JP2010211588A - Device, method and program for supporting operation - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To solve the problem that it is not possible to support an own-vehicle to perform safety drive. <P>SOLUTION: The driving support device obtains an own-vehicle driving evaluation showing evaluation from the surrounding of the own-vehicle to the operation of the own-vehicle, and to obtain other vehicle driving evaluation showing the evaluation from the surrounding of the other vehicle to the operation of the other vehicle, and to guide the other vehicle when the own-vehicle driving evaluation is different form the other vehicle driving evaluation. <P>COPYRIGHT: (C)2010,JPO&amp;INPIT

Description

  The present invention relates to a driving support device, a driving support method, and a driving support program.

  Conventionally, the vehicle speed is evaluated based on acceleration, etc., and the vehicle is evaluated for driving, and the results of driving evaluation of other vehicles existing in the same driving evaluation execution area as the area where the vehicle is present are obtained wirelessly. There is known a technique for guiding and comparing driving evaluation of other vehicles in the driving evaluation execution area (for example, Patent Document 1).

JP 2008-186045 A

In the prior art, it has not been possible to assist the vehicle in driving safely. In other words, in the conventional technology, since the driving evaluation is compared between the own vehicle and other vehicles in the driving evaluation execution area, the driver of the own vehicle does not have the vehicle in the driving evaluation execution area. The relative evaluation can be grasped. However, in the conventional technique, since the other vehicle to be compared for driving evaluation is not clearly shown to the driver of the own vehicle, it is not possible to indicate an index as to whether or not to drive safely in relation to a specific other vehicle. For example, how much attention should be paid to a specific other vehicle traveling ahead of the host vehicle even if the driver evaluation is compared with the other vehicle in the driving evaluation execution area? Cannot be recognized.
The present invention has been made in view of the above problems, and an object of the present invention is to assist a driver of the host vehicle to drive safely.

  In order to achieve the above object, in the present invention, the other vehicle driving evaluation and the own vehicle driving evaluation are acquired, and the other vehicle is guided when the other vehicle driving evaluation and the own vehicle driving evaluation are different. That is, other vehicles that have been evaluated for driving different from the driving evaluation of the host vehicle are guided to the driver of the host vehicle. For this reason, the driver of the own vehicle can recognize that the operation of the guided other vehicle is different from the operation of the driver of the own vehicle, and assists the driver of the own vehicle to drive safely. be able to. For example, the driver of the own vehicle can recognize that the other vehicle may operate at an unexpected timing for the driver of the own vehicle, and has a higher level of caution regarding the operation of the other vehicle. It is possible to drive while driving.

  Here, the other vehicle driving evaluation acquisition means only needs to be able to acquire the other vehicle driving evaluation indicating the evaluation from the surroundings of the other vehicle with respect to the operation of the other vehicle. That is, it is only necessary to evaluate driving based on predetermined criteria such as the influence on the surroundings caused by the operation of other vehicles and the degree to which the surrounding vehicles should be aware of the other vehicles. . The evaluation of the other vehicle may be performed by the other vehicle itself or may be performed from around the other vehicle. As the former, the structure etc. which match | combined the detection value and driving | operation evaluation of the sensor mounted in the other vehicle are employable, for example. As the latter, it is possible to adopt a configuration in which a sensor installed on a road around another vehicle or a detection value of a sensor installed on another vehicle around the other vehicle is associated with driving evaluation. Various configurations can be adopted as a configuration for acquiring the other vehicle driving evaluation, and a configuration that is acquired by communication from the outside can be employed.

  The own vehicle driving evaluation acquisition means is the same, and it is only necessary to acquire the own vehicle driving evaluation indicating the evaluation from the surroundings of the own vehicle with respect to the operation of the own vehicle. That is, it is only necessary to evaluate the driving according to a predetermined criterion such as the influence of the operation of the host vehicle on the surroundings and the degree of attention of the host vehicle surrounding the host vehicle to the host vehicle driving evaluation. . The evaluation of the host vehicle may be performed by the host vehicle itself or may be performed from around the host vehicle. The configuration for performing the driving evaluation on the own vehicle can adopt the same configuration as the other vehicle driving evaluation. As a configuration for acquiring the own vehicle driving evaluation, the driving vehicle is recorded on the recording medium mounted on the own vehicle. Information indicating evaluation may be recorded and acquired from the recording medium, or may be acquired from outside by communication.

  The guidance means only needs to be able to guide the other vehicle when the other vehicle driving evaluation and the own vehicle driving evaluation are different. That is, it suffices if the driver of the host vehicle recognizes the other vehicle that has been evaluated differently from the host vehicle so that the driver of the host vehicle can be guided to the specific other vehicle to be noted. Various configurations for guiding other vehicles can be adopted, and a configuration for notifying the presence of other vehicles with different driving evaluations, a configuration for guiding the position of other vehicles, and the like can be employed.

  Furthermore, the other vehicle driving evaluation related to the specific operation in the other vehicle is acquired, and the own vehicle driving evaluation related to the specific operation in the own vehicle is acquired. It is good also as a structure which guides another vehicle when is different. That is, a specific operation that is a common operation in the other vehicle driving evaluation and the own vehicle driving evaluation is set as an evaluation target. According to this structure, it is possible to evaluate the driving | operation of the own vehicle and another vehicle on a common reference | standard. Of course, the specific operation may be one type or a plurality of types, but when the specific operation is a plurality of types, the other vehicle operation evaluation and the own vehicle operation evaluation are compared for each operation type.

  In addition, when the other vehicle driving evaluation is different from the own vehicle driving evaluation, all other vehicles may be set as the guidance target, or the other vehicle driving evaluation and the own vehicle driving evaluation are compared with each other for the specific other vehicle. It may be determined whether or not. For example, among other vehicles traveling around the host vehicle, such as in front of the host vehicle, the other vehicle performing the above-described specific operation is specified, and the other vehicle driving evaluation is acquired from the specified other vehicle, and the host vehicle driving is performed. You may determine whether it differs from evaluation. According to this configuration, it is possible to extract and guide other vehicles to be noted.

  Furthermore, various operations can be assumed as the operation to be evaluated. For example, it is possible to adopt a configuration in which the other vehicle driving evaluation regarding the operation of the other vehicle entering the intersection is acquired and the own vehicle driving evaluation regarding the operation of the own vehicle entering the intersection is acquired. In this configuration, the other vehicle entering the intersection ahead of the own vehicle is identified, the other vehicle driving evaluation is acquired from the identified other vehicle, and the other vehicle driving evaluation and the own vehicle driving evaluation are different. Guide other vehicles entering the intersection in front of. According to this configuration, when the evaluation of the other vehicle entering the intersection ahead of the own vehicle is different from that of the own vehicle, the other vehicle can be guided to the driver of the own vehicle. Therefore, the driver of the own vehicle can drive while recognizing that there is a possibility that an unexpected operation may be performed in the other vehicle, for example, the approach timing of the other vehicle to the intersection is different from that of the own vehicle.

  Furthermore, it is possible to adopt a configuration in which another vehicle driving evaluation regarding an operation of decelerating the other vehicle is acquired, and an own vehicle driving evaluation regarding an operation of decelerating the own vehicle is acquired. In this configuration, the other vehicle traveling in front of the host vehicle is identified, the other vehicle driving evaluation is acquired from the identified other vehicle, and the other vehicle driving evaluation and the own vehicle driving evaluation are different from each other. Guide other vehicles traveling on the road. According to this configuration, when the evaluation of the other vehicle traveling in front of the own vehicle is different from that of the own vehicle, the other vehicle can be guided to the driver of the own vehicle. Therefore, the driver of the own vehicle can drive while recognizing that an unexpected operation may be performed in the other vehicle such that the timing at which the other vehicle decelerates is different from that of the own vehicle.

  Furthermore, it is possible to adopt a configuration in which the other vehicle driving evaluation related to the operation of changing the lane of the other vehicle is acquired and the own vehicle driving evaluation related to the operation of changing the lane of the own vehicle is acquired. In this configuration, the other vehicle traveling in the lane adjacent to the lane in which the host vehicle is traveling is identified, the other vehicle driving evaluation is acquired from the identified other vehicle, and the other vehicle driving evaluation and the own vehicle driving evaluation are different. In this case, another vehicle traveling in a lane adjacent to the lane in which the host vehicle travels is guided. According to this configuration, when the evaluation of the other vehicle traveling in the lane adjacent to the lane in which the host vehicle is traveling is different from that of the host vehicle, the other vehicle can be guided to the driver of the host vehicle. Therefore, the driver of the own vehicle can drive while recognizing that there is a possibility that an unexpected operation may be performed in the other vehicle, such as the timing at which the other vehicle changes lanes. The operation when changing the lane of the host vehicle may be the operation of the host vehicle itself, or may be the operation of a device (for example, a direction indicator) included in the host vehicle.

  Further, it is possible to adopt a configuration in which the other vehicle driving evaluation regarding the operation of the other vehicle turning across the oncoming lane is acquired, and the own vehicle driving evaluation about the operation of the own vehicle bending across the oncoming lane is acquired. In this configuration, another vehicle that travels ahead of the host vehicle in the opposite lane of the host vehicle is specified, the other vehicle driving evaluation is acquired from the specified other vehicle, and the other vehicle driving evaluation and the host vehicle driving evaluation are different. In this case, another vehicle traveling in front of the host vehicle in the opposite lane is guided. According to this configuration, when the other vehicle traveling in front of the host vehicle in the opposite lane is different from the host vehicle, the other vehicle can be guided to the driver of the host vehicle. Therefore, the driver of the own vehicle performs an unexpected operation in the other vehicle such that the other vehicle has a different turning timing from the lane where the own vehicle travels (an opposite lane viewed from the other vehicle). It becomes possible to drive while recognizing that there is a possibility. In addition, the operation | movement which the own vehicle bends across an oncoming lane may be operation | movement of the own vehicle itself, and operation | movement of the apparatus (for example, direction indicator) with which the own vehicle is provided.

  Furthermore, the own vehicle driving evaluation and the other vehicle driving evaluation for each operation as described above need to be specified in advance, and information indicating the driving evaluation is preferably created in the own vehicle or the other vehicle. Various configurations can be adopted as a configuration for creating information indicating driving evaluation, for example, an operation in which another vehicle enters an intersection, an operation to decelerate the other vehicle, and an operation to change the lane of the other vehicle. It is possible to adopt a configuration in which the other vehicle is specified based on the state of the vehicle around the other vehicle when any of the operations of bending across the oncoming lane is performed. That is, the state of the vehicle around the other vehicle when each operation is performed corresponds to the driving evaluation of the other vehicle viewed from the driver driving the surrounding vehicle. For example, when the distance between the other vehicle and the surrounding vehicle is equal to or less than a predetermined distance, or when the vehicle speed of the surrounding vehicle is equal to or greater than a predetermined size, the driving of the other vehicle is regarded as preventing the driving of the surrounding vehicle. Therefore, it is possible to adopt a configuration that lowers the driving evaluation. The own vehicle driving evaluation can be similarly defined for the own vehicle.

  It should be noted that the other vehicle driving evaluation and the own vehicle driving evaluation may be an evaluation of an operation viewed from the surroundings, and for example, a configuration in which an evaluation criterion is set so that the higher the safety is, the higher the evaluation is can be adopted. It is. Furthermore, in this case, if the other vehicle driving evaluation is lower than the own vehicle driving evaluation, the other vehicle should be guided so that the other vehicle that should be highly cautious in order to improve safety can be accurately identified. To the driver of the host vehicle.

  As in the present invention, when the other vehicle driving evaluation is different from the own vehicle driving evaluation, the method of guiding the other vehicle on which the other vehicle driving evaluation is performed can be applied as a method or a program for performing this process. Further, the driving support apparatus, method, and program as described above may be realized as a single apparatus or as a plurality of apparatuses. Moreover, it may be realized using parts shared with each part provided in the vehicle, or may be realized in cooperation with each part not mounted on the vehicle, and includes various aspects. Further, some changes may be made as appropriate, such as a part of software and a part of hardware. Furthermore, the invention is also established as a recording medium for a program for controlling the driving support device. Of course, the software recording medium may be a magnetic recording medium, a magneto-optical recording medium, or any recording medium to be developed in the future.

It is a block diagram which shows a driving assistance device. It is a flowchart which shows the own vehicle driving evaluation information creation process. It is a flowchart which shows driving assistance. (4A) (4B) is a figure which shows a road, the own vehicle, and another vehicle. (5A)-(5D) is a figure which shows a road, the own vehicle, and another vehicle. (6A) (6B) is a figure which shows a road, the own vehicle, and another vehicle.

Here, embodiments of the present invention will be described in the following order.
(1) Configuration of the driving support device:
(2) Own vehicle driving evaluation information creation process:
(3) Driving support processing:
(4) Other embodiments:

(1) Configuration of the driving support device:
FIG. 1 is a block diagram illustrating a configuration of a driving support apparatus according to an embodiment of the present invention. In the present embodiment, the driving support device is realized by the navigation device 10. The navigation device 10 includes a control unit 20 including a CPU, a RAM, a ROM, and the like, and a recording medium 30. The control unit 20 can execute a program stored in the recording medium 30 and the ROM. In the present embodiment, the driving support program 21 can be executed as one of the programs, and the driving support program 21 has the function when the other vehicle driving evaluation and the own vehicle driving evaluation are different. It has a function to guide other vehicles that have been evaluated for driving.

  In order to realize the above functions by the driving support program 21, the host vehicle C (vehicle equipped with the navigation device 10) has a GPS receiver 40, a vehicle speed sensor 41, a gyro sensor 42, a communication unit 43, a user I / An F unit 44 is provided, and exchange of signals between these units and the control unit 20 is realized by an interface (not shown).

  The GPS receiver 40 receives radio waves from GPS satellites and outputs information for calculating the current position of the host vehicle C via an interface (not shown). The control unit 20 acquires this signal and acquires the current position of the host vehicle C. The vehicle speed sensor 41 outputs a signal corresponding to the rotational speed of the wheel provided in the host vehicle C. The control unit 20 acquires this signal via an interface (not shown) and acquires the speed of the host vehicle C. The gyro sensor 42 detects an angular velocity (yaw rate) for turning in the horizontal plane of the host vehicle C, and outputs a signal corresponding to the direction of the host vehicle C. The control unit 20 acquires this signal via an interface (not shown) and acquires the traveling direction of the host vehicle C. The vehicle speed sensor 41, the gyro sensor 42, and the like are used for correcting the current position of the host vehicle C identified from the output signal of the GPS receiver 40. Further, the current position of the host vehicle C is corrected as appropriate by checking with map information 30a described later.

  The communication unit 43 includes a circuit that communicates with the other vehicle 50 that travels around the host vehicle C. The control unit 20 controls the communication unit 43 to communicate with the other vehicle 50, and the position of the other vehicle 50. And the information which shows the road and lane which the vehicle speed, the other vehicle 50 drive | works is acquired. In addition, the other vehicle 50 records and holds the other vehicle driving evaluation information 50a on a recording medium (not shown), and the control unit 20 controls the communication unit 43 to communicate with the other vehicle 50 to perform the other vehicle driving. Evaluation information 50a is acquired.

  The user I / F unit 44 is an interface unit for providing various types of information to the user, and includes a display, a speaker, and the like (not shown). In the present embodiment, the control unit 20 outputs various signals to the user I / F unit 44 to perform various types of guidance and perform driving support.

  In order to realize driving support in the control unit 20, the driving support program 21 includes another vehicle driving evaluation acquisition unit 21a, a host vehicle driving evaluation acquisition unit 21b, and a guide unit 21c. In addition, map information 30 a and evaluation reference information 30 b are recorded on the recording medium 30 in order to realize the above-described functions by the driving support program 21. Further, in the course of driving in the host vehicle C, host vehicle driving evaluation information 30c is stored.

  The map information 30a includes node data indicating nodes set on the road, link data indicating connection between nodes, and the like. The node data includes information indicating the position of the node, the node being an intersection, and the like, and is used when specifying the position of the host vehicle C, the presence or absence of an intersection in front of the host vehicle C, and the like.

  The evaluation criterion information 30b is information indicating an evaluation criterion for performing driving evaluation of the host vehicle C, and the distance between the other vehicle 50 and the host vehicle C when the host vehicle C enters the intersection, and the other vehicle. Scores are associated with 50 vehicle speed combinations. That is, in this embodiment, the driving evaluation is defined so that the higher the evaluation (higher score) is, the more the combination of the distance and the vehicle speed corresponding to the operation with a high safety level. For example, when the other vehicle 50 is at a specific vehicle speed and the vehicle starts to decelerate at a predetermined deceleration, the safety degree is higher as the distance between the host vehicle and the other vehicle is larger than the travel distance until the vehicle stops. The score can be defined by considering it. Therefore, when the distance between the other vehicle 50 and the host vehicle C is constant, the evaluation reference information 30b is defined such that the safety is higher as the vehicle speed of the other vehicle 50 combined with the distance is smaller. When the vehicle speed of 50 is constant, the evaluation reference information 30b is defined so that the safety increases as the distance between the other vehicle 50 combined with the vehicle speed and the host vehicle C increases. The own vehicle driving evaluation information 30c is information indicating an evaluation from the surroundings of the own vehicle with respect to the operation of the own vehicle. In the present embodiment, the own vehicle driving evaluation information 30c is information indicating the own vehicle driving evaluation evaluated based on the evaluation reference information 30b. is there.

  The own vehicle driving evaluation acquisition unit 21b is a module that creates the own vehicle driving evaluation information 30c and causes the control unit 20 to realize a function of acquiring the generated own vehicle driving evaluation information 30c in the course of the driving support process. . By the processing of the own vehicle driving evaluation acquisition unit 21b, the control unit 20 determines whether or not the operation of the own vehicle C entering the intersection has been performed, and when the operation of entering the intersection is performed, The other vehicle 50 traveling toward the intersection on the lane in which the host vehicle C enters is specified, and the distance between the host vehicle C and the other vehicle 50 closest to the host vehicle C on the lane is acquired. . Further, the control unit 20 acquires the vehicle speed of the other vehicle 50 closest to the host vehicle C. And the control part 20 specifies the own vehicle driving evaluation of the own vehicle C with reference to the evaluation reference | standard information 30b, and records it on the recording medium 30 as the own vehicle driving evaluation information 30c.

  The other vehicle 50 performs the same process to specify the other vehicle driving evaluation information 50a. That is, when there are a plurality of vehicles that specify the own vehicle driving evaluation information 30c by the same process as the own vehicle C, the other vehicle 50 viewed from the own vehicle C is recorded in the recording medium 30 as the driving evaluation of the other vehicle 50 itself. Is the other vehicle driving evaluation information 50a when viewed from the own vehicle C. In the present embodiment, both the own vehicle C and the other vehicle 50 obtain driving evaluations regarding the operation when the vehicle enters the intersection. Therefore, the other vehicle driving evaluation and the own vehicle driving evaluation related to the common operation are acquired in both the own vehicle C and the other vehicle 50. For this reason, it is possible to evaluate the driving | operation of the own vehicle C and the other vehicle 50 on a common reference | standard. Moreover, the control part 20 acquires the own vehicle driving evaluation information 30c from the recording medium 30 by the process of the own vehicle driving evaluation acquisition part 21b, and delivers it to the guide part 21c.

  The other vehicle driving evaluation acquisition unit 21a is a module that causes the control unit 20 to realize the function of acquiring the other vehicle driving evaluation. In this embodiment, the control part 20 communicates with the other vehicle 50 via the communication part 43, and transmits the other vehicle driving evaluation information 50a to the other vehicle 50 entering the intersection ahead of the host vehicle C. Moreover, the control part 20 delivers the transmitted other vehicle driving evaluation information 50a to the guide part 21c.

  The guide unit 21c is a module that causes the control unit 20 to realize a function of guiding another vehicle when the other vehicle driving evaluation and the own vehicle driving evaluation are different. In the present embodiment, the control unit 20 includes the own vehicle driving evaluation indicated by the own vehicle driving evaluation information 30c and the other vehicle indicated by the other vehicle driving evaluation information 50a transmitted from the other vehicle 50 entering the intersection ahead of the own vehicle C. Compare with driving evaluation. When the other vehicle driving evaluation is lower than the own vehicle driving evaluation, the control unit 20 outputs a control signal to the user I / F unit 44 and enters the intersection ahead of the own vehicle C. The position of the vehicle 50 is displayed on the display together with the map, and the sound for notifying the presence of the other vehicle 50 is output to the speaker. That is, the driver of the own vehicle C is made to recognize the other vehicle 50 that has been evaluated differently from the own vehicle C.

  With the above guidance, the driver of the own vehicle C can recognize that the driving of the other vehicle 50 entering the intersection ahead of the own vehicle C and the driving of the driver of the own vehicle C are different. It is possible to assist the driver of the vehicle C to drive safely. That is, the driver of the host vehicle C can recognize that the other vehicle 50 may enter the intersection at an unexpected timing for the driver of the host vehicle C. For example, in the present embodiment, the other vehicle 50 is guided when the evaluation is lower than that of the host vehicle C. Therefore, when the other vehicle 50 is guided, the driver of the other vehicle 50 is the driver of the host vehicle C. (E.g., the distance between the host vehicle C and the other vehicle 50 is short compared to the state of the other vehicle at the timing when the driver of the host vehicle C enters the intersection) It can be predicted that the other vehicle 50 will enter the intersection in a state where the vehicle speed of the vehicle 50 is high. Therefore, the driver of the host vehicle C can drive while paying more attention to the operation of the other vehicle 50.

(2) Own vehicle driving evaluation information creation process:
Next, the host vehicle driving evaluation information creation process performed by the navigation device 10 in the above configuration will be described. FIG. 2 is a flowchart showing the own vehicle driving evaluation information creation process. The control unit 20 executes the own vehicle driving evaluation information creation process by the own vehicle driving evaluation acquisition unit 21b every predetermined period (for example, every 100 ms). To do. Hereinafter, the processing content will be specifically described with reference to FIG. 4A as an example. In FIG. 4A, roads R _{1 to} R ₄ extending in all directions of the intersection I are shown. The host vehicle C travels on the road R ₁ toward the intersection I, and the other vehicle 50 travels toward the intersection I. _It shows the state of running ₄

In the process shown in FIG. 2, the control unit 20 determines whether or not the road connected to the intersection ahead of the host vehicle C is congested (step S100), and determines that the road is congested in step S100. If so, the vehicle driving evaluation information creation process is terminated. That is, when any one of the roads R _{1 to} R ₄ connected to the intersection I is congested, the distance between the other vehicle 50 and the own vehicle C when the own vehicle C enters the intersection I is reduced. Since the distance is small and the vehicle speed of the other vehicle 50 is also small, it is considered that it is difficult to evaluate the driving of the host vehicle C, and the process ends. Various configurations can be adopted for determining whether or not each of the roads R _{1 to} R ₄ is congested. For example, the roads R ₁ to R ₄ from the traffic information management center via the communication unit 43 can be adopted. the configuration and the like to acquire the congestion information indicating the congestion degree of R ₄ can be adopted.

  When it is not determined in step S100 that the vehicle is congested, the control unit 20 determines whether or not the host vehicle C has entered the intersection (step S105). That is, the control unit 20 specifies the position of the host vehicle C based on the output signals of the GPS receiving unit 40, the vehicle speed sensor 41, and the gyro sensor 42, and refers to the map information 30a to the intersection ahead of the position of the host vehicle C. Specify the position of. And based on the distance between both specified from the position of the own vehicle C and the position of an intersection, it is determined whether the own vehicle C entered the intersection. If it is not determined in step S105 that the host vehicle C has entered the intersection, the host vehicle driving evaluation information creation process is terminated.

  On the other hand, when it determines with the own vehicle C having entered the intersection in step S105, the control part 20 acquires the distance with the other vehicle 50, and the vehicle speed of the other vehicle 50 (step S110). That is, the control unit 20 causes the other vehicle 50 around the host vehicle C to transmit information indicating the position and speed of the other vehicle 50, the road on which the vehicle travels, and the lane to the other vehicle 50 around the host vehicle C via the communication unit 43. Output a transmission request.

When the transmission request is output, information indicating the position, vehicle speed, road, and lane is transmitted from the other vehicle 50 that is traveling in a position communicable with the host vehicle C. Get these information through. And the control part 20 specifies the other vehicle 50 which is drive | working toward the intersection I by referring the information which shows the road and lane which the other vehicle 50 drive | works in the acquired information. Furthermore, the control unit 20 specifies the other vehicle 50 closest to the host vehicle C among the specified other vehicles 50 and acquires the distance and the vehicle speed from the host vehicle C. In the example shown in FIG. 4, when the distance between the own vehicle C and the other vehicle 50 when the own vehicle C enters the intersection I is substantially equal to the distance between the intersection I and the other vehicle 50. I consider it. Thus, in the example shown in FIG. 4A, the process of step S110, the distance between the position of the other vehicle 50 is closest to the host vehicle C of the other vehicle 50 traveling on the road R _4, the position of the intersection I Is the distance L ₀ between the host vehicle C and the other vehicle. Further, the vehicle speed V ₁ of the other vehicle 50 closest to the host vehicle C is acquired.

  Next, the control unit 20 refers to the evaluation criterion information 30b (step S115), and creates the own vehicle driving evaluation of the own vehicle C (step S120). That is, with reference to the evaluation standard information 30b, own vehicle driving evaluation information corresponding to the distance and vehicle speed acquired in step S110 is created and recorded in the recording medium 30. When the own vehicle C enters the intersection by the above processing, the own vehicle driving evaluation information 30c indicating the evaluation from the surroundings of the own vehicle C (the other vehicle 50 in the example shown in FIG. 4A) with respect to the operation is recorded. 30 will be recorded.

(3) Driving support processing:
Next, a driving support process performed by the navigation device 10 in the above configuration will be described. FIG. 3 is a flowchart showing the driving support process, and the control unit 20 executes the driving support process every predetermined period (for example, every 100 ms). Hereinafter, the processing contents will be specifically described with reference to FIG. 4B as an example. In FIG. 4B, roads R _{1 to} R ₄ extending in all directions of the intersection I are shown. The host vehicle C travels on the road R ₄ toward the intersection I, and the other vehicle 50 moves toward the intersection I. _It shows the state of driving ₁ .

In the process shown in FIG. 3, the control unit 20 determines whether or not the distance from the current position of the host vehicle C to the front intersection is equal to or less than a predetermined distance by the process of the other vehicle driving evaluation acquisition unit 21 a (step). S200). That is, the control unit 20 specifies the position of the host vehicle C based on the output signals of the GPS receiving unit 40, the vehicle speed sensor 41, and the gyro sensor 42, and refers to the map information 30a to the intersection ahead of the position of the host vehicle C. Is determined, and based on the distance between the two (distance L ₁ shown in FIG. 4B), it is determined whether or not there is an intersection within a predetermined distance from the host vehicle C. If it is not determined in step S200 that the distance from the current position of the host vehicle C to the intersection ahead is less than or equal to the predetermined distance, the driving support process is terminated.

  On the other hand, if it is determined in step S200 that the distance from the current position of the host vehicle C to the intersection ahead is less than or equal to the predetermined distance, the control unit 20 moves to the intersection by the processing of the other vehicle driving evaluation acquisition unit 21a. It is determined whether there is another vehicle 50 to enter (step S205). That is, the control unit 20 causes the other vehicle 50 around the host vehicle C to transmit information indicating the position and speed of the other vehicle 50, the road on which the vehicle travels, and the lane to the other vehicle 50 around the host vehicle C via the communication unit 43. Output a transmission request. When the transmission request is output, information indicating the position, vehicle speed, road, and lane is transmitted from the other vehicle 50 that is traveling in a position communicable with the host vehicle C. Get these information through. And the control part 20 refers to the information which shows the road and lane which the other vehicle 50 drive | works in the acquired information, and also by referring the map information 30a, the intersection (in front of the own vehicle C) ( The other vehicle 50 traveling toward the intersection I) shown in FIG. 4B is specified. Furthermore, the control unit 20 identifies the other vehicle 50 that is closest to the intersection existing ahead of the host vehicle C among the identified other vehicles 50 and identifies the position of the other vehicle 50. And when the distance between both specified from the position of the said other vehicle 50 and the position of an intersection is below a predetermined distance, it determines with the other vehicle 50 approaching an intersection. If it is not determined in step S205 that there is another vehicle 50 entering the intersection, the driving support process is terminated.

  When it is determined in step S205 that there is another vehicle 50 entering the intersection, the control unit 20 acquires the other vehicle driving evaluation from the other vehicle 50 entering the intersection (step S210). That is, the control unit 20 acquires the other vehicle driving evaluation information 50 a from the other vehicle 50 through the communication unit 43. Moreover, the control part 20 acquires the own vehicle driving evaluation information 30c by the process of the own vehicle driving evaluation acquisition part 21b (step S215).

  And the control part 20 determines whether other vehicle driving evaluation is lower than own vehicle driving evaluation based on the other vehicle driving evaluation information 50a and the own vehicle driving evaluation information 30c by the process of the guide part 21c (step). S220). When it is determined in step S220 that the other vehicle driving evaluation is lower than the own vehicle driving evaluation, the other vehicle 50 is guided (step S225). If it is not determined in step S220 that the other vehicle driving evaluation is lower than the own vehicle driving evaluation, the driving support process is terminated. Through the above processing, the driver of the host vehicle C can recognize that the other vehicle 50 may enter the intersection at an unexpected timing for the driver of the host vehicle C.

(4) Other embodiments:
The above embodiment is an example for carrying out the present invention, and various other embodiments are provided as long as driving assistance is performed according to the degree of proximity between the host vehicle C and another vehicle at a position of a predetermined shape section. Can be adopted.

  For example, the own vehicle driving evaluation and the other vehicle driving evaluation may be defined in association with the road type. That is, the driving evaluation is specified for each road type when the operation of the vehicle is different for each road type, such as when the timing at which the vehicle enters the intersection is different between the general road and the automobile exclusive road. According to this configuration, it is possible to define driving evaluation reflecting the movement of a vehicle that differs for each road type, and it is possible to more accurately identify and guide other vehicles to be noted in the host vehicle.

  Further, the own vehicle driving evaluation only needs to indicate an evaluation from the surroundings of the own vehicle with respect to the operation of the own vehicle. Therefore, if it is possible to evaluate the driving according to a predetermined criterion such as the influence on the surroundings by the operation of the own vehicle and the degree to which other vehicles around the own vehicle should pay attention to the own vehicle, the driving evaluation can be made. Good. In addition to the configuration in which evaluation is performed from the surroundings of the host vehicle based on the distance and vehicle speed of the other vehicle when the host vehicle performs a specific operation as described above, the detection value of the sensor mounted on the host vehicle and the driving evaluation The own vehicle may be evaluated by the own vehicle itself by a configuration for associating with each other. Moreover, you may employ | adopt the structure etc. which match | combined the detection value of the sensor installed in the road around the own vehicle, and driving | operation evaluation. Furthermore, the host vehicle driving evaluation may be acquired from outside by communication.

  Furthermore, various indices can be adopted as indices for performing the driving evaluation, and various indices other than the distance between the host vehicle and the other vehicle and the vehicle speed of the other vehicle can be employed. For example, when the host vehicle enters an intersection, the driving evaluation may be performed based on whether the other vehicle has turned on the brake, or the driving evaluation may be performed based on the deceleration of the other vehicle. . Furthermore, in addition to the configuration for specifying the driving evaluation based on the relationship between the own vehicle and the other vehicle, the configuration may be used to increase or decrease the driving evaluation score according to a specific operation such as the own vehicle entering an intersection. Good. For example, the initial value of the score for driving evaluation is set in advance, and if the safety level is high based on the state of the other vehicle (distance, vehicle speed, brake, deceleration, etc.) when the host vehicle enters the intersection, the score is It is good also as a structure which increases and decreases a score, if safety is low. Of course, the other vehicle driving evaluation can be configured in the same manner as the own vehicle driving evaluation.

  Furthermore, in the above-described embodiment, when the road connected to the intersection ahead of the host vehicle is congested, the host vehicle driving evaluation information generation process is terminated. Various other conditions can be adopted as the conditions for this. For example, a lower limit value may be provided for the distance or vehicle speed between another vehicle to be evaluated for driving and the host vehicle. In other words, if a lower limit is set for the distance between the other vehicle and the host vehicle and the vehicle speed, driving of the host vehicle is performed when the other vehicle near the intersection is traveling at a low speed because the road near the intersection is congested. Can be prevented from being evaluated. Further, by providing an upper limit value for the distance between the other vehicle and the host vehicle, it is possible to prevent the driving of the host vehicle from being evaluated when the host vehicle enters the intersection while the other vehicle is far away.

  Furthermore, the operation to be evaluated for driving is not limited to the operation in which the vehicle enters the intersection. FIG. 5A is a diagram illustrating a relationship between the own vehicle C and the other vehicle 511 when the own vehicle driving evaluation information relating to the operation of decelerating the own vehicle is created, and FIG. 5B illustrates the driving evaluation information relating to the operation of decelerating the own vehicle. It is a figure explaining a mode that other vehicles 511 are guided based on it.

In Figure 5A, another vehicle 511 on the road R ₅ indicates a state of traveling ahead of the host vehicle C. In this example, the host vehicle C corresponds to the host vehicle driving evaluation with respect to the distance between the host vehicle C and the vehicle speed of the host vehicle C when the operation of decelerating the host vehicle C is performed. The attached evaluation standard information 30b is recorded. When the operation of decelerating the host vehicle C is performed, the control unit 20 of the host vehicle C acquires the position of the other vehicle 511 via the communication unit 43, and the distance L ₂ between the host vehicle C and the other vehicle 511 is obtained. and identifying the vehicle speed V ₂ of the vehicle C. Then, the host vehicle driving evaluation corresponding to the distance L ₂ and the vehicle speed V ₂ is specified with reference to the evaluation criterion information 30b, and is recorded in the recording medium 30 as the host vehicle driving evaluation information 30c. When the same processing is performed in the other vehicle 511, the recorded driving evaluation information becomes the other vehicle driving evaluation information 51a when viewed from the own vehicle C.

FIG. 5B shows a state in which the host vehicle C is traveling behind the other vehicle 511 on the road R ₅ . In this example, if the own vehicle driving evaluation information 30c is recorded on the recording medium 30 of the own vehicle C and the other vehicle driving evaluation information 51a is recorded on a recording medium (not shown) of the other vehicle 511, driving assistance is provided by the own vehicle C. Processing can be performed. That is, when the other vehicles 511 and 512 are traveling in front of the own vehicle C, the distance between the other vehicle 511 that is the nearest other vehicle in front of the own vehicle C and the own vehicle C is equal to or less than a predetermined distance. In this case, the control unit 20 acquires the other vehicle driving evaluation information 51a from the other vehicle 511 via the communication unit 43. Moreover, the control part 20 acquires the own vehicle driving evaluation information 30c. When the other vehicle driving evaluation information related to the deceleration operation indicated by the other vehicle driving evaluation information 51a and the own vehicle driving evaluation related to the deceleration operation indicated by the own vehicle driving evaluation information 30c are different, the control unit 20 displays the front of the own vehicle C. The other vehicle 51 that travels is guided. According to this configuration, the driving of the host vehicle C such that the driver of the other vehicle 511 decelerates according to the relationship with the other vehicle 512 traveling in front of the other vehicle 511 is different from the driver of the host vehicle C. The person can drive while recognizing that an unexpected operation may be performed in the other vehicle 511.

  FIG. 5C is a diagram illustrating a relationship between the own vehicle C and the other vehicle 52 when the own vehicle driving evaluation information related to the operation of changing the lane of the own vehicle is created, and FIG. 5D is a driving evaluation related to the operation of changing the lane of the own vehicle. It is a figure explaining a mode that other vehicles 52 are guided based on information. The operation for changing the lane of the host vehicle C may be the operation of the host vehicle C itself (for example, the operation of the host vehicle moving in the left-right direction), or the host vehicle C before the operation of the host vehicle C itself is performed. The operation of a device (for example, a direction indicator) provided in the vehicle C may be used.

In Figure 5C shows a state where the vehicle C is traveling on the lane R _7, another vehicle 52 behind the vehicle C on the lane R ₆ adjacent to the lane R ₇ is traveling. In this example, the own vehicle C is evaluated for driving the host vehicle with respect to the distance between the other vehicle 52 and the own vehicle C and the vehicle speed of the other vehicle 52 when the operation of changing the lane of the own vehicle C is performed. The associated evaluation criterion information 30b is recorded. When the operation of changing the lane of the host vehicle C is performed, the control unit 20 of the host vehicle C acquires the position and the vehicle speed of the other vehicle 52 via the communication unit 43, and between the host vehicle C and the other vehicle 52. The distance L ₃ and the vehicle speed V ₃ of the other vehicle 52 are specified. Then, the host vehicle driving evaluation corresponding to the distance L ₃ and the vehicle speed V ₃ is specified with reference to the evaluation criterion information 30b, and recorded in the recording medium 30 as the host vehicle driving evaluation information 30c. When the same processing is performed in the other vehicle 52, the recorded driving evaluation information becomes the other vehicle driving evaluation information 52a when viewed from the own vehicle C.

In Figure 5D shows a state where the vehicle C travels on the lane R _6, another vehicle 52 ahead of the vehicle C on the lane R ₇ adjacent to the lane R ₆ is traveling. In this example, if the own vehicle driving evaluation information 30 c is recorded on the recording medium 30 of the own vehicle C and the other vehicle driving evaluation information 52 a is recorded on a recording medium (not shown) of the other vehicle 52, driving assistance is provided by the own vehicle C. Processing can be performed. That is, when the other vehicle 52 is traveling within a predetermined distance in front of the host vehicle C, the control unit 20 acquires the host vehicle driving evaluation information 30c and evaluates the other vehicle driving evaluation from the other vehicle 52 via the communication unit 43. Information 52a is acquired.

  When the other vehicle driving evaluation information related to the lane changing operation indicated by the other vehicle driving evaluation information 52a and the own vehicle driving evaluation related to the lane changing operation indicated by the own vehicle driving evaluation information 30c are different, the control unit 20 The other vehicle 52 traveling ahead is guided. According to this configuration, the driver of the host vehicle C drives while recognizing that an unexpected operation may be performed in the other vehicle 52, such as when the other vehicle 52 changes the lane. It becomes possible to do.

  FIG. 6A is a diagram showing a relationship between the own vehicle C and the other vehicle 53 when the own vehicle driving evaluation information related to the operation of the own vehicle turning across the oncoming lane is created, and FIG. 6B is a diagram showing the own vehicle crossing the oncoming lane. It is a figure explaining a mode that other vehicles 53 are guided based on driving evaluation information about the operation which turns. In addition, the operation | movement in which the own vehicle C bends across an oncoming lane may be operation | movement of the own vehicle C itself, or the combination of operation | movement of the apparatus with which the own vehicle C is provided before operation | movement of the own vehicle C itself is performed ( For example, the direction indicator may operate within an intersection and the brake may be turned off, or the direction indicator may operate within an intersection and the throttle may be turned on.

In FIG. 6A shows a state where the vehicle C is traveling on the lane R _8, another vehicle 53 ahead of the vehicle C on the lane R ₉ is opposite lane of the lane R ₈ is traveling . In this example, the host vehicle C is subject to the distance between the other vehicle 53 and the host vehicle C and the vehicle speed of the other vehicle 53 when the host vehicle C performs a turning operation across the opposite lane. Evaluation standard information 30b associated with vehicle driving evaluation is recorded. When the own vehicle C performs a turning operation across the opposite lane, the control unit 20 of the own vehicle C acquires the position and vehicle speed of the other vehicle 53 via the communication unit 43, and the own vehicle C and the other vehicle 53 specifying the distance the vehicle speed V ₄ of L ₄ and other vehicles 53 between. Then, the host vehicle driving evaluation corresponding to the distance L ₄ and the vehicle speed V ₄ is specified with reference to the evaluation criterion information 30b, and recorded in the recording medium 30 as the host vehicle driving evaluation information 30c. When the same processing is performed in the other vehicle 53, the recorded driving evaluation information becomes the other vehicle driving evaluation information 53a when viewed from the own vehicle C.

In Figure 6B shows a state where the vehicle C is traveling on the lane R _9, another vehicle 53 ahead of the host vehicle C on the lane R ₈ is opposite lane of the lane R ₉ are present. In this example, if the own vehicle driving evaluation information 30 c is recorded on the recording medium 30 of the own vehicle C, and the other vehicle driving evaluation information 53 a is recorded on a recording medium (not shown) of the other vehicle 53, driving assistance is provided by the own vehicle C. Processing can be performed. That is, when the other vehicle 53 exists within a predetermined distance in front of the host vehicle C, the control unit 20 acquires the host vehicle driving evaluation information 30c, and from the other vehicle 53 via the communication unit 43, the other vehicle driving evaluation information 53a. To get.

When the other vehicle driving evaluation information regarding the operation crossing the oncoming lane indicated by the other vehicle driving evaluation information 53a and the own vehicle driving evaluation regarding the operation crossing the oncoming lane indicated by the own vehicle driving evaluation information 30c are different, the control unit 20 The other vehicle 53 traveling in front of the host vehicle C is guided. According to this configuration, the driver of the own vehicle C may be different from the other vehicle 53 in that the other vehicle 53 is different from the other vehicle 53 at the timing of turning across the lane R ₉ (an opposite lane viewed from the other vehicle) on which the own vehicle C travels. It becomes possible to drive while recognizing that an unexpected operation may be performed at 53.

  DESCRIPTION OF SYMBOLS 10 ... Navigation apparatus, 20 ... Control part, 21 ... Driving support program, 21a ... Other vehicle driving evaluation acquisition part, 21b ... Own vehicle driving evaluation acquisition part, 21c ... Guide part, 30 ... Recording medium, 30a ... Map information, 30b ... Evaluation criteria information, 30c ... Own vehicle driving evaluation information, 40 ... Receiving unit, 41 ... Vehicle speed sensor, 42 ... Gyro sensor, 43 ... Communication unit, 44 ... User I / F unit, 50 ... Other vehicle, 50a ... Other vehicle Driving evaluation information

Claims (10)

Other vehicle driving evaluation acquisition means for acquiring other vehicle driving evaluation indicating evaluation from the surroundings of the other vehicle with respect to the operation of the other vehicle;
Own vehicle driving evaluation acquisition means for acquiring own vehicle driving evaluation indicating an evaluation from the surroundings of the own vehicle with respect to the operation of the own vehicle;
Guidance means for guiding the other vehicle when the other vehicle driving evaluation and the own vehicle driving evaluation are different;
A driving support apparatus comprising: The other vehicle driving evaluation acquisition means acquires the other vehicle driving evaluation related to a specific operation in the other vehicle,
The own vehicle driving evaluation acquisition means acquires the own vehicle driving evaluation related to the specific operation in the own vehicle,
The guidance means guides the other vehicle when the other vehicle driving evaluation and the own vehicle driving evaluation relating to the specific operation are different.
The driving support device according to claim 2. The other vehicle driving evaluation acquisition means specifies the other vehicle entering the intersection ahead of the host vehicle, and acquires the other vehicle driving evaluation related to the operation of the other vehicle entering the intersection from the specified other vehicle. And
The own vehicle driving evaluation acquisition means acquires the own vehicle driving evaluation related to the operation of the own vehicle entering an intersection,
The guide means guides the other vehicle entering the intersection ahead of the host vehicle when the other vehicle driving evaluation and the host vehicle driving evaluation are different.
The driving support device according to claim 1. The other vehicle driving evaluation acquisition means specifies the other vehicle traveling ahead of the host vehicle, acquires the other vehicle driving evaluation related to an operation of decelerating the other vehicle from the specified other vehicle,
The own vehicle driving evaluation acquisition means acquires the own vehicle driving evaluation related to an operation of decelerating the own vehicle,
The guidance means guides the other vehicle traveling in front of the host vehicle when the other vehicle driving evaluation and the host vehicle driving evaluation are different.
The driving assistance apparatus in any one of Claims 1-3. The other vehicle driving evaluation acquisition means identifies the other vehicle traveling in a lane adjacent to the lane in which the host vehicle is traveling, and the other vehicle driving related to an operation of changing the other vehicle from the identified other vehicle. Get a rating,
The own vehicle driving evaluation acquisition means acquires the own vehicle driving evaluation related to an operation of changing the lane of the own vehicle,
The guidance means guides the other vehicle traveling in a lane adjacent to the lane in which the host vehicle travels when the other vehicle driving evaluation and the host vehicle driving evaluation are different.
The driving support device according to any one of claims 1 to 4. The other vehicle driving evaluation acquisition means relates to an operation in which the other vehicle traveling ahead of the own vehicle is identified in the opposite lane of the own vehicle, and the other vehicle bends across the opposite lane from the identified other vehicle. Obtaining the other vehicle driving evaluation,
The own vehicle driving evaluation acquisition means acquires the own vehicle driving evaluation related to an operation in which the own vehicle bends across an oncoming lane,
The guidance means guides the other vehicle traveling in front of the host vehicle in the oncoming lane when the other vehicle driving evaluation and the host vehicle driving evaluation are different.
The driving support device according to any one of claims 1 to 5. The other vehicle driving evaluation includes an operation of the other vehicle entering an intersection, an operation of decelerating the other vehicle, an operation of changing the lane of the other vehicle, and an operation of turning the other vehicle across the opposite lane. Identified based on the state of the vehicle around the other vehicle when any
The own vehicle driving evaluation includes an operation of the own vehicle entering an intersection, an operation of decelerating the own vehicle, an operation of changing the lane of the own vehicle, and an operation of turning the own vehicle across an opposite lane. Identified based on the state of the vehicle around the host vehicle when any one is performed,
The driving assistance device according to any one of claims 1 to 6. The other vehicle driving evaluation and the own vehicle driving evaluation become higher as the safety degree is higher,
The guide means guides the other vehicle when the other vehicle driving evaluation is lower than the own vehicle driving evaluation.
The driving support device according to any one of claims 1 to 7. Other vehicle driving evaluation acquisition step of acquiring an other vehicle driving evaluation indicating an evaluation from the surroundings of the other vehicle with respect to the operation of the other vehicle;
A host vehicle driving evaluation acquisition step for acquiring a host vehicle driving evaluation indicating an evaluation of the operation of the host vehicle from the surroundings of the host vehicle;
A guidance step for guiding the other vehicle when the other vehicle driving evaluation and the own vehicle driving evaluation are different;
Driving support method including. Other vehicle driving evaluation acquisition function for acquiring other vehicle driving evaluation indicating evaluation from the surroundings of the other vehicle with respect to the operation of the other vehicle;
A host vehicle driving evaluation acquisition function for acquiring a host vehicle driving evaluation indicating an evaluation of the operation of the host vehicle from the surroundings of the host vehicle;
A guidance function for guiding the other vehicle when the other vehicle driving evaluation and the own vehicle driving evaluation are different;
Driving support program that realizes the computer.

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