WO2013046449A1 - 運転支援システム - Google Patents
運転支援システム Download PDFInfo
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- WO2013046449A1 WO2013046449A1 PCT/JP2011/072611 JP2011072611W WO2013046449A1 WO 2013046449 A1 WO2013046449 A1 WO 2013046449A1 JP 2011072611 W JP2011072611 W JP 2011072611W WO 2013046449 A1 WO2013046449 A1 WO 2013046449A1
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- Prior art keywords
- driving support
- information
- intersection
- nearest
- driving
- Prior art date
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- 230000003068 static effect Effects 0.000 claims abstract description 35
- 238000004364 calculation method Methods 0.000 claims description 97
- 238000000034 method Methods 0.000 description 41
- 238000004891 communication Methods 0.000 description 15
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- 238000010586 diagram Methods 0.000 description 3
- 230000007704 transition Effects 0.000 description 3
- 238000004458 analytical method Methods 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 2
- 230000004043 responsiveness Effects 0.000 description 2
- 230000000717 retained effect Effects 0.000 description 2
- 102100035353 Cyclin-dependent kinase 2-associated protein 1 Human genes 0.000 description 1
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- 102100029860 Suppressor of tumorigenicity 20 protein Human genes 0.000 description 1
- 230000006399 behavior Effects 0.000 description 1
- 239000003086 colorant Substances 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000003384 imaging method Methods 0.000 description 1
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/18—Propelling the vehicle
- B60W30/18009—Propelling the vehicle related to particular drive situations
- B60W30/18154—Approaching an intersection
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/0097—Predicting future conditions
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/0098—Details of control systems ensuring comfort, safety or stability not otherwise provided for
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/36—Input/output arrangements for on-board computers
- G01C21/3626—Details of the output of route guidance instructions
- G01C21/3655—Timing of guidance instructions
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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
- G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
- G08G1/096733—Systems involving transmission of highway information, e.g. weather, speed limits where a selection of the information might take place
- G08G1/096741—Systems involving transmission of highway information, e.g. weather, speed limits where a selection of the information might take place where the source of the transmitted information selects which information to transmit to each vehicle
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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
- G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
- G08G1/096766—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission
- G08G1/096783—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission where the origin of the information is a roadside individual element
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- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B29/00—Maps; Plans; Charts; Diagrams, e.g. route diagram
- G09B29/10—Map spot or coordinate position indicators; Map reading aids
- G09B29/106—Map spot or coordinate position indicators; Map reading aids using electronic means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2556/00—Input parameters relating to data
- B60W2556/45—External transmission of data to or from the vehicle
- B60W2556/50—External transmission of data to or from the vehicle of positioning data, e.g. GPS [Global Positioning System] data
Definitions
- the present invention relates to a driving support system that performs driving support at an intersection.
- Patent Document 1 discloses a car navigation system that displays a traveling direction at a second intersection with a guide arrow before the first intersection at successive intersections.
- Patent Document 2 when the vehicle does not stop in front of the traffic light, the first signal cycle information corresponding to this case is selected to support driving of the vehicle, and the vehicle stops in front of the traffic light.
- a technique is disclosed in which the second signal cycle information corresponding to this case is selected to support driving of the vehicle.
- the display time zone of the signal related to the first signal cycle information and the display time zone of the signal related to the second signal cycle information do not overlap, all information of the first signal cycle information and the second signal cycle information If signal cycle information including all information is generated and transmitted to the vehicle and they overlap, the information regarding the overlapped display time zone is excluded from all the first signal cycle information and the second signal cycle information. Signal cycle information including the received information is generated and transmitted to the vehicle.
- Patent Document 3 when the total amount of information up to the next communicable area including the inappropriate communication area on the vehicle guidance route exceeds the memory capacity, the total information amount is within the memory capacity.
- a technique is disclosed in which priorities are added to guide information, map information, and the like, and the guide information, map information, and the like are changed in accordance with these priorities.
- the intersection information of the plurality of intersections may be obtained simultaneously or with a slight time difference, and at the same time based on the intersection information of each of the intersections.
- the intersection information at a plurality of consecutive intersections may be analyzed at the same time. For this reason, conventionally, the more intersection information of one intersection handled in driving assistance, and the more intersections that can obtain intersection information at the same time or with a slight time difference, the more intersection information analysis, that is, driving assistance information.
- the burden of calculation processing related to driving support such as generation of the vehicle increases.
- an object of the present invention is to provide a driving support system capable of improving the disadvantages of the conventional example and reducing the burden of arithmetic processing related to driving support.
- the present invention calculates driving support information related to an intersection required for driving support control for a support vehicle based on the intersection information of the intersection, and relates to the intersection based on the driving support information.
- the driving support information is calculated according to the type of the driving support information.
- the driving support information is sequentially calculated for each type.
- the type of the driving support information is preferably static information and dynamic information at the intersection.
- the type of the driving support information depends on the information required for executing the driving support control regardless of the type of the supporting content of the driving support control and the support content of the driving support control requested to be executed. It is desirable that the information is necessary for the execution of the driving support control.
- the type of the driving support information is in accordance with the distance between the position of the supporting vehicle and the intersection.
- intersection is preferably the nearest intersection in the traveling direction of the road on which the support vehicle is traveling.
- driving support information related to the nearest outer intersection excluding the nearest intersection among the plurality of intersections is simpler than driving support information related to the nearest intersection. It is desirable to calculate the driving support information based on the intersection information of the nearest outside intersection.
- the simple driving support information has a smaller amount of information than the driving support information required for the driving support control related to the nearest outside intersection, and the simple driving assistance information relates to the nearest outside intersection at a stage before passing the nearest intersection. It is desirable to calculate what is required for driving support control.
- the simple driving support information has a smaller amount of information than the driving support information required for the driving support control related to the nearest outside intersection, and can calculate static information at the nearest outside intersection. desirable.
- the driving support control related to the nearest intersection is executed based on the driving support information related to the nearest intersection and the simplified driving support information related to the nearest outside intersection.
- the driving support control related to the nearest outside intersection is executed based on the simplified driving support information.
- the nearest outside intersection closest to the support vehicle on the exit route from the nearest intersection is a new nearest intersection.
- intersection information There are various types of driving support information calculated based on intersection information.
- operation assistance information may differ in the time of execution according to the assistance content, for example.
- intersection information and driving support information that remain unchanged regardless of changes in the distance between the support vehicle and the intersection, such as the shape of the intersection, and the passage of time. Some of them change from moment to moment.
- the driving support system according to the present invention calculates the driving support information according to the type of the driving support information so as to reduce the processing load. Therefore, according to this driving support system, the load of calculation processing is reduced, and driving support control can be realized at low cost without using a high-cost processing unit with high processing capability.
- FIG. 1 is a block diagram showing a configuration of an embodiment of a driving support system according to the present invention.
- FIG. 2 is a flowchart for explaining the arithmetic processing operation of the embodiment of the driving support system according to the present invention.
- FIG. 3 is a flowchart for explaining the arithmetic processing operation of the embodiment of the driving support system according to the present invention.
- FIG. 4 is a diagram illustrating the position of the support vehicle with respect to the intersection and the calculation time of the driving support information.
- FIG. 5 is a diagram illustrating the position of the support vehicle with respect to the intersection and the calculation time of the driving support information.
- the driving support system 1 indicates a driving support system of the present embodiment.
- the driving support system 1 provides driving support to a support vehicle heading for the intersection based on information on the intersection (hereinafter referred to as “intersection information”).
- the driving assistance is, for example, transmission of driving assistance information to the driver of the assisting vehicle, driving control of the assisting vehicle (vehicle speed control, etc.) based on the driving assistance information.
- the driving support information is generated according to the driving assistance support content based on the intersection information. For example, the behavior information of the oncoming vehicle at the intersection and its surroundings (waiting for a right turn, etc.), other connections at the intersection It is the presence information of the approaching vehicle from the road.
- the driving support system 1 can be applied to, for example, a green wave driving support system.
- a green wave driving support system is a driving support system that controls the vehicle speed so that, for example, a signal at each intersection on the guidance route of a car navigation system can be passed with a blue light on, thereby facilitating traffic.
- driving assistance information (vehicle speed, etc.) is generated so that the signal of each intersection can be passed in the lighting state of the blue light.
- the information is transmitted to the driver of the support vehicle by display information or the vehicle speed control of the support vehicle is performed based on the drive support information.
- the driving support information is generated by the arithmetic processing as described above, but the intersection information itself may be included, for example, signal pattern information described later.
- intersection information includes road alignment information of each connecting road connected to the intersection, signal information of traffic lights installed at the intersection, other vehicle information and pedestrian information detected at the intersection and its surroundings, intersection And surrounding traffic information.
- the road alignment information is linear information of each connecting road centered on the intersection, and the angle information of each connecting road with respect to a certain reference line at the intersection, and stop line position information of each connecting road. Lane information on each connecting road is included.
- the signal information includes one-cycle transition information (signal pattern information) related to the signal pattern. For example, in the case of a lamp with a plurality of lamp colors, the signal pattern information is the transition in one cycle of the proceedable lamp color and the unprogressible lamp color (in the case of a three-color lamp, the transition of blue ⁇ yellow ⁇ red display). It becomes.
- the other vehicle information detected at the intersection and its surroundings is, for example, other vehicles that are traveling on the connecting road in or around the intersection or stopping for waiting for a signal in the intersection or on the connecting road. It is the thing which detected the state of.
- the pedestrian information detected at the intersection and its surroundings is, for example, information on a pedestrian or bicycle that is crossing a pedestrian crossing or waiting for a signal.
- the traffic information at the intersection and its surroundings is, for example, traffic jam information and traffic regulation information.
- driving support information is generated using various types of intersection information corresponding to the corresponding support content, and driving support is performed with the support content.
- the driving support system 1 includes a roadside device 10 installed at or near an intersection and an on-vehicle device 20 mounted on a support vehicle.
- the vehicle-mounted device 20 that has received the intersection information from the roadside machine 10 side performs analysis of the intersection information, that is, generation of driving support information of the vehicle based on the intersection information, Driving assistance based on driving assistance information is executed.
- the driving support system 1 may be configured such that the roadside device 10 generates the driving support information.
- the roadside machine 10 transmits at least the intersection information described above to the support vehicle.
- the roadside machine 10 includes a storage device 11.
- the storage device 11 stores information that can be stored in advance as a database among the above-described intersection information.
- the storage device 11 stores the road alignment information and signal information described above.
- the roadside machine 10 includes an information collecting device 12 such as an imaging device or a radar device.
- the information collecting device 12 collects information on the intersections in the above-described intersection information and on the roads and sidewalks around the intersections. For example, other vehicle information and walking detected at the intersections and the surroundings thereof. Detect person information.
- the roadside machine 10 transmits the intersection information to the support vehicle by the roadside communication device 13.
- the road-side communication device 13 is a road-vehicle communication device that performs wireless data transmission / reception (so-called road-to-vehicle communication) with the vehicle-side communication device 21 of the support vehicle.
- this example roadside communication device 13 may be any device that transmits at least information held by the roadside device 10 to the support vehicle.
- the in-vehicle device 20 receives the information of the roadside device 10 from the roadside communication device 13 via the vehicle side communication device 21. And this vehicle equipment 20 performs driving assistance of the own vehicle based on the information which the roadside machine 10 has.
- the vehicle-side communication device 21 is a road-vehicle communication device that performs road-to-vehicle communication wirelessly with the road-side communication device 13.
- the vehicle-mounted device 20 is provided with a driving support device 22 that calculates driving support information related to the intersection of the own vehicle and executes driving support based on the driving support information.
- the driving support device 22 calculates driving support information based on the intersection information received from the roadside machine 10 side, and controls the support device 30 based on the driving support information.
- Examples of the support device 30 include a display device 31 that displays the driving support information in the passenger compartment and transmits the information to the driver, and an acoustic device 32 that displays the driving support information as acoustic information such as an alarm and transmits the information to the driver. is there.
- the support device 30 may be a control device 33 such as a throttle valve control actuator of an engine (not shown) or a braking force control actuator of a brake device.
- the driving support device 22 may provide driving support by appealing the generated driving support information to the driver's vision or hearing, and control driving conditions of the vehicle based on the driving support information. It may be what performs.
- driving support information can be broadly classified as follows.
- the driving support information is requested to be executed with information necessary for executing the driving support control (hereinafter referred to as “essential driving support information”) regardless of the type of driving support control at the intersection. It can be divided into information (hereinafter referred to as “specific driving support information”) required for execution of the driving support control according to the support content of the driving support control.
- the essential driving support information is necessary when executing driving support control for intersections of all support contents in this system regardless of whether or not driving support control is requested to be executed.
- Information is not necessarily required for the execution of the driving support control of all the support contents in this system, but the driving support control according to the support contents requested to be executed. Information required for execution.
- the driving support device 22 When causing the driving support device 22 to execute driving support control, calculation processing of essential driving support information is always executed regardless of the requested driving support details.
- the specific driving support information may be used alone for driving support control, or may be used for driving support control together with essential driving support information.
- the driving support device 22 first executes the calculation process of the essential driving support information, and after the calculation process is completed, the calculation process of the specific driving support information according to the driving assistance support content requested to be executed is executed. Let The calculation result is temporarily stored in the storage device 23 until it becomes unnecessary.
- the driving support execution time arrives, the driving support device 22 executes driving support based on the essential driving support information and the specific driving support information that are the calculation results.
- the driving support device 22 can avoid the simultaneous progress of the calculation process of the essential driving support information and the calculation process of the specific driving support information, and thus the concentration of the load of the calculation process can be prevented.
- the driving support information can be roughly divided as follows according to the distance between the position of the support vehicle and the intersection.
- the driving support information includes information required for executing the driving support control before the supporting vehicle approaches the intersection, and information required for executing the driving support control after the supporting vehicle approaches the intersection.
- the former information is, for example, driving support information required for executing the driving support control from a stage away from the intersection immediately after receiving the intersection information, and the driving support information to be transmitted to the driver of the support vehicle. (Information on road shape such as the angle of other connecting roads with respect to the approaching route to the intersection of the support vehicle).
- the latter information is, for example, driving support information that cannot be determined unless the supporting vehicle approaches the intersection.
- Intersection information that changes with time (information on other vehicles detected at the intersection and its surroundings and pedestrians) Dynamic driving support information calculated based on information, etc.).
- the driving support device 22 first performs a calculation process of the driving support information required at a stage away from the intersection. After the calculation process is finished, the driving support apparatus 22 approaches the intersection compared with the driving support information. The calculation processing of the driving support information required from is executed. The calculation result is temporarily stored in the storage device 23 until it becomes unnecessary. Therefore, the driving support device 22 can avoid simultaneous progress of calculation processing of different types of driving support information according to the distance between the position of the assisting vehicle and the intersection, and thus the concentration of the calculation processing load is concentrated. Can be prevented. In addition, since this driving support device 22 performs calculation processing of driving support information that may be changed later, it is possible to obtain more up-to-date driving support information, and this also reduces the processing load. be able to.
- the driving assistance information may be updated between the driving assistance information that is not updated until the assisting vehicle passes the intersection after being calculated, and the assisting vehicle passes the intersection. It can be roughly divided into driving support information.
- the driving support information that is not updated after the arithmetic processing is, for example, information on the road shape such as the angle of another connecting road with respect to the approach route to the intersection of the support vehicle, or a certain position (for example, This is information on the distance to the stop line position of the intersection), and corresponds to static driving support information calculated based on the road alignment information described above.
- the driving support information that may be updated until the vehicle passes through the intersection corresponds to, for example, the dynamic driving support information described above.
- the driving support device 22 first executes the calculation process of the driving support information that is not updated after the calculation process, and after the calculation process is completed, the driving support information that may be updated after the calculation process is displayed. Execute arithmetic processing. The calculation result is temporarily stored in the storage device 23 until it becomes unnecessary. Therefore, since this driving support device 22 can avoid the simultaneous progress of the calculation processing of the driving support information of different types, the concentration of the calculation processing load can be prevented. In addition, since this driving support device 22 performs calculation processing of driving support information that may be changed later, it is possible to obtain more up-to-date driving support information, and this also reduces the processing load. be able to.
- the execution timing of the calculation process is shifted according to the type of the driving support information, and the calculation process of the driving support information is sequentially executed for each type. Therefore, according to the driving support system 1, it is possible to reduce the load of the arithmetic processing.
- the driving support control can be executed without using an arithmetic processing device such as a CPU having a high processing capacity but a high cost. Thus, driving support control can be realized at low cost.
- the explanation so far is about driving support related to the nearest intersection in the traveling direction of the support vehicle, but the arithmetic processing sequentially performed according to the type of the driving support information is the driving support related to a plurality of continuous intersections.
- the present invention can also be applied to services (for example, the above-described green wave traveling support system).
- the support vehicle is also an intersection from the roadside unit 10 side of a plurality of previous intersections connected to the nearest intersection at the same time or with a slight time difference from the intersection information received from the roadside unit 10 side of the nearest intersection in the traveling direction.
- information can be received.
- the driving support information regarding each intersection can be calculated simultaneously.
- an arithmetic processing device with high processing capability is required, which may increase costs. Therefore, in this driving support system 1, it is desirable to suppress an increase in cost applied to the arithmetic processing device by reducing the load applied to the arithmetic processing of the driving support information regarding each intersection.
- this driving support system 1 when the intersection information of a plurality of continuous intersections can be received, the calculation processing of the driving support information based on the intersection information of the latest intersection is set as the type of the driving support information as described above. Accordingly, after the calculation process is completed, the driving support information relating to the intersection immediately before the intersection where the intersection information can be received (hereinafter referred to as “continuous intersection”) is calculated. Thereby, according to this driving support system 1, since the calculation processing of the driving support information regarding a plurality of intersections is sequentially performed for each intersection, the calculation processing load can be reduced. However, it is possible to execute driving support control related to a plurality of continuous intersections without using a high-cost arithmetic processing device, and this driving support control can be realized at low cost.
- the continuous intersection corresponds to each continuous intersection with respect to the nearest intersection on the guidance route when a guidance route is set.
- the driving assistance information based on the intersection information is calculated in order from the intersection that is close to the support vehicle.
- intersection information of intersections other than the respective intersections on the guidance route may be received.
- the guidance route may be deviated depending on the judgment of the driver. You may calculate about the driving assistance information regarding intersections other than this intersection. It is desirable to delete the driving support information regarding the intersection deviating from the traveling direction of the support vehicle after the travel direction of the support vehicle is determined.
- continuous intersections correspond to the respective intersections on the road in this service area when the green wave driving support service is being provided.
- the driving assistance information based on the intersection information is calculated in order from the intersection that is close to the support vehicle.
- intersection information of intersections other than the respective intersections on the road may be received. In that case, it is not always necessary to calculate the driving support information related to the intersection other than each intersection on the road, but it is possible that the driver will be off the road at the judgment of the driver. You may calculate also about the driving assistance information regarding intersections other than this intersection. It is desirable to delete the driving support information regarding the intersection deviating from the traveling direction of the support vehicle after the travel direction of the support vehicle is determined.
- a continuous intersection corresponds to a continuous intersection on each connecting road connected to the nearest intersection unless a driving support service for a plurality of intersections such as route guidance and green wave driving assistance is being provided.
- a driving support service for a plurality of intersections such as route guidance and green wave driving assistance is being provided.
- the calculation process of the driving support information related to the continuous intersection may be sequentially executed according to the type of the driving support information as in the case of the nearest intersection.
- the start time of the arithmetic processing for that consecutive intersection arrives before the support vehicle enters the nearest intersection. If not, it is desirable to perform the driving support information calculation process corresponding to such type after the driving support information calculation process for the nearest intersection. This is because after the own vehicle passes through the nearest intersection, a continuous intersection one ahead of the nearest intersection on the traveling path of the own vehicle becomes a new nearest intersection.
- driving support control related to the continuous intersection for the nearest intersection may be performed before the support vehicle passes through the nearest intersection. For this reason, it is desirable to calculate the driving assistance information regarding the continuous intersections before the supporting vehicle passes through the nearest intersection.
- driving support information related to the latest intersection may be dynamic that requires another calculation as the intersection information is updated. Therefore, in this case, there is a possibility that the dynamic operation support information recalculation processing related to the nearest intersection and the operation support information calculation processing related to the continuous intersection may be executed at the same time. Therefore, when driving support information related to continuous intersections is calculated before the support vehicle passes through the nearest intersection, only the driving support information that can reduce the load of the calculation processing is calculated based on the intersection information of the continuous intersections. .
- the driving support information related to the continuous intersection the driving support information (hereinafter referred to as “simple driving support information”) in which the amount of information is suppressed compared with all the detailed driving support information necessary for the driving support control related to the continuous intersection. Only).
- simple driving support information calculation process and dynamic driving support information recalculation process for the nearest intersection are executed at the same time, the increase in the calculation processing load is suppressed at that time. Can do.
- driving support information required for driving support control related to continuous intersections can be set at the stage before passing through the nearest intersection. For example, information on the distance from the support vehicle to the continuous intersection, stop line position information on the approaching path of the continuous intersection, end position information on the continuous intersection, signal pattern information described above at the continuous intersection, and the like. Therefore, static essential driving support information described later may be applied to the simple driving support information. In other words, this simple driving support information has a smaller amount of information than the driving support information (static driving support information and dynamic driving support information) required for driving support control for continuous intersections. Static information at successive intersections may be applied.
- the end point position information is the location information of the entrance of the exit route, the exit route from the continuous intersection If is not specified, the position information of the entrances of all exit route candidates at consecutive intersections is applicable.
- this driving support system 1 although it depends on the processing capability of the arithmetic processing unit, all the detailed driving support information calculation processing (except for dynamic driving support information recalculation processing) related to the most recent intersection is performed.
- the calculation process of the simple driving support information regarding the continuous intersection may be performed.
- simple driving support information related to continuous intersections is obtained at an earlier stage than the calculation processing of simple driving support information is executed after all the detailed driving support information calculation processing related to the nearest intersection is completed. Therefore, it is possible to improve the responsiveness of the driving support control for the continuous intersections while suppressing an increase in the processing load. Therefore, the processing capability of the arithmetic processing device can execute at least one type of driving support information calculation processing related to the nearest intersection and simple driving support information calculation processing related to one continuous intersection without simultaneously increasing the load. It is desirable to set so that
- the driving vehicle is provided with a single driving support for the nearest intersection (for example, driving assistance related to safety such as providing other vehicle information waiting for a right turn in the opposite lane), and the nearest intersection or its continuous intersection is
- the driving support for example, green wave driving support
- green wave driving support for the continuous intersections including the above is exemplified.
- the driving support device 22 determines whether or not the vehicle satisfies the driving support execution condition (step ST1). For example, when the vehicle is out of the service area for driving support, the driving support device 22 displays information on the roadside machine 10 at the intersection that is the target of driving support even if the vehicle is in the service area. If it is out of the reception range, it is determined that the driving support execution condition is not met. In addition, you may make this driving assistance apparatus 22 repeat this step ST1 until it corresponds to the execution conditions of driving assistance.
- the case that does not correspond to the driving support execution condition corresponds to the area A in FIG. 4, and the case that corresponds to the driving support execution condition corresponds to the area B and after in FIG. 4.
- the driving support device 22 calculates static essential driving support information related to the nearest intersection (first intersection) as shown in region B of FIG. ST2).
- the static essential driving support information is, among the above-mentioned essential driving support information, once calculated, before being updated until the supporting vehicle passes the intersection, and before the supporting vehicle approaches the intersection. It is the information required for the execution of driving support control. For this reason, the driving assistance device 22 first calculates the static essential driving assistance information regardless of whether or not the assistance contents of the driving assistance concerning the latest intersection are clear.
- the static essential driving support information that has been subjected to the arithmetic processing is stored in the storage device 23 and is held until the supporting vehicle has passed through the nearest intersection as shown in regions C to D of FIG.
- the driving support device 22 performs driving support control related to the nearest intersection based on the static essential driving support information.
- the remaining essential driving assistance information excluding the static mandatory driving assistance information is dynamic essential driving assistance information. Since the dynamic essential driving support information is changed when the intersection information of the latest intersection is updated, it is excluded from the calculation process of step ST2 and will be obtained later. In this way, calculation processing that may not be determined at a time, such as dynamic essential driving support information, is performed in a later step, so the load of calculation processing can be reduced from this point as well. It is illustrated.
- the driving support device 22 calculates the remaining driving support information related to the most recent intersection (first intersection) as shown in region C of FIG. Is started (step ST3), and it is determined whether or not the intersection information of the continuous intersection (second intersection) with respect to the nearest intersection is received (step ST4).
- the remaining driving support information is the dynamic essential driving support information described above and the specific driving support information described above. For this reason, in step ST3, the driving assistance information regarding the latest intersection is confirmed, and specific driving assistance information corresponding to the assistance contents is calculated.
- Intersection information on consecutive intersections can be broadly classified into information used for driving support services for single intersections to the continuous intersections and information used for driving support services for multiple intersections to the continuous intersections.
- step ST4 if at least one of the intersection information has been received, it is determined that the intersection information of the continuous intersection has been received.
- the driving support device 22 ends the calculation process when the intersection information of the continuous intersection is not received.
- the driving support device 22 does not wait for the end of the calculation processing of the remaining driving support information related to the nearest intersection, and as shown in the region C of FIG.
- the calculation process of the above-mentioned simple driving support information regarding the continuous intersection with respect to the intersection is performed (step ST5).
- the calculation processing amount of the remaining driving support information is small, and the calculation processing of the simple driving support information may be started after the calculation processing of the driving support information is completed.
- the remaining driving support information related to the nearest intersection for which the computation processing has been completed is stored in the storage device 23 and is held until the assisting vehicle has passed the nearest intersection as shown in region D of FIG. Since this remaining driving support information is dynamic, there is a possibility that it will be changed as new intersection information is received at the nearest intersection. For this reason, when receiving the new intersection information, the driving support device 22 recalculates the remaining driving support information and updates the information stored in the storage device 23. The driving support device 22 performs driving support control related to the nearest intersection based on the static essential driving support information, and driving support control related to the nearest intersection based on the remaining driving support information.
- the driving support device 22 relates to the static essential driving support information related to the nearest intersection, the remaining driving support information related to the nearest intersection, and the continuous intersection. Based on the simple driving support information, driving support control related to the nearest intersection (for example, vehicle speed control in green wave driving support) is performed.
- the simplified driving support information that has been subjected to the arithmetic processing is stored in the first storage area of the storage device 23, and as shown in the areas D to G of FIG. Information and dynamic essential driving support information and unique driving support information) are held until the calculation process is completed.
- the driving support device 22 can perform driving support control related to continuous intersections based on the simple driving support information until the calculation process is completed. For this reason, the driving support control related to the continuous intersection based on the simple driving support information is executed even after the supporting vehicle passes the nearest intersection.
- this driving support system 1 is divided into the types of driving support information in the driving support control related to the nearest intersection (the static essential driving support information, the dynamic essential driving support information, and the specific driving support information. Separately, calculation processing of driving support information is performed. Therefore, the driving support system 1 can reduce the calculation processing load.
- this driving support system 1 does not wait for the calculation processing of driving support information (static required driving support information, dynamic required driving support information and unique driving support information) related to the nearest intersection.
- driving support information static required driving support information, dynamic required driving support information and unique driving support information
- the calculation processing of simple driving support information with less load on all consecutive intersections is started. Therefore, this driving support system 1 can improve the responsiveness of the driving support control related to the continuous intersection while suppressing an increase in the processing load in the driving support control at the continuous intersection.
- FIG. 3 is a flowchart for explaining a calculation process related to driving support information after the support vehicle has passed the nearest intersection.
- the driving support device 22 performs calculation processing of driving support information (static essential driving support information, dynamic essential driving support information and unique driving support information) regarding the nearest intersection and calculation processing of simple driving support information regarding continuous intersections. After finishing (step ST11), it is determined whether the own vehicle has passed the nearest intersection (step ST12). This determination can be performed based on the vehicle position information and the map information.
- the vehicle position information if the vehicle is equipped with a car navigation system, the vehicle position information grasped by a GPS (Global Positioning System) control device 41 may be used.
- the map information may be the map information 42 of the car navigation system.
- the driving assistance device 22 keeps the driving assistance information related to the nearest intersection and the simplified driving assistance information related to the continuous intersection after the calculation processing is held in the storage device 23 (step ST13). ), The process returns to step ST12. In this case, the driving support device 22 continues driving support control related to the nearest intersection based on the driving support information and driving support control related to continuous intersections based on the simple driving support information.
- the driving support device 22 determines whether or not the exit route is a road heading to a continuous intersection (second intersection) for which simple driving support information is calculated. (Step ST14). In this case, the continuous intersection (second intersection) becomes a new nearest intersection.
- the driving support information related to the immediately preceding intersection (static required driving support information, dynamic required driving support information, and inherent driving support) Information) and simple driving support information related to the immediately preceding continuous intersection with respect to the nearest intersection are deleted from the storage device 23 (step ST15).
- the calculation processing of the driving support information corresponding to the type may be executed for the new nearest intersection. For example, when the guidance route is re-searched and the driving support control for the continuous intersection is continued, the calculation processing of the driving support information regarding the nearest intersection and the calculation processing of the simple driving support information regarding the continuous intersection described above are newly performed. What is necessary is just to continue with respect to the nearest intersection and a new continuous intersection.
- step ST16 when the driving support device 22 is heading for a continuous intersection with simple driving support information, as shown in the area E of FIG.
- the support information, dynamic essential driving support information and unique driving support information) are deleted from the storage device 23 (step ST16).
- this driving assistance device 22 calculates the static essential driving assistance information regarding the continuous intersection (2nd intersection) which became the latest intersection newly, as shown to the area
- the static essential driving support information that has been subjected to the arithmetic processing is stored in the storage device 23, and the support vehicle finishes passing through this new nearest intersection (second intersection) as shown in regions GI of FIG. Hold up.
- the driving support device 22 performs driving support control related to a new nearest intersection based on the static essential driving support information.
- this driving support device 22 is included in the simple driving support information of the storage device 23 that is not included in the static essential driving support information. Control based on the non-overlapping simple driving support information is also executed.
- the driving support device 22 After completing the calculation processing of the static essential driving support information related to the nearest intersection, the driving support device 22 performs the remaining driving support information related to the nearest intersection (dynamic essential driving support information) as shown in the region G of FIG. Information and specific driving support information) is started (step ST18), and in the same manner as in step ST4, whether or not intersection information of a new continuous intersection (third intersection) for this nearest intersection has been received. Is determined (step ST19).
- the driving support device 22 When the intersection information of the new continuous intersection is received, the driving support device 22 does not wait for the calculation processing of the remaining driving assistance information regarding the new nearest intersection, and as shown in the region G of FIG. Calculation processing of simple driving support information regarding a new continuous intersection with respect to the nearest intersection is performed (step ST20). And after this driving assistance device 22 finishes the calculation process of the remaining driving assistance information regarding a new nearest intersection, as shown to the area
- the driving support device 22 ends the calculation process when no intersection information of a new continuous intersection is received.
- the remaining driving support information relating to the new nearest intersection that has been subjected to the arithmetic processing is stored in the storage device 23 and retained until the assisting vehicle has passed the nearest intersection as shown in regions HI of FIG. And updated when new intersection information is received.
- the driving support device 22 performs driving support control related to a new nearest intersection based on the remaining driving support information.
- the simplified driving support information related to the new continuous intersection that has been subjected to the arithmetic processing is stored in the second storage area of the storage device 23, and as shown in the areas H to L of FIG. The information is retained until the calculation process of information (static essential driving support information, dynamic essential driving support information and unique driving support information) is completed.
- the driving support device 22 can perform driving support control related to new continuous intersections based on the simple driving support information until the calculation process is completed.
- the driving support device 22 repeats the above-described calculation of various driving support information and driving support control based on these for each intersection until the driving support control is stopped. For example, in the illustration of FIG. 4, the driving support control ends at the third intersection. For this reason, the driving assistance device 22 does not calculate the simplified driving assistance information regarding the intersection (the fourth intersection) ahead of the third intersection. Then, after the support vehicle passes through the third intersection, the driving support device 22 drives the driving support information (the static essential driving support information and the dynamic information regarding the third intersection) as shown in a region O in FIG. The essential driving support information and the specific driving support information) are deleted, and the driving support control is terminated.
- the driving support information the static essential driving support information and the dynamic information regarding the third intersection
- the arithmetic processing device has a processing capability capable of simultaneous calculation of driving support information regarding two intersections by a nearest intersection and a continuous intersection.
- the driving support system 1 has the remaining driving support information on the nearest intersection (dynamic essential driving) when the arithmetic processing unit has a processing capability capable of simultaneous calculation of driving support information related to the N intersections.
- Support information and unique driving support information) and simple driving support information regarding N-1 consecutive intersections can be calculated at the same time.
- the processing capacity refers to that which is allocated for the arithmetic processing of the driving support information out of the total processing capacity of the arithmetic processing unit.
- FIG. 5 illustrates the driving support system 1 that can calculate the remaining driving support information related to the nearest intersection and the simple driving support information related to three consecutive intersections at the same time.
- the illustration of FIG. 5 only the number of consecutive intersections that can be processed simultaneously with respect to the illustration of FIG. 4 is increased by one, and the calculation processing form of the driving support information is the same as the illustration of FIG. For this reason, description of the arithmetic processing is omitted here.
- the driving support system 1 may execute the calculation process of the simple driving support information regarding the N consecutive intersections at the same time as the calculation process of the remaining driving support information regarding the latest intersection.
- the driving support system 1 sequentially calculates the driving support information for each type in the driving support control related to the nearest intersection, so that the load of the calculation process can be distributed. And this driving assistance system 1 performs driving assistance control about the nearest intersection based on driving assistance information computed for every classification. For this reason, in this driving support system 1, it becomes possible to execute driving support control related to the nearest intersection with reduced load. Furthermore, this driving support system 1 is the driving support control related to the continuous intersection existing ahead of the nearest intersection, and before the supporting vehicle passes through the nearest intersection, all the details necessary for the driving support control. Simple driving support information with a reduced amount of information compared to dynamic driving support information (static essential driving support information, dynamic essential driving support information, and unique driving support information).
- the simple driving support information can be calculated at the same time as the remaining driving support information related to the nearest intersection.
- the driving support system 1 can execute the driving support control based on the simple driving support information until all the detailed driving support information necessary for the driving support control related to the continuous intersections is calculated. For this reason, in this driving support system 1, it becomes possible to execute driving support control for continuous intersections with reduced load.
- the driving support system 1 can reduce the load applied to the calculation processing of the driving support information both in driving support control for a single intersection and in driving support control for a plurality of intersections. Therefore, according to the driving support system 1, the driving support control can be executed at a low cost without using a high-cost arithmetic processing device with a high processing capacity.
- the processing capability of the arithmetic processing device differs depending on, for example, the vehicle type.
- the load may increase when the arithmetic processing unit is used for control other than driving support control.
- the driving support system 1 may be configured so that the number N-1 of consecutive intersections that execute the calculation process of the simple driving support information at the same time can be changed according to the processing capability.
- driving support control related to the same intersection has been performed in the past
- driving support control is executed again at the intersection
- past information can be used as long as it is at least static driving support information. Therefore, after the driving support control for a certain intersection is executed, the driving support device 22 leaves at least static driving support information in the storage device 23 and executes the driving support control again at the intersection.
- driving support control may be performed using the past driving support information held. In this case, the driving support device 22 calculates driving support information based on the latest intersection information, and replaces this with the corresponding past driving support information.
- the intersection information related to the past driving support information may also be stored in the storage device 23.
- the intersection information is compared with the latest intersection information received, and if there is a difference, the latest If the driving support information is calculated based on the intersection information and there is no difference between them, the past driving support information may be handled as the latest driving support information without calculating the latest driving support information.
- past driving support information can be used in the portions indicated by “-” in FIGS. This eliminates the need to calculate the latest driving assistance information (especially static driving assistance information that is unlikely to change) every time. In this case, it is possible to further reduce the processing load. .
- the driving support information related to the consecutive intersection is a load of calculation processing on the driving support information related to the nearest intersection.
- Simple driving support information that can be reduced is calculated based on the intersection information of the continuous intersection.
- this exemplary technique may be applied not only to such a continuous intersection ahead of the nearest intersection, but also to calculation of driving support information regarding an intersection other than the nearest intersection (nearest outside intersection). That is, when driving support control is performed for a plurality of intersections including the nearest intersection, the driving support information related to the nearest outer intersection excluding the nearest intersection among the plurality of intersections is simplified driving support information relative to the driving support information related to the nearest intersection.
- the simple driving support information is a smaller amount of information than the driving support information required for driving support control related to the nearest intersection, and the driving support related to the nearest intersection before the passing of the nearest intersection. It will be required for control.
- the simple driving support information has a smaller amount of information than the driving support information required for the driving support control related to the nearest outside intersection, and is obtained by calculating static information at the nearest outside intersection. Also good. Here, you may change the number of the nearest outer intersections which perform the calculation process of simple driving assistance information at the same time according to the calculation processing capability of a support vehicle.
- the driving support control related to the nearest intersection is executed based on the driving support information related to the latest intersection and the simplified driving support information related to the nearest outer intersection. Further, in this case, if the assisting vehicle passes the nearest intersection, the driving support control related to the nearest outer intersection is executed based on the simple driving support information.
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Abstract
Description
本発明に係る運転支援システムの実施例を図1から図5に基づいて説明する。
10 路側機
11 記憶装置
12 情報収集装置
13 路側通信装置
20 車載器
21 車両側通信装置
22 運転支援装置
23 記憶装置
30 支援機器
Claims (13)
- 支援車両に対する運転支援制御で必要とされる交差点に関しての運転支援情報を当該交差点の交差点情報に基づいて演算し、該運転支援情報に基づいて前記交差点に関する運転支援制御を行う際、前記運転支援情報を当該運転支援情報の種別に応じて演算することを特徴とした運転支援システム。
- 前記運転支援情報は、その種別毎に分けて順次演算する請求項1記載の運転支援システム。
- 前記運転支援情報の種別は、前記交差点における静的な情報と動的な情報とである請求項1又は2に記載の運転支援システム。
- 前記運転支援情報の種別は、前記運転支援制御の支援内容の種類に拘わらず当該運転支援制御の実行に必要とされる情報と、実行要求されている前記運転支援制御の支援内容に応じた当該運転支援制御の実行に必要とされる情報と、である請求項1又は2に記載の運転支援システム。
- 前記運転支援情報の種別は、支援車両の位置と前記交差点との距離に応じたものである請求項1又は2に記載の運転支援システム。
- 前記交差点は、支援車両が走行している道路の進行方向における直近交差点である請求項1から5の内の何れか1つに記載の運転支援システム。
- 前記直近交差点を含む複数の交差点に対する運転支援制御を行う場合、該複数の交差点の内の前記直近交差点を除く直近外交差点に関する運転支援情報は、該直近交差点に関する運転支援情報に対して簡易運転支援情報を当該直近外交差点の交差点情報に基づいて演算する請求項6記載の運転支援システム。
- 前記簡易運転支援情報は、前記直近外交差点に関する運転支援制御で必要とされる運転支援情報よりも情報量を抑えたものであり、前記直近交差点の通過前の段階で当該直近外交差点に関する運転支援制御に必要とされるものを演算する請求項7記載の運転支援システム。
- 前記簡易運転支援情報は、前記直近外交差点に関する運転支援制御で必要とされる運転支援情報よりも情報量を抑えたものであり、該直近外交差点における静的な情報を演算する請求項7記載の運転支援システム。
- 前記直近交差点に関する運転支援制御は、該直近交差点に関する運転支援情報と前記直近外交差点に関する前記簡易運転支援情報とに基づいて実行する請求項7,8又は9に記載の運転支援システム。
- 支援車両が前記直近交差点を通過した場合、前記直近外交差点に関する運転支援制御は、前記簡易運転支援情報に基づいて実行する請求項7から10の内の何れか1つに記載の運転支援システム。
- 支援車両が前記直近交差点を通過した場合、該直近交差点からの退出方路における支援車両から最も近い直近外交差点を新たな直近交差点とする請求項7から11の内の何れか1つに記載の運転支援システム。
- 支援車両の演算処理能力に応じて前記簡易運転支援情報の演算処理を同時期に実行させる直近外交差点の数を変更する請求項請求項7から12の内の何れか1つに記載の運転支援システム。
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DE112011105690.7T DE112011105690T5 (de) | 2011-09-30 | 2011-09-30 | Fahrunterstützungssystem |
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WO2019131075A1 (ja) * | 2017-12-25 | 2019-07-04 | 住友電気工業株式会社 | 送信装置、点群データ収集システムおよびコンピュータプログラム |
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CN111216731A (zh) * | 2020-01-23 | 2020-06-02 | 南京锦和佳鑫信息科技有限公司 | 一种车路协同自动驾驶的主动感知系统 |
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JP2003288694A (ja) * | 2002-03-27 | 2003-10-10 | Natl Inst For Land & Infrastructure Management Mlit | 出会い頭衝突防止支援装置 |
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JP2010185761A (ja) * | 2009-02-12 | 2010-08-26 | Toyota Motor Corp | ナビゲーションシステム、道路地図表示方法 |
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CN107945540A (zh) * | 2017-10-27 | 2018-04-20 | 清华大学苏州汽车研究院(吴江) | 一种信号灯路口的车路协同控制系统 |
WO2019131075A1 (ja) * | 2017-12-25 | 2019-07-04 | 住友電気工業株式会社 | 送信装置、点群データ収集システムおよびコンピュータプログラム |
JP2019204360A (ja) * | 2018-05-24 | 2019-11-28 | 株式会社オートネットワーク技術研究所 | 走行支援装置、走行支援方法及びコンピュータプログラム |
CN111216731A (zh) * | 2020-01-23 | 2020-06-02 | 南京锦和佳鑫信息科技有限公司 | 一种车路协同自动驾驶的主动感知系统 |
Also Published As
Publication number | Publication date |
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CN103403777A (zh) | 2013-11-20 |
CN103403777B (zh) | 2015-09-02 |
US20140195069A1 (en) | 2014-07-10 |
DE112011105690T5 (de) | 2014-07-17 |
US8958926B2 (en) | 2015-02-17 |
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