WO2018220822A1

WO2018220822A1 - Travel assistance device, travel assistance system, and travel assistance method

Info

Publication number: WO2018220822A1
Application number: PCT/JP2017/020621
Authority: WO
Inventors: 尚樹門田; 兼秀荒井; 嘉人副島
Original assignee: 三菱電機株式会社
Priority date: 2017-06-02
Filing date: 2017-06-02
Publication date: 2018-12-06
Also published as: JPWO2018220822A1; CN110709912A; CN110709912B; JP6741360B2

Abstract

The present invention is provided with: a wireless communication unit (107) which establishes wireless communication with a flight vehicle (200) having a flight vehicle camera (202) mounted thereon; a launch control unit (106) which controls the launch of the flight vehicle (200); an oncoming-traffic-lane-state determination unit (108) which determines, from a first image captured by the flight vehicle camera (202) and acquired via the wireless communication unit (107), the state of an oncoming traffic lane that a host vehicle is to cross when making a right or left turn at a traffic intersection; and a notification unit (109) which advises on the state of the oncoming traffic lane thus determined.

Description

Driving support device, driving support system, and driving support method

The present invention relates to a technique for providing support related to vehicle travel.

As a technology for supporting the traveling of the vehicle, various technologies for supporting the traveling of the host vehicle turning right or left across the opposite lane at an intersection have been proposed. Note that whether to turn right or left across an oncoming vehicle differs depending on the country or region.
For example, in Patent Document 1, when it is determined that a vehicle is located in an intersection, display information indicating what the traffic signal on the opposite lane installed at the intersection displays is mounted on the vehicle. There is disclosed a driving support device that obtains image information from the shape and color of a traffic signal image captured by a rear camera, and notifies the vehicle driver of the acquired display information of the traffic signal.

JP 2006-155319 A

In the driving support device described in Patent Document 1, since the lighting state of the traffic signal on the opposite lane installed at the intersection is captured by the rear camera of the host vehicle, the traffic signal is displayed if the host vehicle does not enter the intersection. There has been a problem that the lighting state of cannot be determined.

The present invention has been made to solve the above-described problems, and aims to acquire information on the oncoming lane even when the host vehicle has not entered the intersection.

A travel support apparatus according to the present invention includes a wireless communication unit that establishes wireless communication with a flying object equipped with a flying object camera, a launch control unit that controls launching of the flying object, and a flight acquired via the wireless communication unit. From the first image taken by the body camera, the opposite lane state determination unit that determines the state of the opposite lane that the host vehicle crosses by turning left or right at the intersection and the state of the opposite lane determined by the opposite lane state determination unit are notified. A notification unit.

According to this invention, even when the host vehicle has not entered the intersection, information regarding the oncoming lane can be acquired.

It is a block diagram which shows the structure of the driving assistance apparatus which concerns on Embodiment 1. FIG. 2A and 2B are diagrams illustrating a hardware configuration example of the driving support device. 3 is a flowchart showing an operation of the driving support apparatus according to the first embodiment. 4 is a flowchart showing an operation of a launch determination unit of the travel support apparatus according to the first embodiment. 5A, 5B, and 5C are explanatory diagrams illustrating flight control by the launch control unit of the travel support apparatus according to Embodiment 1. FIG. FIG. 6 is a diagram illustrating a display example by a notification unit of the travel support device according to the first embodiment. FIG. 6 is a diagram illustrating a display example by a notification unit of the travel support device according to the first embodiment. It is a figure explaining the effect of the driving assistance device concerning Embodiment 1.

Hereinafter, in order to explain the present invention in more detail, modes for carrying out the present invention will be described with reference to the accompanying drawings.
Embodiment 1 FIG.
FIG. 1 is a block diagram showing a configuration of a driving support apparatus 100 according to the first embodiment.
First, the driving support device 100 determines whether or not to launch a flying object such as a drone mounted on the own vehicle when the own vehicle is about to cross the opposite lane at the intersection. When it is determined that the flying object is to be fired, the driving support device 100 controls the launching and flying of the flying object, and from the image taken by the flying object camera mounted on the flying object, Determine the lighting status of the traffic light. The driving support device 100 notifies the driver of the determination result.
In addition, the driving | running | working which crossed the opposite lane at the intersection mentioned above turns right or left depending on a country or an area. In the following, the case where the host vehicle turns right across the oncoming lane at the intersection will be described as an example. However, the driving support device 100 can also be applied when turning left across the oncoming lane at the intersection.

The travel support apparatus 100 includes a position information acquisition unit 101, a vehicle information acquisition unit 102, a travel direction detection unit 103, an oncoming lane information detection unit 104, a launch determination unit 105, a launch control unit 106, a wireless communication unit 107, and an oncoming lane state determination. Unit 108, notification unit 109, and recovery determination unit 110.
The travel support device 100 is connected to the flying object 200 via the wireless communication unit 107 and the wireless communication device 201. The flying object 200 is placed on the roof of the host vehicle, a loading platform, or the like, and is launched based on the control of the driving support device 100. The flying object camera 202 mounted on the flying object 200 captures an image in a state where it is placed on the own vehicle and in a state where it is launched from the own vehicle and flies. As shown in FIG. 1, the driving support system 300 is configured by the driving support device 100 and the flying body 200.

Also, the driving support device 100 is connected to at least one of the display 401, the speaker 402, the notification lamp 403, or the lamp (notification device) 203. The display 401, the speaker 402, and the notification lamp 403 are mounted on the host vehicle. The display 401 is a display such as a navigation system of the host vehicle, a head-up display, or a meter. The lamp body 203 is mounted on the flying body 200. The notification lamp 403 and the lamp body 203 emit light. The notification lamp 403 and the lamp body 203, for example, emit light of the same or similar color as the lighting color of the traffic light, and notify the driver of the lighting state of the traffic light. The notification lamp 403 is provided at a position in front of the host vehicle and visible to the driver, for example, in the vicinity of the display 401. The lamp body 203 is disposed at a position where the driver can visually recognize the light emitted when the flying body 200 is flying.

The position information acquisition unit 101 acquires map information, current position information of the host vehicle on which the driving support device 100 is mounted, direction of the host vehicle, and route information of the host vehicle from a navigation system (not shown). The position information acquisition unit 101 outputs the acquired information to the firing determination unit 105 as position information.

The vehicle information acquisition unit 102 acquires vehicle speed information of the host vehicle from an in-vehicle radar (not shown) mounted on the host vehicle. The vehicle information acquisition part 102 acquires the image (henceforth a captured image of the periphery of the own vehicle) which image | photographed the periphery of the own vehicle from the vehicle-mounted camera (not shown) mounted in the own vehicle. The vehicle information acquisition unit 102 outputs the acquired traveling direction of the host vehicle, the vehicle speed information of the host vehicle, and the captured image to the launch determination unit 105 as vehicle information.

The traveling direction detection unit 103 acquires information indicating the operating state of the winker from a sensor (not shown) that detects the operation of the winker of the host vehicle. For example, when the acquired information indicates lighting of the right turn signal, the traveling direction detection unit 103 outputs the lighting information of the right turn signal to the firing determination unit 105. On the other hand, when the acquired information indicates lighting of the left turn signal, the traveling direction detection unit 103 outputs the left turn signal lighting information to the firing determination unit 105.

The oncoming lane information detection unit 104 acquires a second image captured by at least one of the in-vehicle camera mounted on the host vehicle or the flying body camera 202 mounted on the flying body 200. In addition, the 2nd image which the oncoming lane information detection part 104 acquires from the flying body camera 202 mounted in the flying body 200 is an image image | photographed in the state in which the flying body 200 was mounted in the own vehicle. The oncoming lane information detection unit 104 detects oncoming lane information indicating whether there is an oncoming vehicle that travels straight on the oncoming lane at the intersection from the acquired second image. The oncoming lane information detection unit 104 outputs the detected oncoming lane information to the launch determination unit 105.

The launch determination unit 105 includes position information input from the position information acquisition unit 101, vehicle information input from the vehicle information acquisition unit 102, turn signal lighting information and oncoming lane information detection unit 104 input from the travel direction detection unit 103. Whether or not the flying object 200 is to be fired is determined based on the information on the opposite lane input from.
Specifically, the launch determination unit 105 refers to the position information and the vehicle information, and the host vehicle approaches the intersection scheduled to make a right turn (hereinafter referred to as a right turn) across the opposite lane, or prepares for a right turn at the intersection. Based on whether or not the vehicle is going, it is determined whether or not the host vehicle is scheduled to turn right at the intersection. The firing determination unit 105 refers to turn signal lighting information and determines whether or not the right turn signal is turned on. The launch determination unit 105 refers to the information on the oncoming lane and determines whether there is an oncoming vehicle that travels straight on the oncoming lane.

The launch determination unit 105 determines that the host vehicle is scheduled to turn right at the intersection, determines that the host vehicle is lighting the right turn signal, and determines that there is an oncoming vehicle that travels straight in the oncoming lane. It is determined that the flying object 200 is fired. When determining that the flying object 200 is to be fired, the firing determination unit 105 instructs the launch control unit 106 to launch the flying object 200.
The launch determination unit 105 performs the above-described determination before the host vehicle turns right.

In addition to the above-described position information, vehicle information, turn signal lighting information, and oncoming lane information, launch determination unit 105 further refers to at least one of weather information and user operation information, and launches flying object 200. Whether or not it may be determined. In that case, the launch determination unit 105 refers to the weather information acquired from the outside, and determines that the flying object 200 is fired when the weather information is suitable for launching the flying object 200. In addition, the launch determination unit 105 refers to the operation information of the user, and determines to launch the flying object 200 when the user permits the launching of the flying object 200.

The launch control unit 106 controls the launch of the flying object 200 based on the launch instruction input from the launch determination unit 105. In addition, the launch control unit 106 controls the flight of the flying object 200 so that the flying object camera 202 mounted on the flying object 200 captures the traffic signal on the opposite lane. In addition to the traffic signal on the oncoming lane, the launch control unit 106 controls the flight of the flying object 200 so as to capture at least one of the oncoming lane and the road on the right turn of the host vehicle. The launch control unit 106 outputs the launch control information of the flying object 200 and the flight control information of the flying object 200 to the wireless communication unit 107.

The wireless communication unit 107 establishes wireless communication with the wireless communication device 201 of the flying object 200. The wireless communication unit 107 transmits the launch control information and the flight control information to the flying object 200. In addition, the wireless communication unit 107 receives a first image captured by the flying object camera 202 mounted on the flying object 200 and transmitted from the wireless communication apparatus 201 of the flying object 200. The wireless communication unit 107 outputs the received first image to the oncoming lane state determination unit 108.

The oncoming lane state determination unit 108 determines the state of the oncoming lane from the input first image. The oncoming lane state determination unit 108 determines the lighting state of the traffic signal in the straight direction of the oncoming lane at the intersection as the oncoming lane state.
Further, the oncoming lane state determination unit 108 may determine the running state of the vehicle on the oncoming lane as the oncoming lane state. The oncoming lane condition determination unit 108 specifically determines the oncoming lane congestion, the presence or absence of an oncoming vehicle that goes straight on the oncoming lane, the possibility that the oncoming vehicle that goes straight on the oncoming lane stops, The possibility that the oncoming vehicle is starting to go straight in the oncoming lane is determined. Furthermore, the oncoming lane state determination unit 108 may determine the congestion state of the traveling lane to which the host vehicle turns right as the oncoming lane state. The oncoming lane condition determining unit 108 determines whether the oncoming lane is in the traffic state of the vehicle in addition to the lighting state of the traffic light in the straight direction of the oncoming lane at the intersection, or the congestion state of the driving lane at the right turn of the host vehicle It can be arbitrarily set whether or not to determine. The oncoming lane condition determination unit 108 outputs the determination result to the notification unit 109.

The notification unit 109 generates support information when the host vehicle turns right at the intersection based on the determination result input from the oncoming lane state determination unit 108. The support information is information indicating the lighting color of the traffic light on the oncoming lane, information indicating whether the host vehicle can turn right, or predicted oncoming vehicle movement. The notification unit 109 performs processing for displaying the generated support information on the display 401, outputting sound from the speaker 402, lighting the notification lamp 403, or lighting the lamp 203.

The wireless communication unit 107 may output the first image received from the flying body camera 202 mounted on the flying body 200 to the notification unit 109 without using the oncoming lane state determination unit 108. In this case, the notification unit 109 performs a process for displaying the input first image on the display 401.

The collection determination unit 110 acquires the position information input from the position information acquisition unit 101 and the captured image near the host vehicle input from the vehicle information acquisition unit 102. The collection determination unit 110 determines whether to collect the launched flying object 200 from the acquired position information and a captured image near the host vehicle. Specifically, the collection determination unit 110 determines to collect the flying object 200 when the host vehicle passes through an intersection scheduled for a right turn. Here, the case where the host vehicle passes through an intersection scheduled for a right turn includes a case where the vehicle turns right, or a case where the vehicle turns straight or turns left without turning right. When the recovery determination unit 110 determines to recover the flying object 200, the recovery determination unit 110 outputs a recovery instruction for the flying object 200 to the launch control unit 106.

The launch control unit 106 controls the flight of the flying object 200 based on the recovery instruction of the flying object 200 input from the recovery determining unit 110 so that the flying object 200 is remounted on the host vehicle. The launch control unit 106 outputs the flight control information of the flying object 200 to the wireless communication unit 107. The wireless communication unit 107 transmits flight control information for collecting the flying object 200 to the flying object 200.

Next, a hardware configuration example of the driving support device 100 will be described.
2A and 2B are diagrams illustrating a hardware configuration example of the driving support device 100.
The wireless communication unit 107 in the travel support device 100 is a transmission / reception device 100 a that performs wireless communication with the flying object 200. Position information acquisition unit 101, vehicle information acquisition unit 102, travel direction detection unit 103, oncoming lane information detection unit 104, launch determination unit 105, launch control unit 106, oncoming lane state determination unit 108, notification unit 109 in travel support device 100. Each function of the recovery determination unit 110 is realized by a processing circuit. That is, the driving support device 100 includes a processing circuit for realizing the above functions. The processing circuit may be a processing circuit 100b that is dedicated hardware as shown in FIG. 2A or a processor 100c that executes a program stored in the memory 100d as shown in FIG. 2B. Good.

As shown in FIG. 2A, a position information acquisition unit 101, a vehicle information acquisition unit 102, a traveling direction detection unit 103, an oncoming lane information detection unit 104, a launch determination unit 105, a launch control unit 106, an oncoming lane state determination unit 108, a notification When the unit 109 and the collection determination unit 110 are dedicated hardware, the processing circuit 100b includes, for example, a single circuit, a composite circuit, a programmed processor, a parallel programmed processor, an ASIC (Application Specific Integrated Circuit), FPGA (Field-programmable Gate Array) or a combination of these. Position information acquisition unit 101, vehicle information acquisition unit 102, travel direction detection unit 103, oncoming lane information detection unit 104, launch determination unit 105, launch control unit 106, oncoming lane state determination unit 108, notification unit 109, and recovery determination unit 110 The functions of the respective units may be realized by a processing circuit, or the functions of the respective units may be realized by a single processing circuit.

As shown in FIG. 2B, a position information acquisition unit 101, a vehicle information acquisition unit 102, a travel direction detection unit 103, an oncoming lane information detection unit 104, a launch determination unit 105, a launch control unit 106, an oncoming lane state determination unit 108, a notification When the unit 109 and the collection determination unit 110 are the processor 100c, the function of each unit is realized by software, firmware, or a combination of software and firmware. Software or firmware is described as a program and stored in the memory 100d. The processor 100c reads out and executes the program stored in the memory 100d, whereby the position information acquisition unit 101, the vehicle information acquisition unit 102, the traveling direction detection unit 103, the oncoming lane information detection unit 104, the launch determination unit 105, the launch The functions of the control unit 106, the oncoming lane state determination unit 108, the notification unit 109, and the collection determination unit 110 are realized. That is, the position information acquisition unit 101, the vehicle information acquisition unit 102, the traveling direction detection unit 103, the oncoming lane information detection unit 104, the launch determination unit 105, the launch control unit 106, the oncoming lane state determination unit 108, the notification unit 109, and the recovery determination The unit 110 includes a memory 100d for storing a program in which each step shown in FIGS. 3 and 4 to be described later is executed when executed by the processor 100c. These programs include a position information acquisition unit 101, a vehicle information acquisition unit 102, a traveling direction detection unit 103, an oncoming lane information detection unit 104, a launch determination unit 105, a launch control unit 106, an oncoming lane state determination unit 108, and a notification. It can also be said that the computer executes the procedure or method of the unit 109 and the collection determination unit 110.

Here, the processor 100c is, for example, a CPU (Central Processing Unit), a processing device, an arithmetic device, a processor, a microprocessor, a microcomputer, or a DSP (Digital Signal Processor).
The memory 100d may be, for example, a nonvolatile or volatile semiconductor memory such as a RAM (Random Access Memory), a ROM (Read Only Memory), a flash memory, an EPROM (Erasable Programmable ROM), or an EEPROM (Electrically EPROM). Further, it may be a magnetic disk such as a hard disk or a flexible disk, or an optical disk such as a mini disk, CD (Compact Disc), or DVD (Digital Versatile Disc).

The position information acquisition unit 101, the vehicle information acquisition unit 102, the traveling direction detection unit 103, the oncoming lane information detection unit 104, the launch determination unit 105, the launch control unit 106, the oncoming lane state determination unit 108, the notification unit 109, and the recovery determination A part of each function of the unit 110 may be realized by dedicated hardware, and a part may be realized by software or firmware. As described above, the processing circuit 100b in the driving support device 100 can realize the functions described above by hardware, software, firmware, or a combination thereof.

Next, the operation of the driving support device 100 will be described.
FIG. 3 is a flowchart showing the operation of the driving support apparatus 100 according to the first embodiment.
The position information acquisition unit 101 acquires map information, the current position of the host vehicle, and route information of the host vehicle from the navigation system as position information (step ST1). The position information acquisition unit 101 outputs the acquired position information to the firing determination unit 105. The vehicle information acquisition unit 102 acquires, as vehicle information, a traveling direction of the host vehicle, vehicle speed information of the host vehicle, and a captured image near the host vehicle from the in-vehicle radar (step ST2). The vehicle information acquisition unit 102 outputs the acquired vehicle information to the firing determination unit 105. The traveling direction detection unit 103 acquires turn signal operating information from the sensor, and detects turn signal lighting information (step ST3). The traveling direction detection unit 103 outputs the detected turn signal lighting information to the firing determination unit 105.

The oncoming lane information detection unit 104 acquires a second image from at least one of the vehicle-mounted camera of the host vehicle or the flying object camera 202 of the flying object 200, and detects the information of the oncoming lane (step ST4). The oncoming lane information detection unit 104 outputs the detected oncoming lane information to the launch determination unit 105. The launch determination unit 105 refers to the information input in steps ST1 to ST4 and determines whether or not to launch the flying object 200 (step ST5). When it is determined that the flying object 200 is not to be fired (step ST5; NO), the process is terminated.

On the other hand, when it is determined that the flying object 200 is to be fired (step ST5; YES), the firing determining unit 105 outputs a launch instruction for the flying object 200 to the launch control unit 106 (step ST6). The launch control unit 106 performs launch control of the flying object 200 and flight control of the flying object 200 based on the launch instruction of the flying object 200 input in step ST6 (step ST7). The launch control unit 106 transmits control information based on the control in step ST7 to the flying object 200 via the radio communication unit 107 and the radio communication device 201 (step ST8).

The wireless communication unit 107 receives the first image transmitted from the wireless communication device 201 of the flying object 200 (step ST9), and outputs the received first image to the oncoming lane state determination unit 108. The oncoming lane state determination unit 108 determines the state of the oncoming lane from the first image (step ST10). The notification unit 109 generates support information when the host vehicle makes a right turn at the intersection based on the determination result of step ST10 (step ST11). The notification unit 109 performs a process for notifying the driver of the support information generated in step ST11 (step ST12).

The collection determination unit 110 has passed through the intersection where the host vehicle is scheduled to make a right turn based on the position information input from the position information acquisition unit 101 and the captured image of the vicinity of the host vehicle input from the vehicle information acquisition unit 102. It is determined whether or not (step ST13). When the own vehicle has not passed through the intersection (step ST13; NO), the flowchart returns to the process of step ST9.

On the other hand, when the host vehicle passes through the intersection (step ST13; YES), the recovery determination unit 110 outputs a recovery instruction of the flying object 200 to the launch control unit 106 (step ST14). The launch control unit 106 performs flight control of the flying object 200 based on the recovery instruction of the flying object 200 input in step ST14, and performs control for collecting the flying object 200 (step ST15). Launch control unit 106 transmits control information based on the control in step ST15 to flying object 200 via wireless communication unit 107 and wireless communication device 201 (step ST16). Thereafter, the flowchart ends the process.

Next, the determination process in step ST5 of the flowchart of FIG. 3 described above will be described in more detail.
FIG. 4 is a flowchart showing the operation of the launch determination unit 105 of the travel support apparatus 100 according to the first embodiment.
The launch determination unit 105 refers to the position information input in step ST1 and the vehicle information input in step ST2, and prepares for the host vehicle to approach an intersection scheduled for a right turn or for the host vehicle to turn right at the intersection. Is determined (step ST21). Here, the launch determination unit 105 determines, based on the position information and the vehicle information, whether the host vehicle has approached an intersection scheduled to turn right in the route information, or the host vehicle is positioned on the right turn lane. Then, the determination process of step ST21 is performed.

When the host vehicle approaches the intersection or the host vehicle is preparing to turn right at the intersection (step ST21; YES), the firing determination unit 105 refers to the turn signal lighting information input at step ST3, and It is determined whether or not the right turn signal of the vehicle is lit (step ST22). When the right turn signal of the host vehicle is lit (step ST22; YES), the launch determination unit 105 refers to the information on the oncoming lane input at step ST4, and whether there is an oncoming vehicle that goes straight on the oncoming lane at the intersection. It is determined whether or not (step ST23). When there is an oncoming vehicle that travels straight on the oncoming lane (step ST23; YES), the firing determination unit 105 determines that the flying object 200 is to be fired (step ST24), and the process proceeds to step ST6 of the flowchart of FIG.

On the other hand, when the own vehicle is not approaching the intersection scheduled to turn right and the own vehicle is not preparing to turn right at the intersection (step ST21; NO), or when the right turn signal of the own vehicle is not lit (step (ST22; NO), or when there is no oncoming vehicle going straight in the oncoming lane (step ST23; NO), the firing determination unit 105 determines not to launch the flying object 200 (step ST25), and ends the process.

Further, in the flowchart of FIG. 4, it may be further determined whether to launch the flying object 200 with reference to at least one of weather information and user operation information. In that case, after the process of YES in step ST23, the launch determination unit 105 refers to the weather information acquired from the outside, and launches the flying object 200 when the weather information is suitable for launching the flying object 200. Is determined. The launch determination unit 105 refers to the operation information of the user and determines to launch the flying object 200 when the user permits the launching of the flying object 200.

Next, the flight control of the flying object 200 in step ST7 of the flowchart of FIG. 3 described above will be described in detail.
It can be variously configured where the launch control unit 106 causes the flying object 200 to fly. Three control methods are shown below. The launch control unit 106 may use any one of the three control methods, or may use two or more control methods. When two or more control methods are used, the firing control unit 106 may determine a control method according to a priority set in advance in each control information.

5A and 5B are explanatory diagrams illustrating flight control of the flying object 200 by the launch control unit 106 of the travel support apparatus 100 according to the first embodiment. 5A to 5C show an intersection B where the host vehicle A is scheduled to turn right.
The example of FIG. 5A shows a case where the driving support device 100 acquires the position information of the traffic signal C on the opposite lane at the intersection B from the navigation system. The launch control unit 106 acquires the position information and map information of the traffic light C via the position information acquisition unit 101 and the launch determination unit 105. The launch control unit 106 acquires the position information of the position Pa where the lighting state of the traffic light C can be imaged using the acquired position information of the traffic light C and the map information. The launch control unit 106 transmits the acquired position information of the position Pa and control information instructing flight to the position Pa to the flying object 200 via the wireless communication unit 107 and the wireless communication device 201.

Next, in the example of FIG. 5B, the shooting control unit 106 cannot determine from the position information input from the navigation system (ie, other vehicles, other flying objects, electric wires, signs, or bad weather). ) Is shown. The launch control unit 106 acquires a captured image of the in-vehicle camera D mounted on the host vehicle A via the vehicle information acquisition unit 102 and the launch determination unit 105. The launch control unit 106 determines that the oncoming vehicle E having a high vehicle height is a shooting inhibition factor from the acquired captured image. The launch control unit 106 calculates a position Pb suitable for shooting that avoids the oncoming vehicle E, which is an obstruction factor.

The launch control unit 106 acquires the position information of the calculated position Pb using the map information acquired via the position information acquisition unit 101 and the launch determination unit 105. The launch control unit 106 transmits the acquired position information of the position Pa and control information instructing flight to the position Pb to the flying object 200 via the wireless communication unit 107 and the wireless communication device 201. In the example of FIG. 5B, the position Pb is a position that is located closer to the traveling lane side of the host vehicle A than the oncoming vehicle E and that can capture the traffic light C in the oncoming lane.

Next, the example of FIG. 5C shows a case where the launch control unit 106 uses position information designated by the driver or the like via an input device (not shown) such as a touch panel. When the driver designates the position Pc on the display 401 having a touch panel function, the launch control unit 106 uses the map information obtained via the position information acquisition unit 101 and the launch determination unit 105 to obtain the position information of the position Pc. To get. The launch control unit 106 transmits the acquired position information of Pc and control information instructing flight to the position Pc to the flying object 200 via the wireless communication unit 107 and the wireless communication device 201.
The launch control unit 106 registers the position information of the position Pc designated by the driver or the like together with the position information of the intersection B in a storage area (not shown), and the host vehicle A next travels the same intersection B. In such a case, it is possible to adopt a configuration in which flight control is performed to fly the flying object 200 to the registered position Pc.

Next, generation of support information and notification of support information in steps ST11 and ST12 of the flowchart of FIG. 3 described above will be described in detail.
First, how the notification unit 109 generates support information and notifies the driver can be variously configured. Below, four methods of generating and notifying support information are shown. The notification unit 109 may use any one of the four methods, or may use two or more methods. When two or more methods are used, the notification unit 109 may determine a generation and notification method according to a priority set in advance for each method.

First generation and notification method The notification unit 109 provides support information for causing the notification lamp 403 or the display 401 to light the lighting color of the traffic light in the straight direction of the oncoming lane at the intersection based on the determination result of the oncoming lane state. Generate. The notification unit 109 turns on the support information on the notification lamp 403 or the display 401.
When the traffic light blue lights on the notification lamp 403 or the display 401, the driver determines that the oncoming vehicle can enter the intersection. When the traffic light yellow or red is displayed on the notification lamp 403 or the display 401, the driver determines that the oncoming vehicle cannot enter the intersection.

Second generation and notification method Based on the determination result of the oncoming lane state, the notifying unit 109 determines the lighting color of the traffic light in the straight direction of the oncoming lane at the intersection, the presence / absence of the oncoming vehicle, and the oncoming lane. Of the possibility that the oncoming vehicle that goes straight stops and the possibility that the oncoming vehicle that stops goes straight on the oncoming lane, support information is generated that indicates information to be notified to the driver in text. The notification unit 109 displays support information on the display 401.
6 and 7 are diagrams showing display examples by the notification unit 109 of the travel support apparatus 100 according to the first embodiment.
For example, when the traffic signal in the straight direction of the oncoming lane at the intersection is yellow and the notifying unit 109 notifies that the oncoming vehicle that goes straight on the oncoming lane may stop, as shown in FIG. On the displayed map, support information 401a is displayed indicating that the oncoming lane signal has turned yellow and the oncoming vehicle is about to stop. Moreover, you may show the lighting state of the traffic signal C of an oncoming lane with a color.

Although not shown in the figure, the notification unit 109, for example, when the traffic signal in the straight direction of the oncoming lane at the intersection is red and notifies the stop of the oncoming vehicle that goes straight on the oncoming lane, The support information is displayed, “It turns red. The oncoming vehicle will stop.”

In addition, for example, the notification unit 109 is shown in FIG. 7 when the traffic signal in the straight direction of the oncoming lane at the intersection is blue and the oncoming vehicle that has stopped is informed of the possibility of starting the oncoming lane straight ahead. As described above, the support information 401b is displayed on the map displayed on the display 401. The support information 401b indicates that “the oncoming vehicle has stopped, but may start going straight”. Moreover, you may show the lighting state of the traffic signal C of an oncoming lane with a color.

Third generation and notification method Based on the determination result of the state of the oncoming lane, the notifying unit 109 determines the lighting color of the traffic light in the straight direction of the oncoming lane at the intersection, the presence / absence of the oncoming vehicle that goes straight on the oncoming lane, and the oncoming lane Of the possibility that the oncoming vehicle going straight stops and the possibility that the stopped oncoming vehicle starts going straight on the oncoming lane, assistance information is generated that indicates information to be notified to the driver by voice. The notification unit 109 outputs the support information from the speaker 402 by voice.

Specifically, for example, when the traffic signal in the straight direction of the oncoming lane at the intersection is yellow and the notifying unit 109 notifies that the oncoming vehicle that goes straight on the oncoming lane may stop, Now, the oncoming vehicle will stop soon. "
In addition, the notification unit 109, for example, when the traffic signal in the straight direction of the oncoming lane at the intersection is red, and when notifying the stop of the oncoming vehicle that goes straight on the oncoming lane, The oncoming vehicle will stop "is output from the speaker 402.

In addition, for example, when the traffic signal in the straight direction of the oncoming lane at the intersection is blue and the notifying unit 109 notifies that there is a possibility that the oncoming vehicle that has stopped will start going straight on the oncoming lane, However, there is a possibility that the vehicle will start going straight. "

Fourth Generation and Notification Method The notification unit 109 generates support information that causes the lamp body 203 to turn on the lighting color of the traffic light in the straight direction of the oncoming lane at the intersection based on the determination result of the oncoming lane state. The notification unit 109 causes the lamp 203 to light the support information.
When the blue light of the traffic light is lit on the lamp 203, the driver determines that the oncoming vehicle can enter the intersection. When the yellow or red traffic light is displayed on the lamp 203, the driver determines that the oncoming vehicle cannot enter the intersection.

Further, when the display unit (not shown) is provided on the flying object 200, the notification unit 109 generates support information for displaying a right arrow that notifies that the vehicle can turn right on the display. Good.

Next, effects obtained by the travel support device 100 having the above-described configuration will be described with reference to FIG.
FIG. 8 is a diagram for explaining the effect of the driving support apparatus 100 according to the first embodiment.
In the example of FIG. 8, the traffic light F on the traveling lane of the host vehicle A is a green signal, and the host vehicle A is traveling toward the intersection B. Moreover, the wall G is installed in the median between the driving lane and the oncoming lane, and the driver of the host vehicle A cannot grasp the situation H on the oncoming lane.
When the oncoming vehicle E decelerates, conventionally, the driver of the own vehicle A has stopped because the oncoming vehicle E has stopped because the traffic light C on the oncoming lane has turned red, or the situation H on the oncoming lane is congested. Therefore, it cannot be determined whether the vehicle has stopped. Therefore, after the own vehicle A enters the intersection B, it is necessary to wait for the oncoming vehicle E to stop or to check the traffic light C. Thereby, the own vehicle A must decelerate.

On the other hand, when the configuration of the driving support device 100 according to the first embodiment is applied, the driver of the host vehicle A indicates that the oncoming vehicle E and the traffic light C are red with the assistance information J displayed on the display 401, for example. Therefore, it can be determined that the vehicle is stopped. Therefore, the driver can enter the intersection B without decelerating the host vehicle A and pass through the intersection B. Thereby, the unnecessary deceleration of the own vehicle A can be suppressed. Thus, by displaying the support information J, the driver can recognize detailed information on the oncoming lane.

As described above, according to the first embodiment, the wireless communication unit 107 that establishes wireless communication with the flying object 200 equipped with the flying object camera 202, the launch control unit 106 that controls the launch of the flying object 200, From the first image captured by the flying body camera 202, an oncoming lane state determining unit 108 that determines the state of an oncoming lane that the host vehicle crosses by a left turn or a right turn at an intersection, and a notification that notifies the determined oncoming lane state Since it comprises so that the part 109 may be provided, the information regarding an oncoming lane can be acquired even when the own vehicle has not entered the intersection. Further, even when an obstacle or the like exists, information on the oncoming lane can be acquired. Thereby, unnecessary deceleration of the host vehicle can be suppressed.

Further, according to the first embodiment, the map information, the current position of the own vehicle and the position information that is the route information of the own vehicle, the vehicle information of the own vehicle, and the direction in which the own vehicle is scheduled to travel. Based on the blinker lighting information indicating whether or not the vehicle is provided with the launch determination unit 105 that determines whether or not to launch the flying object 200 before entering the intersection, Even when the vehicle has not entered the vehicle, information on the oncoming lane can be acquired. In addition, this makes it possible to suppress unnecessary deceleration of the host vehicle.

In addition, according to the first embodiment, the oncoming lane information is detected from the second image captured by the in-vehicle camera mounted on the host vehicle or the flying body camera 202 of the flying object before launching. The lane information detection unit 104 is provided, and the launch determination unit 105 is configured to determine that the flying object 200 is not fired when it is detected that there is no oncoming vehicle that travels straight in the opposite lane at the intersection. Unnecessary launch can be suppressed.

Further, according to the first embodiment, the oncoming lane state determination unit 108 determines the oncoming lane at the intersection from the first image captured by the flying body camera 202 of the flying object that is launched under the control of the launch control unit 106. Since it is configured to judge the lighting state of the traffic light in the straight direction and the driving state of the oncoming vehicle that goes straight in the oncoming lane, go straight on the oncoming lane in addition to the lighting color of the traffic light in the straight direction of the oncoming lane at the intersection It is possible to determine the presence or absence of an oncoming vehicle, the possibility that an oncoming vehicle that goes straight on the oncoming lane will stop, or the possibility that a stopped oncoming vehicle will start going straight.

Moreover, according to this Embodiment 1, since it comprised so that the notification part produced | generated the assistance information which showed the information which should be notified to a driver | operator with the audio | voice, a driver | operator can look and focus from the advancing direction of the own vehicle. Without shifting, it can be determined whether or not the host vehicle can travel across the opposite lane at the intersection.

In addition, according to the first embodiment, since the lighting color of the traffic light in the straight direction of the oncoming lane at the intersection is lit on the lamp body 203 of the flying body 200, without performing communication with the travel support device, Information on whether or not an oncoming vehicle enters the intersection in the flying object can be notified. In addition, since the lamp body 203 of the flying body 200 is above the traveling direction of the host vehicle, whether the driver can travel across the opposite lane at the intersection without shifting the line of sight and focus from the traveling direction. Can be judged.

Embodiment 2. FIG.
In the above-described first embodiment, the process from step ST21 to step ST23 in the flowchart of FIG. 4 is performed to determine whether or not to launch the flying object 200. The second embodiment shows a configuration for determining whether or not to launch the flying object 200 based on more detailed conditions.
In the second embodiment as well, as in the first embodiment described above, a case where the host vehicle turns right across the oncoming lane at the intersection will be described as an example. However, the driving support device 100 displays the oncoming lane at the intersection. It is also applicable when making a left turn across.

In the following, although a plurality of determination conditions of the fire determination unit 105 are shown, any one of the determination conditions may be applied, or a plurality of determination conditions may be applied. The determination condition applied to the firing determination unit 105 can be arbitrarily set.

First Determination Condition The launch determination unit 105 refers to a captured image around the host vehicle acquired by the vehicle information acquisition unit 102 and determines whether the host vehicle has entered a right turn dedicated lane. The firing determination unit 105 determines that the flying object 200 is to be fired when the host vehicle enters the right turn dedicated lane.
On the other hand, when the own vehicle has not entered the right turn exclusive lane, even if it is determined that the right turn signal of the own vehicle is turned on (step ST22; YES), it is determined that the flying object 200 is not fired.
By determining whether or not the firing determination unit 105 has entered the right turn dedicated lane, it is possible to reliably determine whether or not the host vehicle makes a right turn.

Second determination condition The launch determination unit 105 determines that the host vehicle is scheduled to turn right at the intersection (step ST21; YES), but the right turn signal of the host vehicle is not lit (step ST22; NO). Referring to the running history of the host vehicle. The firing determination unit 105 determines whether or not the number of right turns at an intersection determined to be a right turn scheduled recorded in the travel history of the host vehicle is equal to or greater than a threshold value. When the number of right turns at the intersection is equal to or greater than the threshold, the firing determination unit 105 determines that the flying object 200 is fired. On the other hand, when the number of right turns at the intersection is less than the threshold, the firing determination unit 105 determines that the flying object 200 is not fired.

The launch determination unit 105 refers to a travel history of the host vehicle stored in a storage area (not shown) of the travel support device 100 or an external device. In the travel history of the host vehicle, information indicating the number of times the host vehicle travels at each intersection and the number of right turns of the host vehicle is recorded.
Although the fire determination unit 105 determines that the host vehicle is scheduled to turn right at the intersection, even if the driver of the host vehicle has forgotten to take the turn signal, etc., based on the travel history of the host vehicle The vehicle 200 can be fired by determining that the vehicle is likely to turn right at the intersection.

Third Determination Condition The launch determination unit 105 refers to information indicating whether or not the flying object 200 needs to be fired, which is set in advance by a driver or the like, and determines whether or not the need for launching the flying object 200 is set. I do. When information indicating that the flying object 200 needs to be fired is input, the firing determination unit 105 determines that the flying object is to be fired without performing the determination from step ST21 to step ST23. Moreover, when the information which shows that the launch of the flying body 200 is unnecessary is input, the launch determination unit 105 determines not to launch the flying body without performing the determination from step ST21 to step ST23. .

Information indicating whether or not the flying object 200 needs to be fired is set, for example, “[XX intersection] launch: Necessary (before XXm)” and “[XX intersection] launch: Unnecessary”.
The launch determination unit 105 can also acquire information indicating a point where the flying object 200 is launched when launching is necessary.
By setting the necessity of launching the flying object 200 in advance at a specific intersection, the driver can reliably launch the flying object 200 at an accurate intersection at the intersection assumed by the driver, or flying. It can be determined that the body 200 is not fired.

-4th determination condition If the driver | operator himself inputs the necessity of discharge | emission of the flying body 200 via an input device (not shown) before the own vehicle approachs the intersection which passes next, the discharge determination part 105 will be. The necessity of launching the flying object 200 is determined based on the input information without performing the determination from step ST21 to step ST23.
Examples of the method for inputting whether or not the flying object 200 needs to be fired include an input operation using a touch panel, an input operation of a launch button provided in the host vehicle, and an input operation by voice.
Thereby, even if it matches before operating a turn signal, a driver can specify the necessity of discharge of flying object 200, and the timing of discharge of flying object 200 by own intention.

-5th determination condition If it is notified from the oncoming lane information detection part 104 that the information on an oncoming lane could not be detected from the oncoming lane information detection part 104, it will determine with the flying body 200 being launched.
In the first embodiment, the oncoming lane information detection unit 104 has shown a configuration that detects from the second image whether there is an oncoming vehicle that goes straight on the oncoming lane at the intersection. However, when a large vehicle is parked in the right turn lane of the opposite lane at the intersection, or when there is an obstacle in the opposite lane, the opposite lane information detection unit 104 faces the opposite lane straight from the second image. It may not be possible to detect whether a vehicle exists. In this case, the oncoming lane information detection unit 104 notifies the firing determination unit 105 that information on the oncoming lane could not be detected.

When fire determination unit 105 is notified that the information of the oncoming lane could not be detected, in step ST23 of the flowchart of FIG. 4 of the first embodiment, there is an oncoming vehicle that goes straight on the oncoming lane at the intersection. (Step ST23; YES), it is determined that the flying object 200 is to be fired.
Thus, even if it is in a state where it is not possible to detect whether or not there is an oncoming vehicle that travels straight in the oncoming lane at the intersection, the oncoming lane state determining unit 108 is determined by determining that the launch determination unit 105 launches the flying object 200. Can acquire a first image for determining the presence or absence of an oncoming vehicle traveling straight in the oncoming lane.

-6th determination conditions The discharge | emission determination part 105 determines whether the intersection which the own vehicle is going to approach is congested with reference to the picked-up image around the own vehicle which the vehicle information acquisition part 102 acquired. When the intersection where the host vehicle is scheduled to enter is congested, the launch determination unit 105 determines not to launch the flying object 200 without performing the determination from step ST21 to step ST23.
When the intersection where the host vehicle is scheduled to enter is congested, the host vehicle cannot turn right even if the traffic light in the straight direction of the oncoming lane at the intersection is a red signal. Can do.

Seventh determination condition The launch determination unit 105 determines from the traffic infrastructure information that if the lighting information of the traffic light in the straight line direction of the oncoming lane can be obtained from the traffic infrastructure information, the vehicle 200 is not fired. . On the other hand, when the lighting information of the traffic signal in the straight direction of the oncoming lane cannot be acquired from the traffic infrastructure information, the launch determination unit 105 performs the process described in the first embodiment.
Note that when the oncoming lane condition determining unit 108 determines the driving state of the vehicle in the oncoming lane as the oncoming lane state, or determines the congestion state of the driving lane on the right turn destination of the host vehicle, the firing determining unit 105 It may be determined that the flying object 200 is fired.

For example, utilization of traffic infrastructure information includes utilization of TSPS (signal information utilization driving support system) via an optical beacon. By using the traffic infrastructure information, it is possible to obtain the lighting information of the traffic lights in the straight line direction of the oncoming lane at the intersection where the host vehicle is scheduled to enter, so that unnecessary launch of the flying object 200 can be suppressed.
Moreover, if it is a driving | running assistance apparatus mounted in the vehicle which can receive a signal from an optical beacon, utilization of traffic infrastructure information can be implement | achieved easily.

-Eighth determination condition When the flight determination unit 105 can receive information for determining the state of the oncoming lane from other flying bodies other than the flying body 200 for which the driving support device 100 controls the flight, It is determined not to fire the body.
The driving support device 100 is in a state of an opposite lane from another flying body by wireless communication between the driving support devices, inter-vehicle communication between the own vehicle and another vehicle, and communication between the flying objects between the flying object 200 and another flying object. The information for judging is received.
As a result, when other flying objects are already flying, it is possible to prevent the flying objects controlled by the driving support device 100 of the host vehicle from flying unnecessarily and prevent the flying objects from contacting each other. Energy consumption due to body flight can be suppressed.
Moreover, the image which the other flying object has already acquired can be received, and the launch determination unit 105 can confirm the state of the oncoming lane at an earlier timing.

Ninth determination condition The launch determination unit 105 refers to the captured image around the own vehicle acquired by the vehicle information acquisition unit 102, and the traffic light of the traffic lane at the intersection where the own vehicle is scheduled to enter is a yellow signal or a red signal. In this case, it is determined not to fire the flying object 200 without performing the determinations from step ST21 to step ST23.
Thereby, unnecessary launching of the flying object 200 can be suppressed.

As described above, according to the second embodiment, the launch determination unit 105 refers to the travel history of the host vehicle that determines whether or not the host vehicle is traveling on the right turn lane, and the launch set by the driver. Refer to the information of necessity of the vehicle, determine whether the information of the oncoming lane is detected, acquire the congestion status of the intersection where the vehicle is scheduled to enter, acquire the traffic infrastructure information, oncoming lane from other aircraft Since it is configured to determine whether or not the traffic signal of the traveling lane of the host vehicle is yellow or red, it is possible to reliably launch the flying object at the timing when the information of the oncoming lane is required .

In the first embodiment and the second embodiment described above, the oncoming lane state determination unit 108 and the notification unit 109 are replaced with a configuration in which the driving support apparatus 100 includes the oncoming lane state determination unit 108 and the notification unit 109. It is good also as a structure with which. Further, the opposite lane state determination unit 108 and the notification unit 109 may be configured to be provided in both the travel support device 100 and the flying body 200.

In addition to the above, within the scope of the present invention, the present invention can freely combine each embodiment, modify any component of each embodiment, or omit any component of each embodiment. It is.

The driving support device according to the present invention is suitable for providing driving support information based on information acquired by a flying object, applied to a navigation system or the like.

100 driving support device, 101 position information acquisition unit, 102 vehicle information acquisition unit, 103 driving direction detection unit, 104 oncoming lane information detection unit, 105 launch determination unit, 106 launch control unit, 107 wireless communication unit, 108 oncoming lane state determination Unit, 109 notification unit, 110 collection determination unit, 200 flying body, 201 wireless communication device, 202 flying body camera, 203 lamp body, 300 travel support system.

Claims

A wireless communication unit for establishing wireless communication with a flying object equipped with a flying object camera;
The state of the oncoming lane that the host vehicle crosses by a left turn or a right turn at an intersection from a first image captured by the flying body camera, acquired through a launch control unit that controls the launch of the flying body and the wireless communication unit An oncoming lane condition determination unit for determining
A travel support apparatus comprising: a notifying unit that notifies the state of the oncoming lane determined by the oncoming lane state determining unit.
Based on the map information, the current position of the host vehicle, the route information of the host vehicle, the vehicle information of the host vehicle, and the turn-on information of the turn signal of the host vehicle, before the host vehicle enters the intersection, It has a launch determination unit that determines whether or not to launch a flying object,
The travel support apparatus according to claim 1, wherein the launch control unit controls launch of the flying object based on a determination result of the launch determination unit.
An oncoming lane information detection unit that detects information on the oncoming lane from a second image captured by the on-board camera mounted on the host vehicle or the flying body camera of the flying object before the launch is performed,
The launch determination unit, when the oncoming lane information detection unit detects that there is no oncoming vehicle that travels straight on the oncoming lane at the intersection, it determines that the flying object is not to be launched. 2. The driving support device according to 2.
The oncoming lane state determination unit is configured to turn on the traffic light in the straight direction of the oncoming lane at the intersection from the first image taken by the flying body camera of the flying body that is fired under the control of the launch control unit. The driving support device according to claim 1, wherein the driving support device is determined.
The oncoming lane state determination unit is configured to determine whether the oncoming vehicle travels straight in the oncoming lane at the intersection from the first image captured by the flying body camera of the flying object that is fired under the control of the launch control unit. The driving support device according to claim 4, wherein the driving support device is determined.
The driving support device according to claim 1,
A driving support system comprising the flying object including the flying object camera, a wireless communication device that establishes wireless communication with the driving support device, and a notification device that notifies the state of the oncoming lane notified by the notification unit. .
A step in which a wireless communication unit establishes wireless communication with a flying object equipped with a flying object camera;
A launch control unit controlling launch of the flying object;
An oncoming lane state determining unit determining, from the first image taken by the flying body camera, the state of the oncoming lane that the host vehicle crosses by a left turn or a right turn at an intersection;
And a notification unit that notifies the determined state of the oncoming lane.