JP2000348299A - Mobile communication device - Google Patents

Abstract

(57) [Problem] To provide a mobile communication device capable of reducing a driving load on a driver of a mobile. SOLUTION: An incoming information signal is received, and the presence of another moving object which is estimated to arrive near the predicted arrival point of the moving object almost simultaneously with the moving object is detected based on the arriving information signal. Notify the presence of another detected moving object.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a mobile communication device for communicating between mobiles such as vehicles.

[0002]

2. Description of the Related Art An inter-vehicle wireless communication apparatus for exchanging vehicle information such as a running state by communicating between running vehicles has already been disclosed, for example, in Japanese Patent Application Laid-Open No. Hei 5-266399. Such a conventional communication device includes a wireless communication device, transmits a wireless signal including an information signal regarding the own vehicle by the wireless communication device, receives an information signal regarding another vehicle by the wireless communication device, and receives the information signal. The information signal of the vehicle is analyzed to notify the driver or the like of information necessary for traveling of the own vehicle.

[0003]

However, in such a conventional vehicle-to-vehicle wireless communication device, only information about the own vehicle and surrounding vehicles is obtained and notified to the driver.
It is difficult for drivers to know which information is the most important information for themselves. For example, it has not been possible to provide information for identifying a vehicle that requires special attention by a driver at a position such as an intersection where vehicles intersect. Therefore, the conventional communication device has a problem that it does not reduce the driving load on the driver.

[0004] This applies not only to the inter-vehicle wireless communication device but also to other mobile communication devices such as ships. Therefore, an object of the present invention is to provide a mobile communication device capable of reducing the driving load of a driver of a mobile.

[0005]

SUMMARY OF THE INVENTION A mobile communication apparatus according to the present invention is a mobile communication apparatus mounted on a mobile body for transmitting and receiving an information signal, comprising: receiving means for receiving an incoming information signal; Detecting means for detecting the presence of another moving body which is estimated to arrive near the predetermined predicted arrival point almost at the same time as the moving body based on the arriving information signal; and detecting the presence of the other moving body by the detecting means. Notifying means for notifying the existence.

Here, the arriving information signal is an information signal transmitted from another mobile body and arriving at the receiving means.
According to the present invention, the presence of another moving object estimated to arrive near the predicted arrival point of the moving object almost simultaneously with the moving object is detected based on the arriving information signal, and the detected other moving object is detected. Notification of the presence of a mobile object, the driver of the mobile object can identify the presence of another mobile object that needs to pay attention before actually reaching the predicted destination, and the driving load of the mobile object can be reduced. it can.

[0007]

Embodiments of the present invention will be described below in detail with reference to the drawings. FIG. 1 shows an inter-vehicle wireless communication device according to the present invention. The vehicle-to-vehicle communication device is mounted on a vehicle (not shown), and includes a vehicle position detection unit 2, a vehicle operation status sensor 4, and a wireless communication device 6 as information detection units.
It has.

The vehicle position detecting section 2 is a GPS (Global Positioning System) antenna connected to a GPS (Global Positioning System) antenna 1.
S device, which transmits radio waves transmitted from artificial satellites to GPS
The information is received via the antenna 1, and based on the received signal, the vehicle position information including the current vehicle position and the current heading is calculated and detected. In the calculation, the vehicle position information is corrected using the map data stored in the map data storage unit 9.

Although not shown, the vehicle driving condition sensor 4 includes a speed sensor for detecting the vehicle speed, an acceleration sensor for detecting the acceleration of the vehicle, a brake switch for detecting the operation of the brake, a direction switch for detecting a direction indicating operation of the vehicle,
The distance between the vehicle and the vehicle traveling before and after the vehicle, that is, an inter-vehicle distance sensor that measures the inter-vehicle distance by laser light or radio waves, an obstacle in front of the own vehicle is detected by a camera image, infrared or ultrasonic waves, Obstacle sensor for measuring distance to obstacle, steering sensor for detecting steering amount, yaw rate sensor for detecting azimuth change of vehicle, shift position sensor for detecting shift position of transmission mounted on vehicle, throttle valve for vehicle And a sensor such as a throttle opening sensor for detecting the opening of the vehicle. The obstacle sensor can interpolate with the inter-vehicle distance sensor.

The wireless communication device 6 is provided for communicating with another vehicle, and transmits and receives wireless signals via the antenna 3. The information signal received as a wireless signal by the wireless communication device 6 is the information signal that has arrived. The content of the information signal carried by the wireless signal is status data including own vehicle information, such as own vehicle ID, current own vehicle position, intersection (position, number) ahead on the road, own vehicle speed, and own vehicle. There are acceleration, traveling direction, turn signal path, arrival time to the front intersection, number of vehicles that have established communication with other vehicles, and on / off of danger warnings for other vehicles.

The vehicle position detecting unit 2 and the vehicle driving condition sensor 4
The controller 10 is connected to the wireless communication device 6. The controller 10 includes a microcomputer and performs a control operation described later. A display 11 is connected to the controller 10. The display 11 is for notifying a driver or a fellow passenger of the status of the own vehicle and the status of another vehicle in the vehicle, and displays the status in response to a display command from the controller 10.

Note that the wireless communication device 6 corresponds to a receiving means,
The controller 10 corresponds to a detecting unit, and the display 1
1 corresponds to the notification means. Next, the control operation of the controller 10 will be described with reference to the flowchart of FIG. This control operation is performed for a predetermined time (for example, 100 ms).
It is repeatedly executed every ec).

As shown in FIG. 2, the controller 10
First, the position of the front intersection of the own vehicle is detected (Step S).
1), The arrival time to the front intersection is calculated (step S2). The controller 10 detects an intersection ahead based on the vehicle position information obtained from the vehicle position detection unit 2.
As the forward intersection, the first intersection is detected on the road to which the current vehicle position belongs toward the traveling direction using the map data stored in the map data storage unit 9. In the arrival time to the front intersection, first, the distance from the position of the front intersection and the current vehicle position to the front intersection is calculated,
It is predicted and calculated from the distance and the own vehicle speed and own vehicle acceleration obtained from the vehicle driving condition sensor 4.

After the execution of step S2, the data content of the information signal arriving from another vehicle around the own vehicle received by the wireless communication device 6 is read (step S3), and the forward intersection included as data in the information signal is the same. It is determined whether or not another vehicle exists (step S4). As described above, since the information signal is transmitted from each vehicle, when the wireless communication device 6 receives the information signal, it is possible to acquire the intersection in front of each vehicle and the arrival time to the intersection.

If it is specified that there is another vehicle at the same front intersection as the front intersection of the own vehicle, the time difference between the arrival time of the own vehicle and the specified other vehicle at the front intersection is smaller than the predetermined time. It is determined whether or not it is (step S5).
When there is another vehicle whose arrival time difference to the front intersection is smaller than the predetermined time, a vehicle that is predicted to intersect with the traveling locus of the own vehicle is extracted from the other vehicles (step S6).

Step S6 is executed according to the course of the own vehicle and the course of another vehicle using a data table formed in a memory (not shown) in the controller 10. As the course, a left turn or a right turn is detected from the output of the above-mentioned direction indicating switch in the vehicle driving condition sensor 4. If the output of the direction indicating switch is not obtained, the course is determined to be straight. Further, in a vehicle equipped with a route guidance device for guiding a route to a destination, a route at a front intersection can be obtained as data from the route guidance device. The route of the other vehicle is read from the information signal received by the wireless communication device 6. At present, if the other vehicle is an oncoming vehicle of the own vehicle across the front intersection, as shown in FIG. 3, if the other vehicle turns right with respect to the straight traveling of the own vehicle, it must intersect with the traveling locus of the own vehicle. Is a predicted intersection predicted vehicle. If the other vehicle goes straight or turns left with respect to the right turn of the own vehicle, it becomes an intersection prediction vehicle. Further, if the other vehicle turns right for the left turn of the own vehicle, it becomes the intersection prediction vehicle. When another vehicle is traveling from the right toward the front intersection on the road that crosses the current traveling road of the own vehicle at the front intersection, as shown in FIG. If the vehicle goes straight or turns right, it will be an intersection prediction vehicle. If the other vehicle goes straight or turns right against the right turn of your vehicle,
It becomes an intersection prediction vehicle. Also, if the other vehicle is going straight ahead for the left turn of the own vehicle, it becomes an intersection prediction vehicle. When another vehicle is traveling from the left toward the front intersection on the road that intersects the current traveling road of the own vehicle at the front intersection, FIG.
As shown in (1), the other vehicle becomes a crossing predicted vehicle in any of straight ahead, right turn and left turn with respect to the straight travel of the own vehicle. If the other vehicle goes straight or turns right with respect to the right turn of the own vehicle, it becomes a crossing prediction vehicle. Further, when the vehicle turns left, the other vehicle does not become a vehicle that is predicted to intersect with the traveling locus of the vehicle. That is, when the own vehicle and the other vehicle take a course that intersects at the front intersection, and when the own vehicle and the other vehicle take the same course after passing through the front intersection, the other vehicle travels along its own path. It is a vehicle that is predicted to intersect. 3 to 5 are stored in the data table in advance.

Next, it is determined whether or not a vehicle predicted to intersect with the traveling locus of the own vehicle has been extracted as a result of the execution of step S6 (step S7). If vehicles that are predicted to intersect with the trajectory of the own vehicle are extracted, in order to notify the driver that there is a vehicle that is predicted to intersect with the trajectory of the own vehicle at the front intersection An alarm is displayed on the display 11 (step S8).

For example, as shown in FIG. 6, vehicles 21 to 26 exist around the intersection 20, and the vehicles 21, 23 to 26 are traveling toward the intersection 20. These vehicles 21 and 2
6 is equipped with such an inter-vehicle wireless communication device.
Here, the vehicle 21, which is the host vehicle, is currently traveling on the road 27 toward the intersection 20, and is going to turn right at the intersection 20 as shown by an arrow 21 a and travel on the road 28 intersecting the road 27. In the vehicle 21, vehicles 23 to 26 having the intersection 20 as the front intersection are determined in step S4. Since the vehicle 22 has already passed the intersection 20, the vehicle 22 is not a target vehicle. In step S5, the arrival times of the vehicles 23 to 26 to the intersection 20 are read, and the arrival times of the own vehicle 21 and those vehicles 23 to 26 are read.
A time difference from the arrival time of the vehicle 26 is calculated, and a vehicle whose arrival time difference is smaller than a predetermined time is detected from the vehicles 23 to 26. The arrival time of the vehicle 21 to the intersection 20 is a1 second. The arrival positions of the vehicles 21 to 26 after this a1 second are predicted as shown in FIG. As can be seen from FIG. 7, the vehicle 24 approaches the own vehicle 21 at the intersection 20. The arrival time of the vehicle 24 to the intersection 20 is a2 seconds. It is the arrival time difference a1-a2 between the own vehicle 21 and the vehicle 24, and if the arrival time difference a1-a2 is smaller than the predetermined time, it is predicted that the vehicle 24 intersects the traveling locus of the own vehicle in step S6. It is determined whether the vehicle is a vehicle. Since the vehicle 24 is an oncoming vehicle with respect to the own vehicle 21,
The data table shown in FIG. 3 is referred to for discriminating a vehicle that is predicted to intersect with the traveling locus of the own vehicle. Since the own vehicle 21 makes a right turn as described above, if the vehicle 24 goes straight, it is determined that the vehicle 24 is predicted to intersect with the traveling locus of the own vehicle. If the vehicle 24 makes a left turn, the vehicle 24 is also determined to be a vehicle that is predicted to intersect with the traveling locus of the own vehicle. However, if the vehicle 24 turns right, at the intersection 20 the vehicles 21 and
Although the vehicles 4 approach each other but do not intersect, the vehicle 24 is not regarded as a vehicle that is predicted to intersect with the traveling locus of the own vehicle.

Since it is necessary to issue a warning so that the driver can identify the vehicle for a vehicle that is deemed to intersect with the traveling locus of the own vehicle, the traveling locus of the own vehicle is determined in step S8. Vehicle identification information such as the approach direction of the vehicle predicted to intersect with the intersection, the color of the vehicle body, the vehicle type, the number, and the like are displayed on the display 11. It is a matter of course that a vehicle which is predicted to intersect with the traveling locus of the own vehicle may be notified by an alarm sound or a sound from a speaker (not shown) other than the display 11.

In the above-described embodiment, it is determined in step S5 whether or not the time difference between the arrival times of the own vehicle and the other vehicle at the forward intersection is smaller than a predetermined time. A determination may be made as to whether or not the difference in the reach distances between the own vehicle and the other vehicle to the front intersection is smaller than a predetermined distance. Furthermore, in the above-described embodiment, the case where the forward intersection is set as the predicted arrival point has been described. However, as shown in FIG. 8, when the own vehicle 31 makes a right turn as shown by an arrow 31 a at a point other than the intersection of the general road 30. The present invention can also be applied to the present invention. In this case, a right turn point may be used instead of the forward intersection in the flowchart of FIG. In the case of FIG. 8, a vehicle that approaches the own vehicle position when the own vehicle 31 makes a right turn may be extracted as a vehicle that is predicted to intersect with the traveling locus of the own vehicle. . A vehicle having a high approach ratio means a vehicle in which the relative distance from the own vehicle 31 per unit time is the largest. For example, in the case of FIG.
There is a motorcycle 32 running in the direction of a and approaching the vehicle 31. An information signal that has received the vehicle position of the motorcycle 32 is obtained, and the relative distance from the own vehicle 31 is calculated. If the amount of change in the relative distance per unit time is smaller than a predetermined value, the approach ratio is large. Vehicle.

Further, in the above-described embodiment, the vehicle is described as the moving body, but the moving body may be a pedestrian. When the pedestrian holds the portable communication device and transmits the information signal indicating the location of the pedestrian from the portable communication device, when the information signal is received by the wireless communication device 6, the presence of the pedestrian is known. Can be. As shown in FIG. 9, there are a plurality of vehicles traveling on a road 50 facing the own vehicle 51, and a pedestrian 53
Is about to cross. That is, the vehicle 51 has the arrow 5
The pedestrian 53 behind the vehicle 52 is traveling in the direction of arrow 1a while traveling in the direction of 1a. Pedestrian 53 is vehicle 5
1 has a portable communication device (not shown) capable of transmitting and receiving information signals to and from the vehicle-to-vehicle wireless communication device. The time when the pedestrian 53 passes can be predicted. Therefore, the own passing vehicle 51 and the pedestrian 5 are used by using the front passing position instead of the front intersection in the flowchart of FIG.
If the difference in the arrival time at the front passage position with respect to No. 3 is smaller than the predetermined time, the pedestrian 53 can be extracted as a dangerous pedestrian.

Further, when a vehicle predicted to intersect with the traveling locus of the own vehicle is determined, various conditions such as a road type, a density of surrounding vehicles, a speed limit, a road surface condition, a weather condition, a time zone, etc. are taken into consideration. Then, the predetermined time which is the threshold value of the arrival time difference or the predetermined distance which is the threshold value of the arrival distance difference can be set. Further, when determining a vehicle that is predicted to intersect with the traveling locus of the own vehicle, a different weighting coefficient is set according to the type of the other vehicle, and the weighting coefficient is multiplied by a predetermined time or a predetermined distance. A threshold may be set.

In step S8, not only a warning is issued, but also driving control such as automatically reducing the speed of the own vehicle may be performed.

[0024]

As described above, according to the mobile communication device of the present invention, an information signal arriving at the presence of another mobile object which is estimated to arrive near the predicted arrival point of the mobile object almost simultaneously with the mobile object. On the basis of the vehicle, and announce the presence of other detected moving objects, so that the driver of the moving object must identify the presence of other moving objects that need to pay attention before actually reaching the predicted destination. The driving load of the moving body can be reduced.

[Brief description of the drawings]

FIG. 1 is a block diagram showing an inter-vehicle wireless communication device according to the present invention.

FIG. 2 is a flowchart illustrating a control operation of the controller of FIG. 1;

FIG. 3 is a diagram showing an intersection predicted vehicle data table when another vehicle is an oncoming vehicle.

FIG. 4 is a diagram showing an intersection predicted vehicle data table when another vehicle enters an intersection from a right road.

FIG. 5 is a diagram showing an intersection prediction vehicle data table when another vehicle enters an intersection from a left road.

FIG. 6 is a diagram for explaining the control operation of FIG. 2 corresponding to a running vehicle.

FIG. 7 is a diagram showing the position of each vehicle in FIG. 6 after a1 second.

FIG. 8 is a diagram for explaining an example in which the present invention is applied when the predicted arrival position is a right turn point.

FIG. 9 is a diagram for explaining an example in which the present invention is applied when the predicted arrival position is a pedestrian crossing point.

[Explanation of symbols]

 1, 3 antenna 2 own vehicle position detection unit 4 vehicle driving condition sensor 6 wireless communication device 9 map data storage unit 10 controller 11 display

 ──────────────────────────────────────────────────の Continuing on the front page (72) Inventor Hirota Tsuchida 1-4-1 Chuo, Wako-shi, Saitama F-term in Honda R & D Co., Ltd. (Reference) 2F029 AA02 AB01 AB07 AC01 AC02 AC04 AC06 AC18 5H180 AA01 BB04 CC02 CC03 CC04 CC11 CC12 FF04 FF05 FF25 FF27 FF32 FF40 LL01 LL04 5K067 AA34 BB12 BB27 DD20 DD30 DD51 EE02 EE25 FF03 FF05

Claims (2)

[Claims] 1. A mobile communication device mounted on a mobile unit for transmitting and receiving an information signal, comprising: a receiving unit for receiving an incoming information signal; and a mobile unit near a predetermined predicted arrival point of the mobile unit. Detecting means for detecting the presence of another moving body estimated to arrive almost at the same time based on the arriving information signal, and notifying means for notifying the presence of the other moving body detected by the detecting means, A mobile communication device comprising: 2. The notifying unit includes an extracting unit that extracts the presence of the other moving object whose traveling trajectory is predicted to intersect among the other moving objects detected by the detecting unit, 2. The mobile communication device according to claim 1, wherein the presence of the other mobile object extracted by the extraction unit is notified by an alarm sound, a voice, or a display.