WO2020202367A1

WO2020202367A1 - Information provision device, program, and information provision method

Info

Publication number: WO2020202367A1
Application number: PCT/JP2019/014291
Authority: WO
Inventors: 太古賀
Original assignee: 本田技研工業株式会社
Priority date: 2019-03-29
Filing date: 2019-03-29
Publication date: 2020-10-08
Also published as: CN113646817B; JP7223838B2; CN113646817A; JPWO2020202367A1; DE112019007137T5

Abstract

According to the present invention, state information indicating a state of a vehicle is received from said vehicle, and the presence of a first vehicle entering an intersection and a second vehicle entering the intersection from a direction opposite that of the first vehicle is recognized on the basis of the received state information. On the basis of the state information, a determination is made that the first vehicle is advancing straight and that the second vehicle is turning in a direction that cuts across an oncoming lane. If it has been determined that the first vehicle is advancing straight and the second vehicle is turning in a direction that cuts across the oncoming lane, then the first vehicle and/or the second vehicle is alerted to the possibility of coming close to another vehicle. The determination involves determining, on the basis of the state information received from the first vehicle, that the first vehicle is advancing straight if it has been determined that a turn signal is not operating or that turning-off the turn signal was forgotten.

Description

Information providing device, program and information providing method

The present invention relates to, for example, an information providing device, a program, and an information providing method for sharing information between vehicles.

A system called Intelligent Transport Systems (ITS) that communicates between vehicles or between vehicles and antennas on the road has been proposed and is being put into practical use. As one of the applications of such a function, an inter-vehicle communication system that provides road surface information to a vehicle approaching the own vehicle has been proposed (see Patent Document 1). According to Patent Document 1, in the right-handed accident support process, the moving object is self-propelled based on the position information of the own vehicle, the position information of the moving object received from the other vehicle via the radio, and the information of the other vehicle. It determines whether or not it is a dangerous factor for the vehicle, and outputs a warning according to the determination result.

JP-A-2007-310457 (Summary)

Patent Document 1 uses vehicle-to-vehicle communication, and the processing load of each vehicle is heavy on a road with heavy traffic. Further, in Patent Document 1, the determination of a right turn is made based on whether the vehicle is in the right turn lane or the blinker is operated. In a four-wheeled vehicle, the winker is automatically canceled when the winker is activated and the corner is turned. However, in motorcycles, the winker often remains in operation unless the driver actively cancels it. For this reason, in a two-wheeled vehicle, it is possible that the vehicle goes straight through the intersection even if the blinker is activated. In such a case, it is assumed that a vehicle trying to turn right at an intersection sees a winker operated by an oncoming two-wheeled vehicle, determines that there is no straight-ahead vehicle, and tries to turn right.

The present invention has been made in view of the above conventional example, and an object of the present invention is to detect a straight-ahead vehicle and a vehicle crossing the path of a straight-ahead vehicle with high accuracy, and to further improve traffic safety.

According to one aspect of the invention
A receiving means for receiving status information indicating the status of the vehicle from the vehicle, and
A recognition means for recognizing the existence of a first vehicle entering an intersection and a second vehicle entering the intersection from a direction facing the first vehicle based on the state information.
Based on the state information, a determination means for determining that the first vehicle goes straight and the second vehicle turns in a direction crossing the oncoming lane.
When it is determined that the first vehicle goes straight and the second vehicle turns in a direction crossing the oncoming lane, at least one of the first vehicle and the second vehicle is approached by another vehicle. It has a notification means to notify the possibility,
When the determination means determines that the turn signal is not operating or the turn signal is forgotten to be turned off based on the state information received from the first vehicle, the first vehicle An information providing device is provided, which comprises determining that the vehicle goes straight.

According to the present invention, it is possible to detect a straight-ahead vehicle and a vehicle crossing the path of a straight-ahead vehicle with high accuracy to further improve traffic safety.

Other features and advantages of the present invention will be clarified by the following description with reference to the accompanying drawings. In the attached drawings, the same or similar configurations are given the same reference numbers.

The accompanying drawings are included in the specification, which form a part thereof, show an embodiment of the present invention, and are used together with the description to explain the principle of the present invention.
The control block diagram of the vehicle which concerns on one Embodiment of this invention. The figure which shows an example of the traffic safety system of embodiment. The flow chart which shows the procedure of the winker forgetting to turn off determination. The flow chart which shows the procedure of approach determination between vehicles. A flow chart showing a procedure for displaying a warning by a vehicle that has received a notification.

The information providing system including the vehicle and the server according to the embodiment of the present invention will be described with reference to the drawings. In the description, the vehicle includes a four-wheeled vehicle and a two-wheeled vehicle. Both four-wheeled vehicles and two-wheeled vehicles are equipped with a power unit. This information providing system monitors the positional relationship between a straight-ahead vehicle at an intersection and a vehicle crossing the direction of travel of the straight-ahead vehicle (for example, a right-turning vehicle in a left-handed environment) and notifies the vehicle. Doing so will further improve safety at intersections.

● Communication system FIG. 2 is a diagram showing an outline of a communication system according to an embodiment of the present invention. In FIG. 2, the vehicle 201 is a two-wheeled vehicle and the vehicle 202 is a four-wheeled vehicle. This is an example and both may be two-wheeled vehicles or both may be four-wheeled vehicles. Each vehicle can communicate with the server 211 via an antenna unit (also simply referred to as an antenna) 210 fixedly installed near the road or underground. The antenna unit 210 has a certain coverage and can communicate with the vehicle in it. In this example, the antenna unit 210 is provided near an intersection and covers a range corresponding to the output of the intersection centered on the intersection. The configuration of the server 211 may be a general server, and includes, for example, a control unit 2111 including a processor and a storage unit 2112. The server 211 functions as an information providing device for the vehicle. The server 211 also has a communication unit for communicating with the vehicle which is a client.

● Configuration of Information Providing Device FIG. 1 shows a block diagram of a control unit including a control unit 101 mounted on a vehicle 201 or the like. Hereinafter, the vehicle 201 will be described as an example, but the same applies to other vehicles that communicate with the vehicle 201, such as the vehicle 202. The vehicle 201 also has a power unit such as an engine and a drive system such as a gear, but here, only the configuration related to the present embodiment will be described. In FIG. 1, the control unit 101 controls the entire configuration shown in FIG. The control unit 101 includes, for example, a processor and a memory, and by executing a program, it can communicate with the server 211 and other vehicles, and can display map information, warnings, and the like. The vehicle 201 includes various devices and sensors that detect the position of the vehicle 201 and the operating state of the direction indicator. The state detected by the sensor or the like or the operation state of various devices is transmitted to the server 211, and in the present embodiment, the server 211 recognizes a vehicle whose course may intersect at an intersection.

The vehicle 201 includes a direction indicator (winker) 111 and a brake 112 as devices. These devices include an actual operation part for actually performing display and braking, and a control part such as an ECU that controls the actual display and braking, which are briefly shown in FIG. Further, the sensor includes, for example, a speed sensor 113, an acceleration sensor 114, an azimuth sensor 115, and the like. It is desirable that the acceleration sensor 114 can measure at least the linear acceleration of the front, rear, left and right axes of the vehicle. The azimuth sensor 115 is a sensor that detects the azimuth, and a person possessed by the navigation unit 140 described later may be used.

The control unit 101 transmits the state information detected by various sensors and the operating state of the device to the server 211 via the wireless communication unit 130. The wireless communication unit 130 transmits and receives signals to and from other vehicles 202 and 203 and to and from the server 211 via the antenna 210 in accordance with a predetermined standard. The signals transmitted and received include a state detected by the vehicle and an operating state (collectively referred to as state information) to the server 211. Under the control of the control unit 101, the wireless communication unit 130 periodically broadcasts, for example, these state information. The antenna 210 within the reach receives the state information and transfers it to the server 211.

The navigation unit 140 detects the current position of the vehicle 201 by the position detection unit 140, and displays, for example, a map for guiding the route to the set destination on the user interface unit 160. The position detection unit 140 includes, for example, a GPS device, and can detect the current position. Other sensors may be used as long as they can detect the current position. The storage unit 150 stores various information and programs such as information received from the server and blinker forgetting information 151 generated by the vehicle 201. In this embodiment, a non-volatile storage device is used for storing information.

The user interface unit 160 is composed of operation switches and a display unit (including a touch panel, etc.), and is also called an operation unit. In addition to various information, the navigation unit 140 can display a map or the like. Further, it is possible to superimpose it on a map and display a desired mark or the like.

● Winker forget-to-turn determination process With the configuration shown in FIG. 1, the vehicle 201 of the present embodiment can collect and transmit state information, and can also receive the state information collected by the server 211. Here, one of the status information transmitted to the server 211 is the blinker forgotten information 151. The blinker forgotten information 151 is generated based on other state information. In the present embodiment, the generation process is executed by the control unit 101 of the vehicle 201, but the generation process may be executed by the control unit 2111 of the server 211. In the present embodiment, the procedure of FIG. 3 is executed according to the operation of lighting the blinker to either the left or right.

First, the control unit 101 acquires and stores information on the direction in which the vehicle is facing (direction information), speed information, and acceleration information from the orientation sensor 115 (S301). Next, it is determined whether or not the vehicle is currently stopped by referring to the speed information (S302). If it is not in the stopped state, the bearing information is acquired again to specify the traveling direction of the vehicle 201 itself (303). Then, the direction at the time of the blinker lighting operation stored in step S301 is compared with the current traveling direction specified in step S303 (S305). Then, if the difference between the two directions compared exceeds a predetermined angle, it is determined that cornering is completed. The predetermined angle may be, for example, 45 degrees in each of the left and right directions. The determination of the completion of cornering at the corner where the blinker is turned on may be made based on, for example, acceleration information. The direction of the vehicle can be specified by periodically measuring the acceleration of the vehicle 201 and integrating it to specify the velocity vector. The determination may be made based on the transition in this direction.

Next, it is determined whether the blinker extinguishing operation has been performed within a predetermined time after branching to step S307, that is, within a predetermined time after determining that cornering has been completed (S307, S309). .. If the blinker forgotten information 151 is not turned off even after a predetermined time has elapsed from the completion of cornering, the blinker forgotten information 151 is set (for example, turned on) (S310). On the other hand, when the blinker is turned off within a predetermined time from the completion of cornering, the blinker forgotten information 151 is canceled (for example, turned off) (S311). In this way, when the blinker is forgotten to be erased, the blinker forgotten information is set.

On the other hand, when it is determined in step S302 that the vehicle is in the stopped state, it is determined whether or not the vehicle has started by referring to the acceleration information (S304). If it is determined that the vehicle has started, the process branches to step S307. In step S307, it is determined whether or not the blinker extinguishing operation has been performed within a predetermined time after branching to step S307, that is, after determining that the vehicle has started. The following is as explained. When the operation of erasing the blinker is performed, step S311 is executed regardless of the timing to release the blinker erasure forgetting information 151.

By the above processing, even if the winker is forgotten to be erased, it can be determined that the blinker has been forgotten to be erased and information indicating the forgotten to be erased can be stored. The blinker forgotten information set in this way indicates that the blinker operation that should be stopped after the cornering is completed or after the vehicle is started continues without being stopped. Then, the blinker forgotten information is generated by the vehicle 201 and transmitted to the server 211 via the antenna 210 together with other state information such as the position and direction of the vehicle, the speed, and the operating state of the blinker. When the procedure of FIG. 3 is executed on the server 211, it must be performed for each vehicle. In addition, it is necessary to continuously acquire the state information of each vehicle. If such a condition is satisfied, the blinker forgotten information can be set by the server 211 by executing the process of FIG. 3 focusing on each vehicle. Further, in step S310, the driver may be notified of the possibility of forgetting to turn off the winker by displaying a display indicating forgetting to turn off the winker.

● Approach determination process FIG. 4 shows a process procedure for determining the possibility of approaching a vehicle at an intersection, which is executed by the control unit 2111 of the server 211. In the procedure of FIG. 4, the possibility of proximity of a straight-ahead vehicle and a vehicle crossing the traveling direction (for example, a right-turning vehicle) at an intersection is detected. Here, it is assumed that the position (for example, coordinates) of the intersection is known in advance. Also, focus on one intersection. When processing a plurality of intersections, the procedure of FIG. 4 may be executed in parallel for each intersection. Further, it is assumed that the server 211 can use at least map information in the vicinity including the intersection of interest. First, in FIG. 4, among the state information received from each vehicle, position information, direction information, speed information, winker information, and the like are acquired (S401). Since the antenna 210 can receive information from the plurality of vehicles, step S401 is also executed for each of the plurality of vehicles.

Next, from the position, direction, and speed of each vehicle received from the vehicle, a group of vehicles that face each other in the direction of travel and enter the intersection of interest (hereinafter simply referred to as an intersection) at the same time is specified (S403). ). In order to simplify the process, we will use one set for each. Of course, one vehicle may enter the intersection at the same time as a plurality of oncoming vehicles. In such a case, the process of FIG. 4 is performed in parallel for each group, for example. The target vehicle may be, for example, a vehicle within a certain distance from the center of the intersection. The constant distance may be, for example, about 100 to 300 meters, but of course, an appropriate value may be determined according to, for example, the average speed. For example, the vehicle traveling on the road constituting the intersection is identified from the position and direction received from the vehicle by the antenna 210, the arrival time to the intersection is predicted from the position and speed, and the time is within a predetermined time difference range. If the vehicles are equal to each other and the traveling directions are opposite to each other, they can be identified as vehicles passing each other at an intersection. Once the target vehicle has been identified, step S405 determines if such a set of vehicles has been found.

When it is determined in step S405 that there is a set of oncoming vehicles, it is determined whether the vehicle operating the winker is malfunctioning the winker or, specifically, whether the winker has been forgotten to be erased (S407). Forgetting to turn off the winker is determined based on the winker forgetting information received from the vehicle. If there is a vehicle that is determined to have forgotten to turn off the blinker, the vehicle is re-identified as a straight-ahead vehicle even if it is determined to turn right or left based on the blinker operating state (S409). On the other hand, if there is no pair of oncoming vehicles in step S405, the process ends. If the blinker is not forgotten to be erased in step S407, the process branches to step S410.

In step S410, it is determined whether one of the pairs of oncoming vehicles is a straight-ahead vehicle and the other is a vehicle that may cross the traveling direction. As a general rule, whether to go straight at an intersection or turn in either direction is determined based on the winker operating state included in the received state information. However, as an exception, the vehicle determined in step S409 to forget to turn off the winker is treated as a straight-ahead vehicle. In step S410, it is determined that the vehicle entering the intersection from one direction is a straight-ahead vehicle, and the vehicle entering the intersection from the other term is a vehicle crossing the traveling direction of the oncoming straight-ahead vehicle. For example, if a vehicle is traveling on the left side as in Japan, a vehicle that faces a straight-ahead vehicle and turns right is a vehicle that crosses the direction of travel of the oncoming straight-ahead vehicle. Therefore, if one of the oncoming vehicles is a straight-ahead vehicle and the blinker of the other vehicle is in a lit state indicating a right turn, it is determined that there is a vehicle crossing the oncoming lane. If the vehicle is traveling on the right side, one of the oncoming vehicles is a straight-ahead vehicle, and if the blinker of the other vehicle is in a lit state indicating a left turn, it is determined that there is a vehicle crossing the oncoming lane.

If it is determined in step S410 that one is going straight and the other is a vehicle crossing the oncoming lane, a notification of the existence of the crossing vehicle is transmitted to the straight-ahead vehicle (S411), and the traveling direction of the straight-ahead vehicle (S411). That is, a notification of the existence of a straight-ahead vehicle is transmitted to a vehicle crossing the oncoming lane (S413). This makes it possible to give a warning to vehicles approaching at an intersection. It may be a notification to either vehicle. In that case, it is desirable to notify the vehicle crossing the traveling direction of the oncoming straight-ahead vehicle in step S413.

By the above procedure, it is possible to determine that the vehicle passing through the intersection has a straight-ahead / crossing relationship with the oncoming vehicle, and if that relationship is reached, the vehicle can be notified. In step S409, the vehicle may be re-specified as a straight-ahead vehicle only when the additional conditions are further satisfied. For example, consider a situation in which one vehicle operates a winker that turns in a direction crossing the direction of travel of a straight-ahead vehicle, and a vehicle on the opposite side does not operate the winker. In this case, if the vehicle operating the winker is regarded as a straight-ahead vehicle, the straight-ahead vehicles will pass each other and will not be subject to warning. Therefore, in step S409, if the vehicle facing the vehicle of interest is a straight-ahead vehicle (including a vehicle that is regarded as a straight-ahead vehicle due to forgetting to turn off the blinker), the vehicle of interest goes straight even if the information about forgetting to turn off the blinker is set. Not considered a car. In addition, if the intersection shown in the map information is an intersection with a dedicated lane in the direction crossing the oncoming straight-ahead vehicle, whether or not the vehicle turns the intersection depends on the vehicle being in the dedicated lane. The vehicle may be determined to cross the oncoming lane.

Next, the processing procedure of the vehicle that received the notification transmitted in steps S411 and S412, particularly by the control unit 101, will be shown. When the notification is received, the image of the warning corresponding to the notification is displayed on the user interface unit 160 (S501). At the same time, audio may be output from the speaker. While continuing to output images and / or audio, the passage of the intersection is determined based on the current position of the vehicle (S503, S505). For example, if the center of the intersection moves behind the position of the own vehicle, it can be determined that the vehicle has passed the intersection. When the intersection is passed, the output of the image and / or sound being output is stopped (S507).

The above procedure can alert the driver of a straight-ahead vehicle and a vehicle crossing the direction of travel. As described above, the information providing system of the present embodiment monitors the positional relationship between the straight-ahead vehicle at the intersection and the vehicle crossing the traveling direction of the straight-ahead vehicle (for example, a right-turning vehicle in a left-handed environment) and notifies the vehicle. Output. By doing so, the safety at the intersection can be further improved.

The above embodiments can be summarized as follows.
(1) According to the first aspect of the present invention
A receiving means for receiving status information indicating the status of the vehicle from the vehicle, and
A recognition means for recognizing the existence of a first vehicle entering an intersection and a second vehicle entering the intersection from a direction facing the first vehicle based on the state information.
Based on the state information, a determination means for determining that the first vehicle goes straight and the second vehicle turns in a direction crossing the oncoming lane.
When it is determined that the first vehicle goes straight and the second vehicle turns in a direction crossing the oncoming lane, at least one of the first vehicle and the second vehicle is approached by another vehicle. It has a notification means to notify the possibility,
When the determination means determines that the turn signal is not operating or the turn signal is forgotten to be turned off based on the state information received from the first vehicle, the first vehicle An information providing device is provided, which comprises determining that the vehicle goes straight.
With this configuration, it is possible to detect a straight-ahead vehicle and a vehicle crossing the path of a straight-ahead vehicle with high accuracy, notify the driver, and further improve traffic safety.

(2) According to the second aspect of the present invention.
The information providing device of (1)
When the state information received from the first vehicle includes information indicating that the direction indicator has been forgotten to be turned off, the determination means determines that the first vehicle goes straight. An information providing device characterized by the above is provided.
With this configuration, it is possible to utilize the determination result of the erroneous operation of the direction indicator performed by the vehicle and distribute the load.

(3) According to the third aspect of the present invention.
The information providing device according to (1).
In the determination means, none of the state information received from the first vehicle since the first vehicle finally turned the intersection includes information indicating that the direction indicator is not operating. In this case, an information providing device is provided, which determines that the first vehicle travels straight.
With this configuration, it is possible to easily and rationally determine the malfunction of the turn signal.

(4) According to the fourth aspect of the present invention.
The information providing device according to any one of (1) to (3).
When the determination means determines that the direction indicator indicates that the vehicle turns in a direction crossing the oncoming lane based on the state information received from the second vehicle, the second vehicle determines that the second vehicle turns. An information providing device is provided that determines that the vehicle crosses an oncoming lane.
According to the present invention, the traveling direction can be determined in the operating state of the direction indicator, and the determination can be performed even in a vehicle other than the own vehicle.

(5) According to the fifth aspect of the present invention.
The information providing device according to any one of (1) to (5).
The notification means is provided with an information providing device characterized in that at least the second vehicle is notified of the possibility of approaching another vehicle.
With this configuration, it is possible to notify a vehicle having a low priority to a vehicle traveling straight ahead of the presence of a vehicle having a high priority.

(6) According to the sixth aspect of the present invention.
A program for operating a computer as the information providing device according to any one of (1) to (5) is provided.
With this configuration, the computer can determine a straight-ahead vehicle and a vehicle crossing the lane, and notify the driver of the determination result.

(7) According to the seventh aspect of the present invention.
Receives status information indicating the status of the vehicle from the vehicle,
Based on the state information, the existence of the first vehicle entering the intersection and the second vehicle entering the intersection from the direction facing the first vehicle is recognized.
Based on the state information, it is determined that the first vehicle goes straight and the second vehicle turns in the direction crossing the oncoming lane.
When it is determined that the first vehicle goes straight and the second vehicle turns in a direction crossing the oncoming lane, at least one of the first vehicle and the second vehicle is approached by another vehicle. Notify the possibility,
In the determination, when it is determined that the direction indicator is not operating or the direction indicator is forgotten to be turned off based on the state information received from the first vehicle, the first vehicle determines. An information providing method characterized in determining that the vehicle goes straight is provided.
With this configuration, when it is determined that there is no possibility of approach even if the turn signal is activated, the possibility of approach is not notified, so that the notification when the possibility of approach is low is eliminated and the driver It is possible to reduce the annoyance to. Further, by determining the erroneous operation by the driver, it is possible to improve the accuracy of the notification.

The present invention is not limited to the above embodiments, and various modifications and modifications can be made without departing from the spirit and scope of the present invention. Therefore, in order to make the scope of the present invention public, the following claims are attached.

Claims

A receiving means for receiving status information indicating the status of the vehicle from the vehicle, and
A recognition means for recognizing the existence of a first vehicle entering an intersection and a second vehicle entering the intersection from a direction facing the first vehicle based on the state information.
Based on the state information, a determination means for determining that the first vehicle goes straight and the second vehicle turns in a direction crossing the oncoming lane.
When it is determined that the first vehicle goes straight and the second vehicle turns in a direction crossing the oncoming lane, at least one of the first vehicle and the second vehicle is approached by another vehicle. It has a notification means to notify the possibility,
When the determination means determines that the turn signal is not operating or the turn signal is forgotten to be turned off based on the state information received from the first vehicle, the first vehicle An information providing device characterized in that it determines that the vehicle goes straight.
The information providing device according to claim 1.
When the state information received from the first vehicle includes information indicating that the direction indicator has been forgotten to be turned off, the determination means determines that the first vehicle goes straight. An information providing device characterized by.
The information providing device according to claim 1.
In the determination means, none of the state information received from the first vehicle since the first vehicle finally turned the intersection includes information indicating that the direction indicator is not operating. In this case, the information providing device is characterized in that it is determined that the first vehicle is going straight.
The information providing device according to any one of claims 1 to 3.
When the determination means determines that the direction indicator indicates that the vehicle turns in a direction crossing the oncoming lane based on the state information received from the second vehicle, the second vehicle determines that the second vehicle turns. An information providing device characterized in that it determines that the vehicle crosses an oncoming lane.
The information providing device according to any one of claims 1 to 4.
The notification means is an information providing device that notifies at least the second vehicle of the possibility of approaching another vehicle.
A program for operating a computer as an information providing device according to any one of claims 1 to 5.
Receives status information indicating the status of the vehicle from the vehicle,
Based on the state information, the existence of the first vehicle entering the intersection and the second vehicle entering the intersection from the direction facing the first vehicle is recognized.
Based on the state information, it is determined that the first vehicle goes straight and the second vehicle turns in the direction crossing the oncoming lane.
When it is determined that the first vehicle goes straight and the second vehicle turns in a direction crossing the oncoming lane, at least one of the first vehicle and the second vehicle is approached by another vehicle. Notify the possibility,
In the determination, when it is determined that the direction indicator is not operating or the direction indicator is forgotten to be turned off based on the state information received from the first vehicle, the first vehicle determines. An information providing method characterized in that it is determined to go straight.