場合には、接近情報提供も退避案内もオンにしない。 In step S204, the information provision determination unit 25b determines whether or not the inter-vehicle distance is equal to or less than the approach information provision distance. If the inter-vehicle distance is equal to or less than the approach information provision distance (step S204; Yes), the process proceeds to step S205. In this case, the information provision determination unit 25b turns on the approach information provision. Then, the process ends. On the other hand, when the distance between vehicles is larger than the approach information provision distance (step S204; No), the process ends. In this case, neither access information provision nor evacuation guidance is turned on.
　以上説明した処理によれば、一般車両２の状態に応じた適切なタイミングで退避案内を行うことができる。よって、ドライバの退避行動の迷いや遅れ等を減少させることが可能となる。
［緊急車両位置の推定］
　次に、図１１及び図１２を参照して、運転支援装置２０内の緊急車両位置推定部２５ａが行う緊急車両位置の推定について具体的に説明する。 According to the process described above, the retreat guidance can be performed at an appropriate timing according to the state of the general vehicle 2. Therefore, it is possible to reduce the driver's evacuation behavior, delay, delay, and the like.
[Estimation of emergency vehicle position]
Next, the emergency vehicle position estimation performed by the emergency vehicle position estimation unit 25a in the driving support device 20 will be described in detail with reference to FIGS. 11 and 12.
　図１１は、緊急車両位置の推定を具体的に説明するための図を示す。位置Ｐ５ａは時刻「Ｔ」での緊急車両１の位置を示し、位置Ｐ５ｂは時刻「Ｔ＋１」での緊急車両１の位置を示している。また、位置Ｐ６ａは時刻「Ｔ」での一般車両２の位置を示し、位置Ｐ６ｂは時刻「Ｔ＋１」での一般車両２の位置を示している。時刻「Ｔ＋１」は時刻「Ｔ」よりも後の時刻であるものとする。例えば、時刻「Ｔ」から時刻「Ｔ＋１」までの時間は、緊急車両情報の配信周期における１周期に相当する。 FIG. 11 is a diagram for specifically explaining the estimation of the emergency vehicle position. The position P5a indicates the position of the emergency vehicle 1 at time “T”, and the position P5b indicates the position of the emergency vehicle 1 at time “T + 1”. The position P6a indicates the position of the general vehicle 2 at time “T”, and the position P6b indicates the position of the general vehicle 2 at time “T + 1”. The time “T + 1” is assumed to be a time later than the time “T”. For example, the time from time “T” to time “T + 1” corresponds to one cycle of the emergency vehicle information distribution cycle.
　時刻「Ｔ」では、矢印８１に示すように、一般車両２は、緊急車両１が配信した緊急車両情報を正常に受信する。しかしながら、時刻「Ｔ＋１」では、矢印８２に示すように、ハッチングで表された障害物５０に電波が阻害されて、一般車両２は、緊急車両情報を正常に受信することができない。このように緊急車両情報が正常に受信されなかった場合、緊急車両位置推定部２５ａは、以前に正常に受信された緊急車両情報に基づいて、例えば時刻「Ｔ」で受信された緊急車両情報に基づいて、緊急車両位置を推定する。具体的には、緊急車両位置推定部２５ａは、緊急車両情報として取得された緊急車両１の位置、速度、及び走行方向、及び、地図データベース２２に記憶された地図情報に基づいて、緊急車両位置を推定する。例えば、緊急車両位置推定部２５ａは、一般車両２と緊急車両１との車両間距離Ｄ５を推定する。 At time “T”, as indicated by an arrow 81, the general vehicle 2 normally receives the emergency vehicle information distributed by the emergency vehicle 1. However, at time “T + 1”, as indicated by an arrow 82, radio waves are blocked by the obstacle 50 represented by hatching, and the general vehicle 2 cannot normally receive emergency vehicle information. Thus, when emergency vehicle information is not received normally, the emergency vehicle position estimation part 25a is based on the emergency vehicle information received normally normally before, for example in emergency vehicle information received at time "T". Based on this, the emergency vehicle position is estimated. Specifically, the emergency vehicle position estimation unit 25a is configured to execute the emergency vehicle position based on the position, speed, and traveling direction of the emergency vehicle 1 acquired as emergency vehicle information and the map information stored in the map database 22. Is estimated. For example, the emergency vehicle position estimation unit 25a estimates the inter-vehicle distance D5 between the general vehicle 2 and the emergency vehicle 1.
　なお、時刻「Ｔ」で受信された緊急車両情報のみを用いることに限定はされず、過去に取得された複数の緊急車両情報を用いて、緊急車両位置を推定しても良い。つまり、緊急車両情報の時系列データを用いて緊急車両位置を推定しても良い。この場合、緊急車両位置推定部２５ａは、受信された緊急車両情報の履歴を記憶しておき、こうして記憶されたデータに基づいて緊急車両位置を推定する。 In addition, it is not limited to using only the emergency vehicle information received at time “T”, and the emergency vehicle position may be estimated using a plurality of pieces of emergency vehicle information acquired in the past. That is, the emergency vehicle position may be estimated using time series data of emergency vehicle information. In this case, the emergency vehicle position estimation unit 25a stores a history of the received emergency vehicle information, and estimates the emergency vehicle position based on the data thus stored.
　図１２は、緊急車両位置推定処理を示すフローチャートである。この処理は、緊急車両位置推定部２５ａによって所定の周期で繰り返し実行される。詳しくは、緊急車両情報の配信周期に合わせて実行される。この配信周期は、既知のものであるか、若しくは、緊急車両情報として配信されるものとする。また、当該処理は、前述した情報提供判断処理と並行して実施される。なお、当該処理は、例えばＣＰＵがＲＯＭに記憶されたプログラムを読み出すことで実行される。 FIG. 12 is a flowchart showing emergency vehicle position estimation processing. This process is repeatedly executed at a predetermined cycle by the emergency vehicle position estimation unit 25a. Specifically, it is executed in accordance with the delivery period of emergency vehicle information. This distribution cycle is assumed to be known or distributed as emergency vehicle information. In addition, this process is performed in parallel with the information provision determination process described above. Note that this processing is executed, for example, when the CPU reads a program stored in the ROM.
　まず、ステップＳ３０１では、緊急車両位置推定部２５ａは、緊急車両１が配信した緊急車両情報を取得する。具体的には、緊急車両位置推定部２５ａは、車車間通信機２１が受信した緊急車両情報を取得する。そして、処理はステップＳ３０２に進む。ステップＳ３０２では、緊急車両位置推定部２５ａは、タイマーを起動する。そして、処理はステップＳ３０３に進む。 First, in step S301, the emergency vehicle position estimation unit 25a acquires emergency vehicle information distributed by the emergency vehicle 1. Specifically, the emergency vehicle position estimation unit 25a acquires emergency vehicle information received by the inter-vehicle communication device 21. Then, the process proceeds to step S302. In step S302, the emergency vehicle position estimation unit 25a starts a timer. Then, the process proceeds to step S303.
　ステップＳ３０３では、緊急車両位置推定部２５ａは、ステップＳ３０１で取得された緊急車両情報に基づいて、緊急車両位置を特定する。緊急車両位置は、緊急車両情報に含まれる情報である。そして、処理はステップＳ３０４に進む。 In step S303, the emergency vehicle position estimation unit 25a identifies the emergency vehicle position based on the emergency vehicle information acquired in step S301. The emergency vehicle position is information included in the emergency vehicle information. Then, the process proceeds to step S304.
　ステップＳ３０４では、緊急車両位置推定部２５ａは、タイマーでカウントされた時間に基づいて、次の緊急車両情報の受信を所定時間待つ。具体的には、緊急車両位置推定部２５ａは、緊急車両情報の配信周期に相当する時間だけ待つ。そして、処理はステップＳ３０５に進む。 In step S304, the emergency vehicle position estimation unit 25a waits for reception of the next emergency vehicle information for a predetermined time based on the time counted by the timer. Specifically, the emergency vehicle position estimation unit 25a waits for a time corresponding to the delivery cycle of emergency vehicle information. Then, the process proceeds to step S305.
　ステップＳ３０５では、緊急車両位置推定部２５ａは、緊急車両情報の受信が成功したか否かを判定する。ここでいう緊急車両情報の受信には、緊急車両１から緊急車両情報を直接受信する場合だけでなく、他の一般車両２や路側装置からマルチホップで送信された緊急車両情報を受信する場合も含むものとする。 In step S305, the emergency vehicle position estimation unit 25a determines whether or not the emergency vehicle information has been successfully received. In this case, the emergency vehicle information is received not only when the emergency vehicle information is directly received from the emergency vehicle 1, but also when the emergency vehicle information transmitted in multihop from another general vehicle 2 or the roadside device is received. Shall be included.
　受信が成功した場合（ステップＳ３０５；Ｙｅｓ）、処理はステップＳ３０３に戻る。この場合には、緊急車両位置推定部２５ａは、受信された緊急車両情報に基づいて緊急車両位置を特定する（ステップＳ３０３）。なお、このように受信が成功した場合には、以前に推定された緊急車両位置は破棄される、つまりリセットされる。 If the reception is successful (step S305; Yes), the process returns to step S303. In this case, the emergency vehicle position estimation unit 25a identifies the emergency vehicle position based on the received emergency vehicle information (step S303). When reception is successful in this way, the previously estimated emergency vehicle position is discarded, that is, reset.
　これに対して、受信が成功しなかった場合（ステップＳ３０５；Ｎｏ）、処理はステップＳ３０６に進む。ステップＳ３０６では、緊急車両位置推定部２５ａは、緊急車両位置の推定を行う。具体的には、緊急車両位置推定部２５ａは、以前に緊急車両情報として取得された緊急車両１の位置、速度、及び走行方向、及び、地図データベース２２に記憶された地図情報に基づいて、緊急車両位置を推定する。そして、処理はステップＳ３０７に進む。受信が成功しなかった場合には、このようにして推定された緊急車両位置に基づいて、前述した情報提供判断処理（図９及び図１０参照）が実行される。なお、受信が成功しなかった場合には、待ち受け状態となる。 On the other hand, if the reception is not successful (step S305; No), the process proceeds to step S306. In step S306, the emergency vehicle position estimation unit 25a estimates the emergency vehicle position. Specifically, the emergency vehicle position estimator 25a generates an emergency based on the position, speed, and traveling direction of the emergency vehicle 1 previously acquired as emergency vehicle information and the map information stored in the map database 22. Estimate the vehicle position. Then, the process proceeds to step S307. If the reception is not successful, the information provision determination process (see FIGS. 9 and 10) described above is executed based on the emergency vehicle position estimated in this way. If the reception is not successful, a standby state is entered.
　ステップＳ３０７では、緊急車両位置推定部２５ａは、緊急車両１が所定距離より離れたか否かを判定する。ここでは、緊急車両情報の受信ができなくなり、緊急車両１が自車にとって影響のない場所にまで離れたか否かを判定している。具体的には、緊急車両位置推定部２５ａは、緊急車両１が一般車両２を通り過ぎた後に、一般車両２と緊急車両１との車両間距離が所定距離よりも大きくなったか否かを判定する。 In step S307, the emergency vehicle position estimation unit 25a determines whether or not the emergency vehicle 1 is separated from a predetermined distance. Here, it is determined whether or not the emergency vehicle information can be received and the emergency vehicle 1 has left a place where there is no influence on the host vehicle. Specifically, the emergency vehicle position estimation unit 25a determines whether or not the distance between the general vehicle 2 and the emergency vehicle 1 has become greater than a predetermined distance after the emergency vehicle 1 has passed the general vehicle 2. .
　緊急車両１が所定距離より離れた場合（ステップＳ３０７；Ｙｅｓ）、処理はステップＳ３０８に進む。この場合には、緊急車両位置推定部２５ａはタイマーを終了し（ステップＳ３０８）、処理は終了する。これに対して、緊急車両１が所定距離より離れていない場合（ステップＳ３０７；Ｎｏ）、処理はステップＳ３０４に戻り、ステップＳ３０４以降の処理を再度行う。 If the emergency vehicle 1 is away from the predetermined distance (step S307; Yes), the process proceeds to step S308. In this case, the emergency vehicle position estimation unit 25a ends the timer (step S308), and the process ends. On the other hand, when the emergency vehicle 1 is not separated from the predetermined distance (step S307; No), the process returns to step S304, and the processes after step S304 are performed again.
　以上説明した処理によれば、例えば一般車両２と緊急車両１との通信が不安定となった場合でも、ドライバに対して確実に情報提供を行うことが可能となる。
［変形例］
　次に、変形例について説明する。変形例では、緊急車両１から一般車両２に、走行予定ルート及び当該ルート上の各道路リンクの走行予定時刻を配信する。この場合、緊急車両１は、ＶＩＣＳやプローブなどから交通情報を取得して、走行予定ルートにおける道路リンク単位の走行予定時刻を求める。一方、一般車両２は、緊急車両１より配信された走行予定時刻に基づいて、前述したような情報提供を行う。このような変形例は、前述した実施例ほどリアルタイム性を要求しないと言える。また、変形例における構成では、配信データが増加する傾向にあるため、携帯電話網や公衆ＬＡＮなどを利用して情報を配信しても良い。この場合、更に車車間通信も活用して、緊急車両１の推定位置をリアルタイムで補正しても良い。 According to the processing described above, for example, even when communication between the general vehicle 2 and the emergency vehicle 1 becomes unstable, it is possible to reliably provide information to the driver.
[Modification]
Next, a modified example will be described. In the modified example, the planned travel route and the planned travel time of each road link on the route are distributed from the emergency vehicle 1 to the general vehicle 2. In this case, the emergency vehicle 1 obtains traffic information from a VICS, a probe, or the like, and obtains a scheduled travel time for each road link in the planned travel route. On the other hand, the general vehicle 2 provides information as described above based on the scheduled traveling time distributed from the emergency vehicle 1. It can be said that such a modification does not require real-time performance as in the above-described embodiments. Further, in the configuration in the modified example, since the distribution data tends to increase, information may be distributed using a mobile phone network, a public LAN, or the like. In this case, the estimated position of the emergency vehicle 1 may be corrected in real time by further utilizing inter-vehicle communication.
　このような変形例によれば、車車間通信の電波が途絶えた際にも、適切なタイミングで情報提供を行うことができる。また、変形例は、車車間通信機を有しない構成に対しても適用することができる。 According to such a modification, information can be provided at an appropriate timing even when the radio wave of vehicle-to-vehicle communication is interrupted. Moreover, a modification can be applied also to the structure which does not have an inter-vehicle communication apparatus.
　なお、上記では、地図情報及び交通情報に基づいて安全距離及び接近情報提供距離を変更する例について示したが、これに限定はされない。他の例では、地図情報、交通情報、路面情報、及び天候情報のうちのいずれか１つ以上に基づいて、安全距離及び接近情報提供距離を変更することができる。例えば、地図データベース２２に記憶された道路形状、車線、高速道路、建物などの道路環境情報、及び／又は、携帯電話等の通信手段より得られた雨天、雪、霧などの天候情報に基づいて、接近情報提供距離、退避案内距離、及び安全距離を変更することができる。このような変更は、緊急車両１及び／又は一般車両２によって行われる。 In addition, although shown above about the example which changes a safe distance and approach information provision distance based on map information and traffic information, it is not limited to this. In another example, the safe distance and the approach information provision distance can be changed based on any one or more of map information, traffic information, road surface information, and weather information. For example, based on road environment information such as road shapes, lanes, highways, and buildings stored in the map database 22 and / or weather information such as rainy weather, snow, and fog obtained from communication means such as a mobile phone. The approach information providing distance, the evacuation guide distance, and the safety distance can be changed. Such a change is performed by the emergency vehicle 1 and / or the general vehicle 2.
　本発明は、車載用のナビゲーション装置などに利用することができる。 The present invention can be used for in-vehicle navigation devices.
　１　緊急車両
　２　一般車両
　２０　運転支援装置
　２１　車車間通信機
　２２　地図データベース
　２３　ＧＰＳ受信機
　２４　車両情報取得部
　２５　制御部
　２５ａ　緊急車両位置推定部
　２５ｂ　情報提供判断部
　２７　報知部
　１００　運転支援システム DESCRIPTION OF SYMBOLS 1 Emergency vehicle 2 General vehicle 20 Driving assistance device 21 Inter-vehicle communication device 22 Map database 23 GPS receiver 24 Vehicle information acquisition part 25 Control part 25a Emergency vehicle position estimation part 25b Information provision judgment part 27 Notification part 100 Driving support system

Claims (17)

  1. 　一般車両に搭載され、ドライバの運転を支援する運転支援装置であって、
    　緊急車両が配信する、前記緊急車両の位置、速度、及び走行方向を含む緊急車両情報を受信する緊急車両情報受信手段と、
    　前記緊急車両が緊急走行状態にある際に前記緊急車両情報受信手段が前記緊急車両情報を受信した場合に、前記一般車両に接近している前記緊急車両の存在を前記ドライバに報知する第１報知手段と、
    　前記第１報知手段が報知を行った後に、前記一般車両の退避行動に必要な指示情報を前記ドライバに報知する第２報知手段と、を備えることを特徴とする運転支援装置。     A driving support device that is mounted on a general vehicle and supports driving of a driver,
    Emergency vehicle information receiving means for receiving emergency vehicle information including the position, speed, and travel direction of the emergency vehicle distributed by the emergency vehicle;
    A first notification for notifying the driver of the presence of the emergency vehicle approaching the general vehicle when the emergency vehicle information receiving means receives the emergency vehicle information when the emergency vehicle is in an emergency running state. Means,
    A driving support apparatus comprising: second notification means for notifying the driver of instruction information necessary for the retreat behavior of the general vehicle after the first notification means performs notification.
  2. 　前記第２報知手段は、前記一般車両が退避行動を行って停止した際に前記一般車両と前記緊急車両との間に安全距離が確保されるように、前記退避行動すべきことを報知するタイミングを求め、前記タイミングで前記指示情報の報知を行うことを特徴とする請求項１に記載の運転支援装置。 The second notification means notifies that the retreat action should be performed so that a safety distance is secured between the general vehicle and the emergency vehicle when the general vehicle stops by performing a retreat action. The driving support device according to claim 1, wherein the instruction information is notified at the timing.
  3. 　前記第２報知手段は、
    　前記一般車両が退避行動を行って停止した際に前記一般車両と前記緊急車両との間に前記安全距離が確保されるように、前記退避行動すべきことを報知すべき、前記一般車両と前記緊急車両との間の距離を示す退避案内距離を算出し、
    　前記一般車両と前記緊急車両との距離が前記退避案内距離になったタイミングを、前記退避行動すべきことを報知するタイミングとすることを特徴とする請求項２に記載の運転支援装置。     The second notification means includes
    The general vehicle and the emergency vehicle should be informed that the safety distance should be ensured so that the safety distance is secured between the general vehicle and the emergency vehicle when the general vehicle stops by performing a retreat action; Calculate the evacuation guide distance indicating the distance to the emergency vehicle,
    The driving support device according to claim 2, wherein the timing at which the distance between the general vehicle and the emergency vehicle becomes the evacuation guide distance is a timing at which the evacuation action should be notified.
  4. 　前記第２報知手段は、前記緊急車両の速度、前記一般車両の速度、前記一般車両と前記緊急車両との距離、及び前記一般車両の制動特性に基づいて、前記退避行動すべきことを報知するタイミングを求めることを特徴とする請求項２又は３に記載の運転支援装置。 The second notification means notifies that the retreat action should be performed based on the speed of the emergency vehicle, the speed of the general vehicle, the distance between the general vehicle and the emergency vehicle, and the braking characteristics of the general vehicle. The driving support device according to claim 2, wherein timing is obtained.
  5. 　前記第２報知手段は、前記一般車両の制動特性を学習しておき、学習された前記制動特性に基づいて前記退避行動すべきことを報知するタイミングを求めることを特徴とする請求項４に記載の運転支援装置。 The said 2nd alerting | reporting means learns the braking characteristic of the said general vehicle, and calculates | requires the timing which alert | reports that the said retraction action should be performed based on the learned said braking characteristic. Driving assistance device.
  6. 　前記第２報知手段は、前記一般車両が交差点内で退避行動を行わないように、前記退避行動すべきことを報知するタイミングを求めることを特徴とする請求項２乃至５のいずれか一項に記載の運転支援装置。 The said 2nd alerting | reporting means calculates | requires the timing which alert | reports the said evacuation action so that the said general vehicle may not perform evacuation action in the intersection. The driving assistance apparatus as described.
  7. 　前記第２報知手段は、前記ドライバの運転パターンを学習しておき、学習された前記運転パターンに基づいて前記退避行動すべきことを報知するタイミングを求めることを特徴とする請求項２乃至６のいずれか一項に記載の運転支援装置。 The said 2nd alerting | reporting means learns the driving | operation pattern of the said driver, and calculates | requires the timing which alert | reports that the said retreat action should be performed based on the learned said driving | operation pattern. The driving support device according to any one of the above.
  8. 　前記安全距離は、前記緊急車両情報受信手段によって受信される前記緊急車両情報に含まれることを特徴とする請求項２乃至７のいずれか一項に記載の運転支援装置。 The driving assistance device according to any one of claims 2 to 7, wherein the safety distance is included in the emergency vehicle information received by the emergency vehicle information receiving means.
  9. 　前記緊急車両情報受信手段は、所定周期で配信される前記緊急車両情報を受信し、
    　前記緊急車両情報受信手段によって前記緊急車両情報が正常に受信されなかった場合に、前記緊急車両情報受信手段によって以前に正常に受信された前記緊急車両情報、及び地図情報に基づいて、前記緊急車両の位置を推定する緊急車両位置推定手段を更に備え、
    　前記第１報知手段及び前記第２報知手段は、前記緊急車両位置推定手段によって推定された前記緊急車両の位置に基づいて報知を行うことを特徴とする請求項１乃至８のいずれか一項に記載の運転支援装置。     The emergency vehicle information receiving means receives the emergency vehicle information distributed in a predetermined cycle,
    When the emergency vehicle information is not normally received by the emergency vehicle information receiving means, the emergency vehicle is based on the emergency vehicle information and map information that have been normally received by the emergency vehicle information receiving means. Emergency vehicle position estimating means for estimating the position of
    The said 1st alerting | reporting means and the said 2nd alerting | reporting means perform alerting | reporting based on the position of the said emergency vehicle estimated by the said emergency vehicle position estimation means, It is any one of Claim 1 thru | or 8 characterized by the above-mentioned. The driving assistance apparatus as described.
  10. 　前記緊急車両情報受信手段は、前記緊急車両の存在を報知すべき、前記一般車両と前記緊急車両との間の距離を示す接近情報提供距離を、前記緊急車両情報として受信し、
    　前記第１報知手段は、前記一般車両と前記緊急車両との距離が前記接近情報提供距離以下になった際に、前記緊急車両の存在を報知することを特徴とする請求項１乃至９のいずれか一項に記載の運転支援装置。     The emergency vehicle information receiving means receives, as the emergency vehicle information, an approach information providing distance indicating a distance between the general vehicle and the emergency vehicle, which should notify the presence of the emergency vehicle,
    The said 1st alerting | reporting means alert | reports presence of the said emergency vehicle, when the distance of the said general vehicle and the said emergency vehicle becomes below the said approach information provision distance. The driving support device according to claim 1.
  11. 　前記第１報知手段は、車種に応じて前記接近情報提供距離をオフセットした距離に基づいて、前記緊急車両の存在を報知することを特徴とする請求項１０に記載の運転支援装置。 The driving support device according to claim 10, wherein the first notification unit notifies the presence of the emergency vehicle based on a distance obtained by offsetting the approach information providing distance according to a vehicle type.
  12. 　一般車両に搭載される、請求項１乃至１１のいずれか一項に記載の運転支援装置と、
    　緊急車両に搭載され、前記緊急車両の位置、速度、及び走行方向を含む緊急車両情報を配信する緊急車両情報配信手段と、を備えることを特徴とする運転支援システム。     The driving support device according to any one of claims 1 to 11, which is mounted on a general vehicle;
    An emergency vehicle information distribution unit that is mounted on an emergency vehicle and distributes emergency vehicle information including a position, a speed, and a traveling direction of the emergency vehicle.
  13. 　前記緊急車両情報配信手段は、
    　前記緊急車両の存在を報知すべき、前記一般車両と前記緊急車両との間の距離を示す接近情報提供距離と、
    　前記一般車両が退避行動を行って停止した際に前記一般車両と前記緊急車両との間に確保されるべき安全距離と、を前記緊急車両情報として配信することを特徴とする請求項１２に記載の運転支援システム。     The emergency vehicle information distribution means includes
    An approach information providing distance indicating a distance between the general vehicle and the emergency vehicle, which should be notified of the presence of the emergency vehicle,
    The safety distance that should be secured between the general vehicle and the emergency vehicle when the general vehicle stops by performing a retreat action is distributed as the emergency vehicle information. Driving support system.
  14. 　地図情報、交通情報、路面情報、及び天候情報のうちのいずれか１つ以上に基づいて、前記接近情報提供距離及び前記安全距離を変更する手段を更に備えることを特徴とする請求項１３に記載の運転支援システム。 14. The apparatus according to claim 13, further comprising means for changing the approach information providing distance and the safety distance based on any one or more of map information, traffic information, road surface information, and weather information. Driving support system.
  15. 　前記緊急車両に搭載され、前記緊急車両の走行予定ルート及び各道路リンクの走行予定時刻を配信する手段を更に備えることを特徴とする請求項１２乃至１４のいずれか一項に記載の運転支援システム。 The driving support system according to any one of claims 12 to 14, further comprising means that is mounted on the emergency vehicle and distributes a scheduled travel route of the emergency vehicle and a planned travel time of each road link. .
  16. 　一般車両に搭載される装置によって実行され、ドライバの運転を支援する運転支援方法であって、
    　緊急車両が配信する、前記緊急車両の位置、速度、及び走行方向を含む緊急車両情報を受信する緊急車両情報受信工程と、
    　前記緊急車両が緊急走行状態にある際に前記緊急車両情報受信工程が前記緊急車両情報を受信した場合に、前記一般車両に接近している前記緊急車両の存在を前記ドライバに報知する第１報知工程と、
    　前記第１報知工程が報知を行った後に、少なくとも前記一般車両を退避行動すべき位置及びタイミングを前記ドライバに報知する第２報知工程と、を備えることを特徴とする運転支援方法。     A driving support method that is executed by a device mounted on a general vehicle and supports driving of a driver,
    An emergency vehicle information receiving step for receiving emergency vehicle information including the position, speed, and traveling direction of the emergency vehicle distributed by the emergency vehicle;
    A first notification for notifying the driver of the presence of the emergency vehicle approaching the general vehicle when the emergency vehicle information receiving step receives the emergency vehicle information when the emergency vehicle is in an emergency running state. Process,
    A driving support method comprising: a second notification step of notifying the driver of at least a position and timing at which the general vehicle should be retracted after the first notification step performs notification.
  17. 　一般車両に搭載される装置によって実行され、ドライバの運転を支援する運転支援プログラムであって、
    　前記装置を、
    　緊急車両が配信する、前記緊急車両の位置、速度、及び走行方向を含む緊急車両情報を受信する緊急車両情報受信手段、
    　前記緊急車両が緊急走行状態にある際に前記緊急車両情報受信手段が前記緊急車両情報を受信した場合に、前記一般車両に接近している前記緊急車両の存在を前記ドライバに報知する第１報知手段、
    　前記第１報知手段が報知を行った後に、少なくとも前記一般車両を退避行動すべき位置及びタイミングを前記ドライバに報知する第２報知手段、として機能させることを特徴とする運転支援プログラム。     A driving support program that is executed by a device mounted on a general vehicle and supports driving of a driver,
    Said device,
    Emergency vehicle information receiving means for receiving emergency vehicle information including the position, speed, and traveling direction of the emergency vehicle distributed by the emergency vehicle;
    A first notification for notifying the driver of the presence of the emergency vehicle approaching the general vehicle when the emergency vehicle information receiving means receives the emergency vehicle information when the emergency vehicle is in an emergency running state. means,
    A driving assistance program that functions as second notifying means for notifying the driver of at least a position and timing at which the general vehicle should be retracted after the first notifying means performs notification.
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