JP2009003766A - Intersection alarm output device for vehicle and intersection alarm output system - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To output an alarm in consideration of also a rear vehicle or a front vehicle which travels surrounding of one's own-vehicle in addition to an intersection signal state to a driver of own-vehicle passing through the intersection. <P>SOLUTION: An intersection alarm output device 3 for vehicle: receives an intersection signal state as an intersection information; receives a traveling state of the rear vehicle or the front vehicle as rear vehicle traveling information or front vehicle traveling information; acquires a traveling state of the own-vehicle as own-vehicle traveling information; predicts a behavior of the own-vehicle to the intersection signal state based on the intersection information and the own-vehicle traveling information; predicts the behavior of the rear vehicle or the front vehicle based on the rear vehicle traveling information or the front vehicle traveling information; and performs output operation of an emergency stop alarm or a stop alarm. <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

  The present invention relates to a vehicle intersection warning output device and an intersection warning output system for outputting a warning to a driver of a host vehicle passing through an intersection.

Conventionally, as a device that outputs a warning to the driver of the host vehicle passing through the intersection, the signal state of the intersection (whether blue, yellow, or red) is acquired as intersection information, and the vehicle travels. The state (distance to the intersection, vehicle speed or acceleration) is acquired as own vehicle traveling information, and the behavior of the own vehicle with respect to the signal state of the intersection is predicted based on the acquired intersection information and own vehicle traveling information. When it is predicted that it is impossible to safely pass an intersection, there is one configured to output an alarm (see, for example, Patent Document 1).
Japanese Patent Laid-Open No. 11-250399

  However, in the configuration described in Patent Document 1 described above, the traveling state of the host vehicle and the signal state of the intersection are determined. Therefore, when the front vehicle or the rear vehicle is not traveling in front of or behind the host vehicle. Even if a vehicle ahead or a vehicle ahead is traveling, there will be no problem if a sufficient inter-vehicle distance is secured, but the front vehicle or the rear vehicle travels without securing a sufficient inter-vehicle distance. If, for example, the driver of the own vehicle confirms the alarm and performs a sudden braking (brake) operation, there is a problem that the rear vehicle may collide with the other vehicle. There is a problem that is not enough.

  The present invention has been made in view of the above-described circumstances, and the purpose of the present invention is to provide another vehicle traveling around the host vehicle in addition to the signal state at the intersection with respect to the driver of the host vehicle passing through the intersection. An object of the present invention is to provide a vehicle intersection warning output device and an intersection warning output system that can output an alarm in consideration and can ensure safety with other vehicles appropriately.

  According to the vehicle intersection warning output device according to claim 1, the intersection information acquisition means acquires the signal state of the intersection as intersection information, and the other vehicle travel information acquisition means indicates the travel state of the other vehicle traveling around the host vehicle. When the host vehicle travel information acquisition unit acquires the travel state of the host vehicle as host vehicle travel information, the host vehicle behavior prediction unit acquires the intersection information and host vehicle travel information acquired by the intersection information acquisition unit. Based on the own vehicle travel information acquired by the acquisition means, the behavior of the own vehicle with respect to the signal state of the intersection is predicted, and the other vehicle behavior prediction means is based on the other vehicle travel information acquired by the other vehicle travel information acquisition means. Predict vehicle behavior. The warning output control means outputs a warning from the warning output means when the prediction result predicted by the own vehicle behavior prediction means and the prediction result predicted by the other vehicle behavior prediction means have a predetermined relationship.

  Thus, an alarm is output when the prediction result predicting the behavior of the own vehicle with respect to the signal state of the intersection and the prediction result predicting the behavior of the other vehicle traveling around the own vehicle are in a predetermined relationship. In addition to the signal condition at the intersection, the driver who passes the vehicle can output an alarm that also considers other vehicles that travel around the vehicle, ensuring appropriate safety with other vehicles Can do.

  According to the vehicle intersection warning output device described in claim 2, since the other vehicle traveling information acquisition means acquires the traveling state of the rear vehicle traveling behind the host vehicle as the rear vehicle traveling information, In addition to the signal state at the intersection, a warning that also considers the rear vehicle can be output to the driver of the passing vehicle, and safety with the rear vehicle can be ensured appropriately.

  According to the vehicle intersection warning output device described in claim 3, since the other vehicle travel information acquisition means acquires the travel state of the front vehicle traveling ahead of the host vehicle as the forward vehicle travel information, In addition to the signal state at the intersection, a warning that also considers the preceding vehicle can be output to the driver of the own vehicle passing therethrough, and safety with the preceding vehicle can be appropriately ensured.

  According to the vehicle intersection warning output device of the fourth aspect, the other vehicle travel information acquisition means acquires the travel state of the rear vehicle traveling behind the host vehicle as the rear vehicle travel information and travels in front of the host vehicle. Since the other vehicle traveling information acquisition means acquires the traveling state of the preceding vehicle as the preceding vehicle traveling information, in addition to the signal state of the intersection for the driver of the own vehicle passing through the intersection, An alarm that also considers the vehicle can be output, and safety with the rear vehicle and the front vehicle can be appropriately ensured.

  According to the vehicle intersection alarm output device described in claim 5, the alarm output information notifying unit notifies the other vehicle of the operation of the alarm output control unit outputting the alarm from the alarm output unit as the alarm output information. Therefore, it is possible to notify the other vehicle of the content of the driver of the own vehicle confirming the alarm and driving the vehicle from now on, and alert the driver of the other vehicle.

  According to the vehicle intersection alarm output device described in claim 6, the alarm output information notifying means notifies the rear vehicle of the operation of the alarm output control means outputting the alarm from the alarm output means as alarm output information. As a result, the driver of the host vehicle can confirm the warning and notify the vehicle behind the driving operation, and can alert the driver of the vehicle behind.

  According to the vehicle intersection alarm output device described in claim 7, the alarm output information notifying unit notifies the vehicle ahead of the operation as an alarm output information by the alarm output control unit outputting the alarm from the alarm output unit. As a result, the driver of the host vehicle can confirm the warning and notify the vehicle ahead of the driving operation, and can alert the driver of the vehicle ahead.

  According to the vehicle intersection warning output device described in claim 8, the warning output information notifying means notifies the rear vehicle and the preceding vehicle of the warning output control means as the warning output information of the warning output control means outputting the warning from the warning output means. Therefore, the driver of the host vehicle can confirm the warning and notify the vehicle behind the vehicle and the vehicle ahead of the vehicle, and alert the driver of the vehicle behind and the driver of the vehicle ahead. be able to.

  According to the vehicle intersection warning output device of the ninth aspect, the warning output control means has a predetermined relationship between the prediction result predicted by the own vehicle behavior prediction means and the prediction result predicted by the other vehicle behavior prediction means. Accordingly, since the alarm output means outputs a different type of alarm, it is possible to output an alarm appropriately corresponding to a change in the situation to the driver of the host vehicle passing through the intersection.

  According to the intersection warning output system of the tenth aspect, the same effect as that of the first aspect can be obtained in the vehicle intersection warning output device, that is, the own vehicle passing through the intersection can be obtained. In addition to the signal state at the intersection, the driver can be alerted to other vehicles that travel around the host vehicle, and safety with other vehicles can be ensured appropriately.

  Hereinafter, an embodiment of the present invention will be described with reference to the drawings. FIG. 2 schematically shows the overall configuration of the intersection warning output system. The intersection warning output system 1 includes a roadside device 2 installed on the roadside and a vehicle intersection warning output device 3 mounted on the vehicle. On the road side, a reference marker 4 is embedded at a position a predetermined distance before the stop line at the intersection where the vehicle passes. The reference marker 4 transmits distance information from the embedded position to the stop line of the intersection toward the ground.

  FIG. 1 is a functional block diagram showing the roadside device 2 and the vehicle intersection warning output device 3 described above. The roadside device 2 installed on the roadside includes a traffic signal control unit 5 and a road-to-vehicle communication unit 6. The traffic light control unit 5 controls the operation of the traffic light 7 installed at the intersection, and changes the signal state (blue, yellow, or red) according to a predetermined signal switching cycle. The road-to-vehicle communication unit 6 performs road-to-vehicle communication with the vehicle intersection warning output device 3 to transmit the signal state and the signal switching period at that time to the vehicle intersection warning output device 3 as intersection information. To do.

  The vehicle intersection warning output device 3 includes a control unit 8 (own vehicle behavior prediction unit, other vehicle behavior prediction unit, warning output control unit in the present invention) and a road-to-vehicle communication unit 9 (intersection information acquisition unit in the present invention). ), A vehicle-to-vehicle communication unit 10 (another vehicle travel information acquisition unit and alarm output information notification unit in the present invention), a current position detection unit 11 (an own vehicle travel information acquisition unit in the present invention), and a vehicle speed detection unit 12 (Own vehicle travel information acquisition means in the present invention), acceleration detection unit 13 (own vehicle travel information acquisition means in the present invention), rear monitoring unit 14, forward monitoring unit 15, road information storage unit 16, The display unit 17 (alarm output means in the present invention), the sound output unit 18 (alarm output means in the present invention), and the vehicle position recognition unit 19 are configured.

  The control unit 8 has a CPU, a RAM, a ROM, and an I / O bus, and executes a control program to control the operation of the entire apparatus. The road-to-vehicle communication unit 9 receives the intersection information transmitted from the road-side device 2 by performing road-to-vehicle communication with the road-side device 2. The inter-vehicle communication unit 10 receives rear vehicle travel information transmitted from a rear vehicle by performing inter-vehicle communication with a vehicle communication device mounted on a rear vehicle (following vehicle) that travels behind the host vehicle. At the same time, vehicle-to-vehicle communication is performed with a vehicle communication device mounted on a forward vehicle (preceding vehicle) that travels in front of the host vehicle, thereby receiving forward vehicle travel information transmitted from the forward vehicle. The backward vehicle travel information is information representing the current position, vehicle speed, and acceleration of the backward vehicle, and the forward vehicle travel information is information representing the current position, vehicle speed, and acceleration of the forward vehicle. The road-to-vehicle communication and the inter-vehicle communication are, for example, narrow area wireless communication.

  The current position detection unit 11 includes a GPS receiver that calculates various parameters of GPS signals received from GPS satellites, for example, and detects the current position of the host vehicle and outputs the current position to the control unit 8. The vehicle speed detection unit 12 receives a vehicle speed signal from a vehicle speed sensor mounted on the host vehicle, detects the vehicle speed of the host vehicle, and outputs it to the control unit 8. The acceleration detection unit 13 receives an acceleration signal from an acceleration sensor mounted on the host vehicle, detects the acceleration of the host vehicle, and outputs the detected acceleration to the control unit 8. The rear monitoring unit 14 includes a rear photographing camera that photographs the rear of the host vehicle, and outputs a captured image obtained by photographing the rear vehicle traveling behind the host vehicle to the control unit 8. The front monitoring unit 15 includes a front shooting camera that captures the front of the host vehicle, and outputs a captured image of the front vehicle traveling in front of the host vehicle to the control unit 8.

  In this case, the control unit 8 includes the intersection information received from the roadside device 2 by the roadside-to-vehicle communication unit 9 communicating with the roadside device 2 and the current position of the host vehicle input from the current position detection unit 11. The behavior of the host vehicle with respect to the signal state at the intersection is predicted based on the vehicle speed input from the vehicle speed detection unit 12 and the acceleration of the host vehicle input from the acceleration detection unit 13. In addition, the control unit 8 predicts the behavior of the rear vehicle based on the rear vehicle travel information received from the rear vehicle by performing the inter-vehicle communication with the vehicle communication device mounted on the rear vehicle. The vehicle-to-vehicle communication unit 10 performs vehicle-to-vehicle communication with a vehicle communication device mounted on the preceding vehicle, thereby predicting the behavior of the preceding vehicle based on the preceding vehicle travel information received from the preceding vehicle.

  The road information storage unit 16 stores road information such as road shape, intersection shape (such as scale, number of lanes, and road width) and intersection position. The display unit 17 displays various display information based on a display command from the control unit 8, and the sound output unit 18 outputs various sound information based on a sound output command from the control unit 2. The vehicle position recognition unit 19 includes a marker sensor (not shown), and controls the reference marker detection signal when receiving a distance signal transmitted from the reference marker 4 in response to the own vehicle passing over the reference marker 4. Output to unit 8. The vehicle intersection warning output device 3 described above may be configured by incorporating its function into a known vehicle navigation device.

  Next, the operation of the above configuration will be described with reference to FIGS. Here, the description will be made on the assumption that the rear vehicle is traveling behind the host vehicle and the front vehicle is traveling ahead of the host vehicle. Here, the description will be made on the assumption that the own vehicle has passed over the reference marker 4 when the traffic light is blue. FIG. 3 shows a process performed by the control unit 8 of the vehicle intersection warning output device 3 as a flowchart.

  In the vehicle intersection warning output device 3, the control unit 8 monitors whether or not the vehicle has passed over the reference marker 4 by monitoring whether or not the reference marker detection signal is input from the vehicle position recognition unit 19. Monitoring is performed (step S1). Here, the control unit 8 determines that the vehicle has passed over the reference marker 4 by determining that the reference marker detection signal is input from the vehicle position recognition unit 19 ("YES" in step S1). ), The road-to-vehicle communication unit 9 performs road-to-vehicle communication with the roadside device 2, and the intersection information transmitted from the roadside device 2 is received and acquired by the road-to-vehicle communication unit 9 (step S2).

  Next, the control unit 8 inputs the current position of the host vehicle from the current position detection unit 11, inputs the vehicle speed of the host vehicle from the vehicle speed detection unit 12, and inputs the acceleration of the host vehicle from the acceleration detection unit 13. The own vehicle traveling information is acquired (step S3). Next, the control unit 8 causes the inter-vehicle communication unit 10 to perform inter-vehicle communication with the rear vehicle, and receives and acquires the rear vehicle travel information transmitted from the rear vehicle by the inter-vehicle communication unit 10 (step S4). The vehicle-to-vehicle communication unit 10 performs vehicle-to-vehicle communication with the preceding vehicle, and the vehicle-to-vehicle communication unit 10 receives and acquires the forward vehicle travel information transmitted from the preceding vehicle (step S5).

  In this case, the control unit 8 may perform image analysis on the captured image captured by the rear monitoring unit 14 and acquire the rear vehicle traveling information together with the analysis result. The captured image captured by the front monitoring unit 15 may be obtained. Image analysis may be performed, and the preceding vehicle traveling information may be acquired together with the analysis result. Then, the control unit 8 predicts the behavior of the host vehicle according to various performance equations (Step S6), predicts the behavior of the rear vehicle (Step S7), and predicts the behavior of the preceding vehicle (Step S8).

  Specifically, as shown in FIG. 4, the current position of the host vehicle is P0, the host vehicle speed is v0, the host vehicle acceleration is α0, the rear vehicle current position is P1, the rear vehicle speed is v1, and the rear The acceleration of the vehicle is α1, the current position of the front vehicle is P2, the vehicle speed of the rear vehicle is v2, the acceleration of the rear vehicle is α2, the distance from the host vehicle to the stop line (approximately equal to the entrance of the intersection) is La, The distance to the exit of the intersection is Lb, and as shown in FIG. 5, the time from the current time T until the traffic light on the traveling road switches from blue to yellow is Ty, and the traffic light on the traveling road from the current time T is yellow to red. When the time until switching to Tr is Tr and the time from the current time T until the traffic light on the crossing road switches from red to blue is Tb, these various parameters are calculated according to the calculation formula, and the behavior of the vehicle , Vehicle behavior behind and To predict the behavior of the square vehicle.

That is, the control unit 8 predicts the behavior of the host vehicle in eight categories as shown in FIG.
(A) When La / v0 <Ty, predict that it is possible to enter the intersection when the traffic light on the traveling road is blue at the current vehicle speed,
(B) When La / v0> Ty and v0 ² / 2La> K1, the vehicle enters the intersection when the traffic light on the traveling road is yellow at the current vehicle speed, but can be stopped before the stop line with safe deceleration. Predict that there is
(C) When La / v0> Ty, K2> v0 ² / 2La> K1, (La + Lb) / v0 <Tr, enter the intersection when the traffic light on the traveling road is yellow at the current vehicle speed and suddenly decelerate It is possible to stop before the stop line, but predict that you can pass the intersection when the traffic light on the road is yellow,
(D) When La / v0> Ty, K2> v0 ² / 2La> K1, and (La + Lb) / v0> Tr, enter the intersection when the traffic light on the traveling road is yellow at the current vehicle speed and suddenly decelerate It is possible to stop before the stop line, but predict that it will not be possible to cross the intersection when the traffic light on the road is yellow,
(E) La / v0> Ty, v0 2 / 2La> K2, (La + Lb) / v0 < time of Tr, the signal of the traveling road at the current vehicle speed enters the intersection at the time of the yellow, stop in a sudden deceleration It ’s impossible to stop just before the line, but predict that it ’s possible to pass the intersection when the traffic light on the road is yellow,
(F) When La / v0> Ty, v0 ² / 2La> K2, and (La + Lb) / v0> Tr, enter the intersection when the traffic light on the traveling road is yellow at the current vehicle speed, and stop at a sudden deceleration Predict that it is impossible to stop before the line, but cannot pass through the intersection when the traffic light on the road is yellow,
(G) When La / v0> Ty, v0 ² / 2La> K2, and (La + Lb) / v0 <Tb, the vehicle enters the intersection when the traffic light on the traveling road is yellow at the current vehicle speed, and stops due to sudden deceleration. It ’s impossible to stop just before the line, but it ’s predicted that it ’s possible to pass through the intersection before the traffic light on the intersection turns blue,
(H) La / v0> Ty, v0 2 / 2La> K2, when the (La + Lb) / v0> Tb , the traffic in progress road at the current vehicle speed enters the intersection when the yellow suspension at a rapid deceleration Although it is impossible to stop before the line, it is predicted that it will not be possible to pass through the intersection before the traffic light on the intersection road changes to blue.

Further, as shown in FIG. 7A, the control unit 8 predicts the behavior of the rear vehicle in three categories.
(S) When L1 <K3 and α1 <0, it is predicted that the inter-vehicle distance from the host vehicle to the rear vehicle is less than a predetermined distance, and the rear vehicle is decelerating,
(F) When L1 <K3, α1> 0, it is predicted that the inter-vehicle distance from the host vehicle to the rear vehicle is less than a predetermined distance, and the rear vehicle is not decelerating,
(S) When L1> K3, it is predicted that the inter-vehicle distance from the host vehicle to the rear vehicle exceeds a predetermined distance.

Furthermore, as shown in FIG. 7B, the control unit 8 predicts the behavior of the preceding vehicle in three categories.
(T) When L1 <K4 and K5 <α2 <0, it is predicted that the distance between the host vehicle and the preceding vehicle is less than a predetermined distance, and the preceding vehicle is slowly decelerating,
(H) When L1 <K4 and α2 <K5, it is predicted that the distance between the host vehicle and the preceding vehicle is less than a predetermined distance, and the preceding vehicle is decelerating rapidly,
(I) When L1> K4, it is predicted that the inter-vehicle distance from the host vehicle to the preceding vehicle exceeds a predetermined distance. In the above arithmetic expression, K1 to K5 are preset constants.

  Based on the behavior of the host vehicle, the behavior of the rear vehicle, and the behavior of the front vehicle predicted as described above, the control unit 8 responds to the correspondence between the behavior of the host vehicle and the behavior of the rear vehicle, as shown in FIG. As shown in FIG. 9, a matrix representing the relationship between the behavior of the host vehicle and the behavior of the preceding vehicle is created, and an emergency stop warning (secondary warning, driving to stop quickly) is created. A condition for outputting a warning to the driver, a condition for outputting a stop alarm (primary alarm, an alarm for prompting the driver to stop), and a condition for not outputting the alarm.

  Next, the control unit 8 determines whether or not the host vehicle has passed the stop line (step S9), and determines that the host vehicle has not passed the stop line ("NO" in step S9). Referring to the matrix that shows the correspondence between the behavior of the host vehicle and the behavior of the rear vehicle and the matrix that shows the correspondence between the behavior of the host vehicle and the behavior of the preceding vehicle, the conditions for outputting an emergency stop warning at that point are satisfied. It is determined whether or not (step S10).

  If the control unit 8 determines that the condition for outputting the emergency stop alarm is satisfied at that time (“YES” in step S10), for example, the display unit 17 displays an emergency stop alarm display screen. At the same time, an emergency stop alarm output operation such as outputting voice guidance of the emergency stop alarm from the voice output unit 18 is performed (step S11), and the process returns to the above-described step S3. Thereby, the driver of the own vehicle can confirm that it is necessary to quickly perform the operation of stopping the own vehicle by confirming the output of the emergency stop alarm.

  As a specific example, the control unit 8 can enter the intersection when the traffic signal of the traveling road is yellow at the current vehicle speed as the behavior of the host vehicle, and can stop immediately before the stop line due to sudden deceleration. When the traffic light on the advancing road is yellow, it is predicted that the vehicle cannot pass through the intersection, and as the behavior of the rear vehicle, the distance between the host vehicle and the rear vehicle is less than a predetermined distance, and the rear vehicle decelerates. When it is predicted that an emergency stop alarm is output, an emergency stop alarm is output.

  On the other hand, if the control unit 8 determines that the condition for outputting the emergency stop alarm is not satisfied at that time ("NO" in step S10), is the condition for outputting the stop alarm satisfied at that time? If it is determined whether or not a condition for outputting an emergency stop alarm is satisfied at that time ("YES" in step S12), for example, a display screen of a stop alarm is displayed on the display unit 17. A stop warning output operation is performed such as displaying the voice warning of the stop warning from the voice output unit 18 (step S13), and the process returns to step S3. Thereby, the driver of the own vehicle can confirm that it is necessary to perform the operation | movement which stops the own vehicle by confirming the output of a stop alarm.

  As a specific example, the control unit 8 enters the intersection when the traffic signal of the traveling road is yellow at the current vehicle speed as the behavior of the host vehicle, but can stop before the stop line with safe deceleration. And, as the behavior of the rear vehicle, when it is predicted that the inter-vehicle distance from the host vehicle to the rear vehicle is less than a predetermined distance and the rear vehicle is decelerating, a stop alarm output operation is performed.

  Further, when determining that the condition for outputting the stop alarm is not satisfied at that time (“NO” in step S12), the control unit 8 determines whether an emergency stop alarm or a stop alarm is output at that time. (Step S14), and if it is determined that an emergency stop alarm or stop alarm is being output at that time ("YES" in step S14), the output of the emergency stop alarm or stop alarm is canceled ( Step S15), the process returns to step S3.

  That is, the control unit 8 acquires the host vehicle travel information, the rear vehicle travel information, and the front vehicle travel information until the host vehicle passes the stop line after passing over the reference marker. Predicting the behavior of the vehicle behind and the behavior of the vehicle ahead, monitoring whether the condition for outputting the emergency stop alarm or the condition for outputting the stop alarm is established, and setting the condition for outputting the emergency stop alarm or the stop alarm. An emergency stop alarm or stop alarm is output when the output condition is satisfied, and the emergency stop alarm or stop alarm is canceled when the condition for outputting the emergency stop alarm or the condition for outputting the stop alarm is not satisfied. .

  When the control unit 8 determines that the host vehicle has passed the stop line (“YES” in step S9), in this case as well, whether or not an emergency stop alarm or a stop alarm is being output at that time point is determined. If it is determined (step S16) and it is determined that an emergency stop alarm or stop alarm is output at that time ("YES" in step S16), the output of the emergency stop alarm or stop alarm is canceled (step S17). ), A series of processing ends.

  In the above-described configuration, when the emergency stop alarm or stop alarm output operation is performed, the control unit 8 uses the emergency stop alarm or stop alarm output operation as alarm output information from the inter-vehicle communication unit 10 to the rear vehicle or the front vehicle. You may make it transmit to.

  Further, in the above-described configuration, conditions for outputting an emergency stop alarm, conditions for outputting a stop alarm, and conditions for not outputting an alarm are set based on the correspondence relationship between the behavior of the host vehicle and the behavior of the rear vehicle. Since the conditions for outputting the emergency stop alarm, the conditions for outputting the stop alarm, and the conditions for not outputting the alarm are set from the correspondence with the behavior of the preceding vehicle, the conditions set by the correspondence with the behavior of the following vehicle and the preceding vehicle If the condition set from the correspondence with the behavior of the vehicle matches, the action according to the condition may be performed, but on the other hand, the condition set from the correspondence with the behavior of the vehicle behind and the behavior of the vehicle ahead If the condition set from the correspondence relationship does not match, one of the conditions may be prioritized and an operation corresponding to the condition may be performed.

As described above, according to the present embodiment, the vehicle intersection warning output device 3 receives the signal state of the intersection as intersection information, receives the traveling state of the rear vehicle as rear vehicle traveling information, and The driving state is received as the front vehicle driving information, the driving state of the own vehicle is acquired as the own vehicle driving information, the behavior of the own vehicle with respect to the signal state of the intersection is predicted based on the intersection information and the own vehicle driving information, and the rear Predict the behavior of the rear vehicle based on the vehicle travel information,
Predicting the behavior of the preceding vehicle based on the preceding vehicle travel information, predicting the behavior of the host vehicle with respect to the signal condition at the intersection, predicting the prediction of the behavior of the rear vehicle, and predicting the behavior of the preceding vehicle Since the emergency stop alarm or stop alarm output operation is performed when the vehicle is in a predetermined relationship, in addition to the signal state at the intersection, the vehicle behind and the vehicle ahead is also considered for the driver of the vehicle traveling through the intersection. Can be output, and safety with the rear vehicle and the front vehicle can be ensured appropriately.

  Further, when an emergency stop alarm or a stop alarm output operation is performed, if the emergency stop alarm or the stop alarm output operation is transmitted to the rear vehicle or the front vehicle as alarm output information, the driver of the host vehicle will be used. Can confirm the warning and perform the driving operation (for example, performing a sudden braking operation or releasing the braking operation) to the rear vehicle and the front vehicle, and the driver of the rear vehicle and the front vehicle The driver can be alerted.

The present invention is not limited to the above-described embodiment, and can be modified or expanded as follows.
The method of acquiring the rear vehicle travel information from the rear vehicle and the method of acquiring the front vehicle travel information from the front vehicle are not limited to the method of acquiring by performing inter-vehicle communication with the rear vehicle or the front vehicle. As long as the forward vehicle travel information and the forward vehicle travel information are transmitted to the roadside device, the vehicle may be acquired by performing road-to-vehicle communication with the roadside device.
When the preference information of the driver of the rear vehicle or the preference information of the driver of the front vehicle is received from the rear vehicle or the front vehicle, the preference information may be reflected in the condition for outputting the emergency stop warning or the stop warning. .
The alarm output operation is not limited to the operation in which the alarm display screen is displayed on the display unit and the voice guidance of the alarm is output from the audio output unit. The operation may simply be to output the guidance from the voice output unit.

The one which shows one Embodiment of this invention, and is a figure which shows schematically the whole structure of an intersection warning output system Functional block diagram of vehicle intersection warning output device and roadside device flowchart Diagram showing various parameters Diagram showing signal control Diagram showing the relationship between the behavior of the host vehicle and the calculation formula The figure (a) which shows the relationship between the behavior of a back vehicle, and an arithmetic expression, and the figure (b) which shows the relationship between the behavior of a front vehicle, and an arithmetic expression The figure which shows an example of the warning based on the correspondence of the behavior of the own vehicle and the behavior of the rear vehicle The figure which shows an example of the alarm based on the correspondence of the behavior of the own vehicle and the behavior of the preceding vehicle

Explanation of symbols

  In the drawings, 1 is an intersection warning output system, 2 is a roadside device, 3 is a vehicle intersection warning output device, 8 is a control unit (own vehicle behavior prediction means, other vehicle behavior prediction means, warning output control means), and 9 is a road. Inter-vehicle communication section (intersection information acquisition means), 10 is an inter-vehicle communication section (other vehicle travel information acquisition means, alarm output information notification means), 11 is a current position detection section (own vehicle travel information acquisition means), and 12 is a vehicle speed detection section. (Own vehicle travel information acquisition means), 13 is an acceleration detection section (own vehicle travel information acquisition means), 17 is a display section (alarm output means), and 18 is an audio output section (alarm output means).

Claims (10)

Intersection information acquisition means for acquiring the signal state of the intersection as intersection information;
Other vehicle travel information acquisition means for acquiring the travel state of another vehicle traveling around the host vehicle as other vehicle travel information;
Own vehicle running information acquisition means for acquiring the running state of the own vehicle as own vehicle running information;
Own vehicle behavior prediction means for predicting the behavior of the own vehicle with respect to the signal state of the intersection based on the intersection information acquired by the intersection information acquisition means and the own vehicle travel information acquired by the own vehicle travel information acquisition means;
Other vehicle behavior prediction means for predicting the behavior of another vehicle based on the other vehicle travel information acquired by the other vehicle travel information acquisition means;
An alarm output means for outputting an alarm;
A warning output control means for outputting a warning from the warning output means when the prediction result predicted by the own vehicle behavior prediction means and the prediction result predicted by the other vehicle behavior prediction means have a predetermined relationship; A vehicle intersection warning output device. In the vehicle intersection warning output device according to claim 1,
The said other vehicle travel information acquisition means acquires the travel state of the back vehicle which drive | works the back of the own vehicle as back vehicle travel information, The intersection warning output device for vehicles characterized by the above-mentioned. In the vehicle intersection warning output device according to claim 1,
The other vehicle travel information acquisition means acquires a travel state of a forward vehicle traveling in front of the host vehicle as forward vehicle travel information. In the vehicle intersection warning output device according to claim 1,
The other vehicle travel information acquisition means acquires the travel state of a rear vehicle traveling behind the host vehicle as rear vehicle travel information and acquires the travel state of a front vehicle traveling ahead of the host vehicle as front vehicle travel information. An intersection warning output device for vehicles. In the vehicle intersection warning output device according to any one of claims 1 to 4,
A vehicle intersection alarm output device comprising alarm output information notifying means for notifying other vehicles as an alarm output information that the alarm output control means outputs an alarm from the alarm output means. In the vehicle intersection warning output device according to claim 5,
The warning output information notifying means notifies the rear vehicle as warning output information of an operation in which the warning output control means outputs a warning from the warning output means as warning output information. In the vehicle intersection warning output device according to claim 5,
The warning output information notifying means notifies the preceding vehicle of warning output information of an operation of the warning output control means for outputting a warning from the warning output means as warning output information. In the vehicle intersection warning output device according to claim 5,
The warning output information notifying means notifies the rear vehicle and the preceding vehicle as warning output information of an operation in which the warning output control means outputs a warning from the warning output means as warning output information. In the vehicle intersection warning output device according to any one of claims 1 to 8,
The warning output control means outputs warnings of different types from the warning output means according to the content of a predetermined relationship between the prediction result predicted by the own vehicle behavior prediction means and the prediction result predicted by the other vehicle behavior prediction means. An intersection warning output device for a vehicle, characterized in that: An intersection warning output device for a vehicle according to any one of claims 1 to 9,
An intersection warning output system, comprising: a roadside device provided on a roadside and providing a signal state of an intersection as intersection information to the vehicle intersection warning output device.

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