JP2011044063A - Vehicle drive assistance device and assistance method - Google Patents

Abstract

An object of the present invention is to efficiently predict the behavior of a moving body, quickly determine the possibility of contact, and present warning information at an appropriate timing.
A navigation ECU 11 of a car navigation system 10 mounted on a vehicle sets a plurality of mobile object detection areas at a service target intersection based on intersection structure information included in driving support information received from a first optical beacon 4. The priority of the plurality of divided areas is determined based on the vehicle speed information that is divided into areas and acquired via CAN. And the behavior of pedestrians and bicycles existing in the area from the highest priority area is predicted based on the moving body state information included in the driving support information, and the prediction result and the vehicle information acquired via CAN Based on the above, the necessity for alerting is determined, and when it is determined that there is a need for alerting, warning information is presented by screen display on the display 14 or voice output from the speaker 15.
[Selection] Figure 3

Description

  The present invention relates to a vehicle driving support device and a support method for supporting driving of a vehicle so as not to cause a contact accident with a pedestrian or a bicycle crossing a road at a right or left turn destination when the vehicle turns right or left at an intersection.

  Conventionally, a driving support system for preventing a vehicle contact accident with a pedestrian or bicycle crossing or attempting to cross a road at an intersection (hereinafter referred to as “moving body” including these pedestrians and bicycles). For example, what was described in patent document 1 is known. The driving support system described in Patent Document 1 judges the risk of collision between both by predicting the behavior of a moving body and the behavior of a vehicle that cross a road, and when the risk of collision is high, In addition, when it is determined that the target vehicle cannot be stopped by the predicted collision position, support information for preventing a collision is provided to the target vehicle.

JP 2002-260192 A

  However, in the technique described in Patent Document 1, a moving object that is crossing or about to cross a road at an intersection is extracted, and the behavior of each extracted moving object is predicted using a predetermined model, and then a collision with a vehicle is detected. Since the possibility is verified, it takes time to determine the possibility of collision when the number of extracted moving objects is large, and information may not be presented at an appropriate timing.

  The present invention was devised in view of the above-described problems of the prior art, efficiently predicting the behavior of a moving object, quickly determining the possibility of contact, and warning at an appropriate timing. An object of the present invention is to provide a vehicle driving support device and a vehicle driving support method capable of presenting information.

  The present invention relates to transmission means for generating driving support information based on moving body state information indicating the state of a moving body that is crossing or about to cross a road and intersection structure information indicating the structure of an intersection and installed on the road The vehicle-mounted device receives the driving support information transmitted from the transmitting means installed on the road, and based on the intersection structure information included in the driving support information, the mobile object detection area at the intersection is divided into a plurality of areas. And priorities of the plurality of areas are determined based on the traveling state of the vehicle. Then, the behavior of the moving body existing in the area from the highest priority area is predicted based on the moving body state information included in the driving support information, and attention is paid based on the prediction result and the traveling state of the own vehicle. When the necessity for alerting is determined and it is determined that there is a need for alerting, warning information indicating the presence of a moving object is presented.

  According to the present invention, it is possible to preferentially predict the behavior of a mobile body in an area that is likely to have an effect when the vehicle makes a right or left turn at an intersection. It is possible to efficiently determine contact possibility and present warning information at an appropriate timing.

It is a conceptual diagram of the driving assistance device to which the present invention is applied. 1 is an overall configuration diagram of a driving support apparatus to which the present invention is applied. 1 is a configuration diagram of a car navigation system mounted on a vehicle. It is a flowchart which shows the flow of the whole operation | movement by a car navigation system when the own vehicle approaches the intersection used as the object of the pedestrian oversight prevention service. It is a flowchart which shows the detail of the process of step S5 in FIG. It is a flowchart which shows the detail of the process of step S7 in FIG. It is a conceptual diagram which shows the outline | summary of the mobile body detection area which one pedestrian detection sensor bears. It is explanatory drawing for demonstrating the idea of the priority determination of a mobile body behavior prediction. It is a figure explaining an example of the evaluation standard which identifies the magnitude | size of a pedestrian crossing.

  Hereinafter, specific embodiments of the present invention will be described in detail with reference to the drawings.

  FIG. 1 is a conceptual diagram of a vehicle driving support apparatus exemplified as an embodiment of the present invention, and FIG. 2 is an overall configuration diagram of the vehicle driving support apparatus. The vehicle driving support device of this embodiment is based on a safe driving support system (DSSS: Driving Safety Support System) realized by cooperative operation of a roadside system that is infrastructure equipment on the road and a car navigation system 10 mounted on the vehicle. This is an example to which the present invention is applied.

  A roadside system that is infrastructure equipment on the road includes a pedestrian detection sensor 1, a signal controller 2, an information processing device 3, a first optical beacon 4, and a second optical beacon 5.

  The pedestrian detection sensor 1 is installed on a road near an intersection, detects a pedestrian or a bicycle (moving body) that is crossing or about to cross the road at the intersection, and indicates the state of the detected moving body. The body state information (existing area on the pedestrian crossing, position on the sidewalk, speed, traveling direction, etc.) is output to the information processing device 3.

  When the signal controller 2 rises up to the first floor, or at a specified period (1 second or less), or when the number of signal seconds is determined by the sensitive control or when the operation mode transitions, the range determined at that time Information on the scheduled number of seconds is output to the information processing device 3.

  The information processing device 3 determines whether or not the service can be provided based on the command from the DSSS central device 6 and the operation state of the own device and the connected device. When the service is provided, the first optical beacon 4 and the second optical beacon 5 start the service. Command and static information such as road alignment information received from the DSSS central device 6 and intersection structure information indicating the structure of the intersection, mobile body state information received from the pedestrian detection sensor 1, and the signal controller 2 Using the received signal information, driving support information for supporting vehicle driving at an intersection is generated, and the generated driving support information is immediately registered in the first optical beacon 4 and the second optical beacon 5. The DSSS central device 6 is a device that comprehensively controls all operations in the safe driving support system.

  The first optical beacon 4 and the second optical beacon 5 determine whether or not the service can be provided from the instruction from the DSSS central device 6 or the information processing device 3 and the presence / absence of registration information, the device status of the own device, etc. DSSS information such as driving support information registered by the information processing device 3 and system information indicating the contents of the service to be provided is transmitted as downlink information corresponding to the uplink request of the vehicle. The first optical beacon 4 and the second optical beacon 5 measure the elapsed time from the time when the signal information is registered, and count down the signal information every 100 ms. Moreover, the 1st optical beacon 4 and the 2nd optical beacon 5 perform position evaluation support for detecting the own vehicle position (distance to the stop line) with high accuracy. The first optical beacon 4 is installed at an upstream position away from the intersection, for example, in the vicinity of the start position of the right turn lane, etc., and driving support information or a system for a vehicle traveling in the vicinity of the installation position of the first optical beacon 4. Transmit DSSS information such as information. On the other hand, the second optical beacon 4 is installed in an intersection and transmits DSSS information such as driving support information and system information to a vehicle that has entered the intersection.

  FIG. 3 is a configuration diagram of the car navigation system 10 mounted on the vehicle. In this car navigation system 10, a receiver 12, a GPS antenna 13, a display 14, and a speaker 15 are connected to an electronic control unit (hereinafter referred to as a navigation ECU) 11 that comprehensively controls the operation of the entire system. It is a configuration. The navigation ECU 11 is connected to a CAN (Controller Area Network) that is an information communication system in the vehicle, and the vehicle speed information, accelerator opening information, blinker information, brake ON / OFF information of the vehicle communicated by CAN. Various vehicle information such as can be input.

  The receiver 12 receives DSSS information (driving support information, system information, etc.) transmitted from the first optical beacon 4 and the second optical beacon 5 installed on the road in the communication area of each optical beacon and receives it. The DSSS information is output to the navigation ECU 11. As this receiver 12, for example, a “3 media VICS” receiver capable of receiving information from an optical beacon can be used.

  The GPS antenna 13 receives GPS signals from GPS satellites and outputs absolute position information for locating the position of the own vehicle to the navigation ECU 11.

  The display 14 displays various navigation information on the screen under the operation control by the navigation ECU 11. In particular, in this embodiment, there is a possibility of contact with a pedestrian or a bicycle crossing a road to which the vehicle turns at the right or left when the own vehicle makes a right or left turn at the service target intersection. The display 14 displays warning information indicating that there is a moving body that crosses a road such as a pedestrian or a bicycle at an intersection using characters, graphics, or the like.

  The speaker 15 outputs various guide voices under operation control by the navigation ECU 11. In particular, in this embodiment, there is a possibility of contact with a pedestrian or a bicycle crossing the road at the left or right turn when the own vehicle turns right or left at the service target intersection, and if there is a need for alerting, the navigation ECU 11 When the determination is made, the speaker 15 outputs warning information indicating that there is a moving body that crosses a road such as a pedestrian or a bicycle at the intersection as a guide voice or a warning sound.

  The navigation ECU 11 is an electronic control unit mainly composed of a microcomputer that operates according to a control program. As a functional configuration for realizing the function as the driving support device of the present embodiment, the communication control unit 21 and CAN communication are used. A control unit 22, a processing unit 23, a priority order determination unit 24, a moving body behavior prediction unit 25, a contact possibility determination unit 26, and an HMI control unit 27 are provided.

  The communication control unit 21 inputs DSSS information from the first optical beacon 4 and the second optical beacon 5 received by the receiver 12 and supplies the DSSS information to the processing unit 23.

  The CAN communication control unit 22 inputs various vehicle information such as vehicle speed information, accelerator opening information, blinker information, and brake ON / OFF information of the vehicle that is communicated by CAN, and supplies the information to the processing unit 23.

  The processing unit 23 manages various processes for realizing the function as the driving support device of the present embodiment. For example, determination of service-in and service-out, confirmation of service contents, communication control unit 21 and CAN communication Information collection from the control unit 22, transmission and collection of information to the priority order determination unit 24, the moving body behavior prediction unit 25, and the contact possibility determination unit 26, and information transmission to the HMI control unit 27 are performed.

  The priority order determination unit 24 divides the moving body detection area at the service target intersection into a plurality of areas based on the intersection structure information included in the driving support information among the DSSS information received from the first optical beacon 4. Among the vehicle information acquired via the route, the priority order of a plurality of areas is determined based on the vehicle speed information of the own vehicle. Details of a specific example of a plurality of areas and how to determine the priority order of each area will be described later.

  Based on the priority order determined by the priority order determination unit 24, the mobile body behavior prediction unit 25 includes the behavior of pedestrians and bicycles (mobile bodies) existing in the area in order from the highest priority order in the driving support information. To be predicted based on the mobile state information.

  The contact possibility determination unit 26 crosses the road on the right or left turn when the vehicle turns right or left at the service target intersection based on the prediction result by the moving body behavior prediction unit 25 and various vehicle information acquired via CAN. It is determined whether there is a possibility of contact with a pedestrian or a bicycle (moving body).

  When the contact possibility determination unit 26 determines that the own vehicle may come into contact with a pedestrian or bicycle (moving body) and the HMI control unit 27 determines that there is a need for alerting, the HMI control unit 27 preliminarily instructs the processing unit 23. The prepared image information is output as warning information to the display 14, and the audio information prepared in advance in the processing unit 23 is output as warning information to the speaker 15.

When the car navigation system 10 configured as described above receives DSSS information from the first optical beacon 4 or the second optical beacon 5 by the receiver 12, the navigation ECU 11 makes contact with the moving body at the time of turning right or left at the intersection. If there is a possibility of contact, it is determined that it is necessary to call attention, and warning information indicating that there is a moving body that crosses a road such as a pedestrian or a bicycle at the intersection is displayed on the display 14 or the speaker. 15 is used to support the driving of the vehicle at the intersection. In order to realize such driving assistance, the car navigation system 10 is configured to satisfy the following requirements.
(A) Detecting a position, speed, etc. as traveling information of the own vehicle.
(B) Check the operating state of the roadside system.
(C) A service-in determination is made when DSSS information is received from an optical beacon.
(D) When the vehicle departs from the service target road or passes through the service target intersection, the service out is determined.
(E) Determining the traveling direction at the service target intersection from the traveling lane, the state of the blinker, and the like.
(F) Based on the intersection structure information included in the driving support information, the moving object detection area at the service target intersection is divided into a plurality of areas, and priority is given to the plurality of areas based on the traveling state (position, speed, etc.) of the vehicle. Determine the ranking. Also, consider the size of the intersection when deciding the priority of these areas.
(G) Predicting the behavior of a pedestrian or bicycle (moving body) in order from the area with the highest priority based on the moving body state information included in the driving support information.
(H) Judging the necessity of alerting based on the prediction of the behavior of pedestrians and bicycles (moving bodies), taking into account the running state (position, speed, etc.) of the vehicle.
(I) Presenting warning information indicating that there is a moving body that crosses a road such as a pedestrian or a bicycle when alerting is required.
(J) A service execution decision is made based on the signal information included in the driving support information (warning information is not presented when the red signal is lit).

  Here, because the processing content in the car navigation system 10 based on the DSSS information from the first optical beacon 4 and the processing content in the car navigation system 10 based on the DSSS information from the second optical beacon 5 are different, in the following, An overview of each process will be described.

<Processing based on DSSS information from the first optical beacon>
The car navigation system 10 does not temporarily stop at the intersection even though there are pedestrians and bicycles (moving bodies) crossing the road on the right and left when the vehicle turns right and left at the intersection. When it is estimated that the vehicle is going to turn left or right, it is determined that there is a need to call attention, and warning information is presented using the display 14 or the speaker 15. The outline of standard processing is as follows.
(I) When the vehicle passes through the vicinity of the installation position of the first optical beacon 4, an uplink request is transmitted to the first optical beacon 4, and first communication is performed by road-to-vehicle communication with the first optical beacon 4. As downlink information from the optical beacon 4, DSSS information (road alignment information, intersection structure information, moving body state information, driving support information including signal information, system information, etc.) is received.
(Ii) The system information included in the DSSS information from the first optical beacon 4 confirms that the pedestrian crossing oversight prevention service is provided, and performs service-in. Moreover, it confirms that the said pedestrian crossing oversight prevention service is a linkage service of the 1st optical beacon 4 and the 2nd optical beacon 5. FIG.
(Iii) On the road using the system information included in the DSSS information from the first optical beacon 4, the road alignment information included in the driving support information, and the absolute position information based on the GPS signal received by the GPS antenna 13 Cars will be located at.
(Iv) Using the road alignment information included in the driving support information in the DSSS information from the first optical beacon 4 and the vehicle information acquired via the CAN, a midway departure from the service target road is determined. Service out when deviating.
(V) Vehicle information obtained by dividing the moving object detection area at the service target intersection into a plurality of areas using the intersection structure information included in the driving support information among the DSSS information from the first optical beacon 4 and acquired via CAN (Vehicle speed information) is used to determine the priority of moving body behavior prediction for each area.
(Vi) Of the DSSS information from the first optical beacon 4, the mobile body state information included in the driving support information is used, and the pedestrians and bicycles (mobile bodies) existing in the area in order from the highest priority area. Predict behavior.
(Vii) Necessity of alerting based on the results of prediction of moving body behavior for each area and vehicle information (vehicle speed information, accelerator opening information, blinker information, brake ON / OFF information, etc.) acquired via CAN That is, it is determined whether it is necessary to present warning information.
(Viii) When it is determined that there is a need to call attention, that is, there are pedestrians and bicycles (moving bodies) crossing the road to turn left and right when the vehicle turns right and left at the intersection. When it is estimated that the vehicle is going to turn left and right without temporarily stopping at the intersection, warning information is presented at an appropriate timing. At this time, in consideration of the freshness of the DSSS information from the first optical beacon 4, it is also effective to notify the driver of the own vehicle that the information is out of date after a predetermined time has elapsed since reception.

<Processing based on DSSS information from the second optical beacon>
The car navigation system 10 will start turning right and left even though the vehicle is stopped at the intersection and there are pedestrians and bicycles (moving bodies) crossing the road to turn left and right. If it is estimated that there is a need to call attention, warning information is presented using the display 14 or the speaker 15. The outline of standard processing is as follows.
(I) In the vicinity of the intersection to be serviced, an uplink request is transmitted to the second optical beacon 5, and DSSS is transmitted as downlink information from the second optical beacon 5 by road-to-vehicle communication with the second optical beacon 5. Information (such as driving support information and system information including road alignment information, intersection structure information, moving body state information, and signal information) is received.
(Ii) From the system information included in the DSSS information from the second optical beacon 5, it is confirmed that the pedestrian crossing oversight prevention service linked to the first optical beacon 4 is provided. Perform service-in.
(Iii) On the road using the system information included in the DSSS information from the second optical beacon 5, the road alignment information included in the driving support information, and the absolute position information based on the GPS signal received by the GPS antenna 13 Cars will be located at.
(Iv) Among the DSSS information from the second optical beacon 5, the moving body state information included in the driving support information and the vehicle information acquired via CAN (vehicle speed information, accelerator opening information, blinker information, brake ON / OFF) Information) and the like, it is determined whether it is necessary to call attention, that is, whether it is necessary to present warning information.
(V) When it is determined that there is a need for alerting, that is, there are pedestrians and bicycles (moving bodies) crossing the road on the left and right turn when the vehicle stops at the intersection. Regardless, if it is estimated that the vehicle is about to start a left or right turn, warning information is presented at an appropriate timing. At this time, in consideration of the freshness of the DSSS information from the second optical beacon 5, it is also effective to notify the driver of the own vehicle that the information is out of date after a predetermined time has elapsed since reception.
(Vi) Carry out service after passing the service intersection.

  Next, a specific example of a series of operations performed by the car navigation system 10 when the vehicle approaches an intersection that is a target of the pedestrian oversight prevention service will be described with reference to FIGS. 4 is a flowchart showing the overall flow of the operation by the car navigation system 10, FIG. 5 is a flowchart showing details (subroutine) of the process in step S5 in FIG. 4, and FIG. 6 is a process in step S7 in FIG. It is a flowchart which shows the detail (subroutine).

First, an outline of the operation will be described with reference to FIG.
When the vehicle approaches the service target intersection and reaches the communication area of the first optical beacon 4, the car navigation system 10 first makes an uplink request to the first optical beacon 4 in step S1, DSSS information is received as downlink information from the optical beacon 4.

  Next, in step S2, the car navigation system 10 confirms that the pedestrian oversight prevention service is provided based on the system information included in the DSSS information from the first optical beacon 4 received in step S1. .

  Next, in the car navigation system 10, the provided pedestrian oversight prevention service is a linkage service with the second optical beacon 5 based on the system information included in the DSSS information received in step S1 in step S3. That is, it is confirmed that the second optical beacon 5 is installed in the intersection.

  Next, in step S4, the car navigation system 10 divides the mobile body detection area at the service target intersection into a plurality of areas based on the intersection structure information included in the driving support information among the DSSS information received in step S1. To do.

  Next, in step S5, the car navigation system 10 includes information on a plurality of areas of the moving object detection area divided in step S4 and moving object state information included in the driving support information among the DSSS information received in step S1. The necessity of alerting is determined based on the signal information and the vehicle information (vehicle speed information, accelerator opening information, blinker information, brake ON / OFF information, etc.) acquired via CAN. As a result, if it is determined that it is necessary to call attention, the process proceeds to step S8. In step S8, warning information indicating that there is a moving body that crosses the road, such as a pedestrian or a bicycle, is displayed on the display 14 or the speaker 15. The process is terminated by presenting using.

  On the other hand, when it is determined in step S5 that there is no need to call attention, the car navigation system 10 determines that the second optical beacon 5 is in the communication area of the second optical beacon 5 in step S6. To make an uplink request and receive DSSS information as downlink information from the second optical beacon 5.

  Next, in step S7, the car navigation system 10 acquires the moving body state information and signal information included in the driving support information from the DSSS information received from the second optical beacon 5 received in step S6, and via CAN. Based on the vehicle information (vehicle speed information, accelerator opening information, blinker information, brake ON / OFF information, etc.), the necessity for alerting is determined again. As a result, if it is determined that it is necessary to call attention, the process proceeds to step S8. In step S8, warning information is presented using the display 14 or the speaker 15, and the process ends. On the other hand, if it is determined that there is no need to call attention, the process ends without presenting warning information.

  Next, with reference to FIG. 5, the details of the processing for determining the necessity for alerting based on the DSSS information received from the first optical beacon 4 (step S5 in FIG. 4) will be specifically described. In the subroutine shown in the flow of FIG. 5, the result of determination of necessity for alerting is indicated by ON / OFF of the information presentation flag. That is, when the information presentation flag is set to ON and the process is terminated, it indicates that it is determined that there is a need for alerting. Thereafter, warning information is presented in step S8 of FIG. If the process is terminated without the information presentation flag being set to ON, it indicates that it is determined that there is no need for alerting. In S6, the DSSS information is received from the second optical beacon 5.

  In step S101, based on the signal information included in the driving support information among the DSSS information from the first optical beacon 4, the present status of the traffic signal installed at the intersection is checked, and the present status of the traffic signal is blue or yellow. It is determined whether or not. If the signal indicator is blue or yellow, the process proceeds to step S102. If the signal indicator is red, the process ends with the information presentation flag OFF. Here, the processing is always terminated if the traffic light is red, but the processing may proceed to step S102 if the traffic light is red and the blinker is lit.

  In step S102, the priority order of each area is determined for a plurality of moving object detection areas at the service target intersection divided in step S4 in FIG. 4 based on the vehicle speed information acquired via CAN, and the process proceeds to step S103. . When determining the priority order of a plurality of areas, the priority order of each area may be determined in consideration of the size of the service target intersection.

  In step S103, pedestrians existing in the area in order from the area with the highest priority determined in step S102 based on the moving body state information included in the driving support information among the DSSS information from the first optical beacon 4. And the behavior of the bicycle (moving body) is predicted, and the process proceeds to step S104.

  In step S104, based on the elapsed time after receiving the DSSS information from the first optical beacon 4 and the vehicle speed information acquired via the CAN, The vehicle travel distance is cumulatively calculated, and the process proceeds to step S105.

  In step S105, the distance between the installation position of the first optical beacon 4 and the intersection center is confirmed from the road alignment information included in the driving support information among the DSSS information from the first optical beacon 4, and the first optical beacon is confirmed. The remaining distance Lr to the intersection center is calculated by subtracting the travel distance calculated in step S104 from the distance between the installation position 4 and the intersection center, and the process proceeds to step S106.

  In step S106, an estimated arrival time until the host vehicle reaches the intersection center is calculated based on the remaining distance Lr to the intersection center calculated in step S105 and the vehicle speed information acquired via CAN. move on.

  In step S107, based on the behavior of the pedestrian or the bicycle predicted in step S103 and the estimated arrival time of the intersection of the own vehicle calculated in step S106, the road to which the vehicle turns at the left or right when the own vehicle makes a right or left turn at the intersection. Determine if there are pedestrians or bicycles crossing. Note that the processing from step S103 to step S107 is performed in order from the area with the highest priority determined in step S102 for each of the plurality of moving object detection areas at the service target intersection divided in step S4 of FIG. In other words, as a result of the determination in step S107 using the result of the prediction of the moving body behavior for a certain area, there is no pedestrian or bicycle crossing the road on the right or left when the vehicle turns right or left at the intersection. Even if it is determined that the moving body behavior prediction for an area having a lower priority than that area is not yet processed (in the case of NO determination in step S108), the process returns to step S103 until step S107. Repeat the process. Then, when it is determined that there are pedestrians and bicycles crossing the road to which the vehicle turns at the left and right when the vehicle turns right and left at the intersection, the process proceeds to step S109. On the other hand, as a result of the determination in step S107 using the result of the moving body behavior prediction for the area with the lowest priority, the pedestrian crossing the road on the right and left when the vehicle turns right and left at the intersection. If it is determined that there is no bicycle (if YES in step S108), the process ends with the information presentation flag OFF.

  In step S109, the current vehicle speed of the host vehicle is confirmed based on the vehicle speed information acquired via CAN, the distance Ln required to stop the host vehicle is calculated based on the current vehicle speed, and the process proceeds to step S110. .

  In step S110 and step S111, it is determined whether or not a brake operation has been performed while the vehicle is traveling in a position where the vehicle can stop at the center of the intersection. That is, in step S110, it is monitored whether or not the brake is turned on based on the brake ON / OFF information acquired via CAN. In step S111, the remaining distance Lr calculated in step S105 is required for the stop calculated in step S109. Whether or not the distance is smaller than the distance Ln is monitored. If the remaining distance Lr becomes smaller than the distance Ln required for stopping without turning on the brake, the process proceeds to step S112, and if the brake is turned on while the remaining distance Lr is larger than the distance Ln required for stopping. The processing ends with the information presentation flag OFF. Even if the brake is not turned on, as long as the remaining distance Lr is larger than the distance Ln required for stopping, the processing after step S109 is repeated and the above determination is continued. At this time, when DSSS information is received from the second optical beacon 5 in the course of repeating the process, the process may be terminated while the information presentation flag is OFF.

  In step S112, the state of the winker of the own vehicle is monitored based on the winker information acquired via CAN, and when the winker is turned on, the process proceeds to step S113.

  In step S113, the information presentation flag is set to ON, and the series of processes is terminated.

  The car navigation system 10 executes the processing according to the flow of FIG. 5 described above, so that the pedestrian or bicycle (moving body) that crosses the road to which the car turns right or left when the vehicle turns right or left at the intersection. When it is presumed that the vehicle is about to turn left or right without temporarily stopping at the intersection despite the presence of warning, warning information may be presented using the display 14 or the speaker 15 when the blinker is turned on. it can.

  Next, with reference to FIG. 6, the details of the process of determining the necessity of information presentation based on the DSSS information received from the second optical beacon 5 (step S7 in FIG. 4) will be specifically described. In the subroutine shown in the flow of FIG. 6 as well, it is assumed that the result of determination of necessity for alerting is indicated by ON / OFF of the information presentation flag, and the processing is completed when the information presentation flag is set to ON. When the warning information is presented in step S8 of No. 4 and the processing ends without turning off the information presentation flag, the warning information is not presented.

  In step S201, based on the vehicle speed information and the accelerator opening information acquired via CAN, it is determined whether the current vehicle speed Vn of the host vehicle is equal to or lower than the set speed Vm and the accelerator is in an OFF state. To do. This determination is a determination as to whether the vehicle is about to stop at the intersection, or whether it is about to stop at the intersection and to make a right / left turn timing. When the current vehicle speed Vn of the host vehicle is equal to or lower than the set speed Vm and the accelerator is OFF, that is, the host vehicle is stopped at the intersection, or is stopped at the intersection and is about to make a right / left turn timing. If it is estimated, the process proceeds to step S202, and otherwise, the process ends with the information presentation flag OFF.

  In step S202, the state of the winker of the own vehicle is confirmed based on the winker information acquired via CAN. If the winker is on, the process proceeds to step S203. If the winker is off, the own car goes straight through the intersection. It is determined that it is going to be done, and the processing is terminated with the information presentation flag OFF.

  In step S203, based on the signal information included in the driving support information among the DSSS information from the second optical beacon 5, the present status of the traffic signal installed at the intersection is checked, and the present status of the traffic signal is blue or yellow. It is determined whether or not. If the signal indicator is blue or yellow, the process proceeds to step S204. If the signal indicator is red, the process ends with the information presentation flag OFF.

  In step S204, the pedestrian who is currently crossing or is about to cross the road to which the vehicle turns right or left based on the moving body state information included in the driving support information in the DSSS information from the second optical beacon 4 Determine if there is a bike or not. If there is a pedestrian or bicycle that is currently crossing or trying to cross the vehicle's right or left turn road, the process proceeds to step S205, and the vehicle is currently crossing or crossing the vehicle's right or left turn road. If there is no pedestrian or bicycle, the process ends with the information presentation flag OFF.

  In step S205, it is monitored whether or not the brake is ON based on the brake ON / OFF information acquired via CAN, and if the brake is OFF, that is, crossing or crossing the road at the right or left turn destination If it is estimated that the host vehicle is about to start while there is a pedestrian or bicycle, the process proceeds to step S206, and if the brake is off, the process ends with the information presentation flag off.

  In step S206, the information presentation flag is set to ON, and a series of processing processing ends. The series of processes shown in FIG. 6 is repeated each time the car navigation system 10 receives new DSSS information from the second optical beacon 5. That is, the car navigation system 10 periodically makes an uplink request to the second optical beacon 5 when the own vehicle has stopped for a long time, such as waiting for a signal at an intersection, and the latest optical beacon 5 The DSSS information is received at any time, and the necessity for alerting is determined at any time based on the latest driving support information.

  The car navigation system 10 executes the processing according to the flow of FIG. 6 described above, so that the own vehicle is stopped at the intersection and the pedestrian or bicycle (moving) When it is estimated that the vehicle is about to start a right / left turn despite the presence of the body), warning information can be presented using the display 14 and the speaker 15 at the timing of starting the right / left turn.

  Next, a specific example of how to divide the moving object detection area at the service target intersection and how to determine the priority of each divided area will be described. In addition, the method of dividing the moving object detection area and the method of determining the priority order of each area shown below are merely examples, and depending on the structure of the actual service target intersection, traffic flow, etc. Changes can be made as appropriate.

  FIG. 7 is a conceptual diagram showing an outline of a moving body detection area that is handled by one pedestrian detection sensor 1 at a certain service target intersection. The number of pedestrian detection sensors 1 corresponding to the number of pedestrian crossings provided at the intersection is installed at the service target intersection, and each pedestrian detection sensor 1 detects one pedestrian crossing and its surrounding area. As an area, pedestrians and bicycles (moving bodies) existing in the moving body detection area are detected.

In the example shown in FIG. 7, the moving body detection area carried by one pedestrian detection sensor 1 can be divided into, for example, the following six areas.
Pedestrian crossing area A1: Area on pedestrian crossing that crosses roadway (partition by paint on road)
Pedestrian crossing area A2: Area of a predetermined width on the roadway adjacent to the right and left of the pedestrian crossing area A1 Standby area A3: Area where a moving body that wants to cross the pedestrian crossing waits on the sidewalk Roadway adjacent sidewalk area A4: Near the intersection Area on the sidewalk adjacent to the roadway Peripheral sidewalk area A5: Area on the sidewalk near the waiting area A3 and away from the roadway Adjacent sidewalk area A6: Predetermined width on the roadway adjacent to the roadway adjacent sidewalk area A5 region

  The position and size of each area are defined in the intersection structure information described above. In the car navigation system 10 of the vehicle, the navigation ECU 11 receives the DSSS information from the first optical beacon 4 by the receiver 12. By confirming the intersection structure information included in the driving support information in the DSSS information, the moving object detection area can be divided into the above six areas. And when navigation ECU11 of car navigation system 10 performs processing based on DSSS information from the 1st light beacon, for example, it determines the priority of each area according to driving conditions, such as the speed of the own vehicle, The behavior of a moving object existing in the area is predicted in order from the area with the highest priority.

  The prediction of the behavior of the moving body for each area is performed based on the moving body state information included in the driving support information. The moving body state information includes information such as the presence / absence of pedestrians and bicycles, the presence position, the speed, the traveling direction, and the like for each area described above, and the navigation ECU 11 confirms the moving body state information. The behavior of the moving object can be predicted for each area.

  For example, the following method can be considered as a method of determining the priority order of the moving body behavior prediction according to the vehicle speed of the host vehicle. That is, when the vehicle is traveling near the installation position of the first optical beacon 4 (for example, near the start position of the right turn lane) at a high speed, a pedestrian or bicycle crossing the pedestrian crossing at the present time The navigation ECU 11 moves in the order of the pedestrian crossing area A1, the pedestrian crossing area A2, and the waiting area A3, for example. Predict body behavior and determine the need for alerting. If there are no pedestrians or bicycles (moving bodies) in each of the above areas, then the behavior of the moving body is predicted in the order of roadway adjacent sidewalk area A4 → peripheral sidewalk area A5 → adjacent sidewalk peripheral area A6. , Determine the need for alerting.

  On the other hand, if the vehicle is traveling at a low speed near the position where the first optical beacon 4 is installed, pedestrians and bicycles currently crossing the pedestrian crossing will cross the pedestrian crossing when the vehicle reaches the intersection. Since there is a high possibility of crossing, rather, it is necessary to preferentially predict the behavior of pedestrians and bicycles existing around the pedestrian crossing at the present time, so the navigation ECU 11 may, for example, The area A2 is excluded from the target of the moving body behavior prediction, and the behavior of the moving body is predicted in the order of the waiting area A3 → the roadside adjacent sidewalk area A4 → the peripheral sidewalk area A5, and the necessity of alerting is determined. If there are no pedestrians or bicycles (moving bodies) in each of the above areas, the behavior of the moving body is predicted for the adjacent sidewalk peripheral area A6, and the necessity of alerting is determined.

  FIG. 8 is an explanatory diagram for explaining the concept of determining the priority order of the above-described moving body behavior prediction.

The time required for the car navigation system 10 to receive the warning information after receiving the DSSS information from the first optical beacon 4 is Tp, and after the warning information is presented, the driver of the vehicle starts the deceleration action If the driver reaction time is Td, the vehicle is moving toward the intersection at a constant speed until Tp + Td elapses after the vehicle passes near the installation position of the first optical beacon 4. Can be considered. Thereafter, safe deceleration and the deceleration alpha (cars and in motorcycles 3.0 m / s ^2, the large car 1.8m / s ²⁾ which is said considering that stopping the vehicle at the intersection centered, The reference vehicle speed V when passing near the installation position of the first optical beacon 4 is expressed by the following formula (1) from the relationship with the distance L from the vicinity of the installation position of the first optical beacon 4 to the intersection center. Can be represented.
L = V ² / 2α + (Tp + Td) × V (1)
Here, the distance L from the vicinity of the installation position of the first optical beacon 4 to the center of the intersection is obtained by confirming the road alignment information included in the driving support information in the DSSS information from the first optical beacon 4. The required time Tp required for the car navigation system 10 to receive the warning information after receiving the DSSS information from the first optical beacon 4 is a specified value (for example, 3.0 seconds) according to the processing capacity of the navigation ECU 11. ) And the driver reaction time Td is determined to be an average value (for example, 3.2 seconds), and from the above formula (1), the reference when passing near the installation position of the first optical beacon 4 The following vehicle speed V can be obtained.

  When the reference vehicle speed V is used as a threshold for speed determination, and the actual vehicle speed Vn when the host vehicle passes near the installation position of the first optical beacon 4 is higher than the vehicle speed V, the host vehicle is the first optical beacon. 4 is judged to be traveling at a high speed near the installation position. On the other hand, if the actual vehicle speed Vn when the vehicle passes near the installation position of the first optical beacon 4 is less than or equal to the vehicle speed V, the vehicle travels near the installation position of the first optical beacon 4 at a low speed. Judge that

  When the own vehicle is traveling near the installation position of the first optical beacon 4 at a high speed, it is difficult to stop at the center of the intersection with the deceleration α, and a large deceleration is required. In this case, the estimated arrival time from when the vehicle passes near the installation position of the first optical beacon 4 until it reaches the center of the intersection has passed near the installation position of the first optical beacon 4 at the reference vehicle speed V. Since it is faster than the case, it is highly likely that pedestrians and bicycles currently crossing the pedestrian crossing will have an influence on the left or right turn of their own vehicle, and it is necessary to predict these behaviors with priority. Therefore, when the own vehicle is traveling near the installation position of the first optical beacon 4 at a high speed, for example, as described above, the pedestrian crossing area A1 → the pedestrian crossing area A2 → the waiting area A3 in this order. The prediction of the behavior of the moving object existing in the area is performed, and the necessity of alerting is determined based on the result of the prediction of the moving object behavior for each area. If there are no pedestrians or bicycles (moving bodies) in each of the above areas, as an auxiliary process for areas with low priority, the roadside adjacent sidewalk area A4 → peripheral sidewalk area A5 → adjacent sidewalk peripheral area A6 In this order, the behavior of mobile objects existing in these areas is predicted to determine the necessity of alerting.

  On the other hand, when the own vehicle is traveling near the installation position of the first optical beacon 4 at a low speed, the vehicle may stop at the center of the intersection at a deceleration below the deceleration α with a sufficient margin time as the vehicle speed is low. Is possible. In this case, the estimated arrival time from when the vehicle passes the vicinity of the installation position of the first optical beacon 4 until it reaches the center of the intersection is larger than that when the vehicle passes the vicinity of the installation position of the first optical beacon 4 at a high speed. Therefore, pedestrians and bicycles currently crossing the pedestrian crossing are likely to have crossed the pedestrian crossing when their vehicle reaches the intersection. Since people and bicycles are more likely to affect the left and right turns of their own vehicles, it is necessary to predict these behaviors with priority. Therefore, when the vehicle is traveling near the installation position of the first optical beacon 4 at a low speed, for example, as described above, the standby area A3 → the roadside adjacent sidewalk area A4 → the surrounding sidewalk area A5 in this order. The prediction of the behavior of the moving object existing in the area is performed, and the necessity of alerting is determined based on the result of the prediction of the moving object behavior for each area. And when there are no pedestrians or bicycles (moving bodies) in each of the above areas, as a supplementary process for areas with low priority, the behavior of moving bodies is predicted for the adjacent sidewalk peripheral area A6, Determine the need for alerting. At this time, the pedestrian crossing area A1 and the pedestrian crossing peripheral area A2 may be added as areas to be subjected to auxiliary processing for the low priority area.

  The area priority order based on the vehicle speed as described above may be determined in consideration of the information on the size of the pedestrian crossing. The size of the pedestrian crossing at the service target intersection is defined in the above-described intersection structure information in the form of, for example, the number of inflow lanes, the presence / absence of a sidewalk, the presence / absence of a waiting area, the presence / absence of a roadside zone, and the navigation ECU 11 By checking the information, the size of the pedestrian crossing can be grasped, and the priority order of each area can be determined based on the speed of the own vehicle and the size of the intersection.

  For example, the navigation ECU 11 sets the pedestrian crossing crossing the right and left turn road according to the evaluation criteria shown in FIG. 9 based on the intersection structure information included in the driving support information among the DSSS information from the first optical beacon 4 at level 1. ... 5 levels (level 5 is the largest and level 1 is the smallest). Then, considering the level of this pedestrian crossing, as described above, the priority order of each area is determined according to the vehicle speed when the own vehicle passes near the installation position of the first optical beacon 4.

  As a specific example, for example, even if the vehicle is traveling near the installation position of the first optical beacon 4 at a high speed and is expected to reach the center of the intersection relatively quickly, If the size of the pedestrian is less than level 4, it is highly likely that pedestrians and bicycles currently crossing the pedestrian crossing have crossed the pedestrian crossing when their vehicle reaches the intersection. Therefore, in such a case, the pedestrian crossing area A1 and the pedestrian crossing peripheral area A2 are excluded from the target of the moving body behavior prediction, and the behavior of the moving body is predicted in the order of the waiting area A3 → the roadside adjacent sidewalk area A4. Determine the need for arousal. If there are no pedestrians or bicycles (moving bodies) in each of the above areas, then the behavior of the moving body is predicted for the surrounding sidewalk area A5 to determine the necessity for alerting. Further, if the size of the pedestrian crossing is level 3 or less, the sidewalk area A4 adjacent to the roadway is excluded from the target of the moving body behavior. The area priority is changed according to the size of the pedestrian crossing so that it is excluded from the prediction target. Thereby, it becomes possible to predict the behavior of the moving body more efficiently.

  As described above in detail with specific examples, according to the driving support device of the present embodiment, the driving ECU 11 of the car navigation system 10 mounted on the vehicle receives the driving received from the first optical beacon 4. Based on the intersection structure information included in the support information, the moving object detection area at the service target intersection is divided into a plurality of areas, and based on vehicle information such as vehicle speed information acquired via CAN, The priority is determined. And the behavior of pedestrians and bicycles existing in the area from the highest priority area is predicted based on the moving body state information included in the driving support information, and the prediction result and the vehicle information acquired via CAN To determine the need for alerting. Then, when it is determined that there is a need to call attention, warning information indicating that a moving body is present is presented by screen display on the display 14 or voice output from the speaker 15. Therefore, it is possible to preferentially predict the behavior of pedestrians and bicycles (moving bodies) in areas that are likely to have an impact when the vehicle passes through an intersection, and predict the behavior of moving bodies. Can be performed efficiently to determine the possibility of contact quickly and present warning information at an appropriate timing.

  Moreover, in the driving assistance apparatus of this embodiment, the 1st optical beacon 4 is installed in the upstream position away from the intersection, the 2nd optical beacon 5 is installed in the intersection, and driving assistance information is transmitted from each of these two optical beacons. As a result, the navigation ECU 11 of the car navigation system 10 can determine the necessity for alerting in a wide range of scenes that turn left and right at intersections according to appropriate judgment criteria, and at the optimal timing, You can make a presentation.

  The embodiment described above is an example of an application of the present invention, and the technical scope of the present invention is not intended to be limited to the contents disclosed as this embodiment. . That is, the technical scope of the present invention is not limited to the specific technical items disclosed in the above-described embodiments, but includes various modifications, changes, alternative technologies, and the like that can be easily derived from this disclosure.

1 Pedestrian detection sensor (moving body detection means)
3 Information processing device (driving support information generating means)
4 First optical beacon (transmission means)
5 Second optical beacon (transmission means)
10 Car navigation system (vehicle equipment)
11 Navigation ECU
12 Receiver (Receiving means)
14 Display (Information presentation means)
15 Speaker (Information presentation means)
21 communication control unit 22 CAN communication control unit (running state detection means)
23 processing unit 24 priority determining unit (priority determining means)
25 Moving body behavior prediction unit (moving body behavior prediction means)
26 Contact possibility judgment part (necessity judgment means)

Claims (8)

In a vehicle driving support device that supports driving of a vehicle at an intersection,
A moving body detecting means installed near the intersection for detecting a moving body crossing or about to cross the road;
Driving assistance information generating means for generating driving assistance information based on moving body state information indicating the state of the moving body detected by the moving body detection means and intersection structure information indicating the structure of the intersection;
A transmission means installed on the road and transmitting the driving support information;
An in-vehicle device installed in the vehicle,
The in-vehicle device is
Receiving means for receiving driving support information transmitted from the transmitting means;
Traveling state detection means for detecting the traveling state of the vehicle;
Priority determination means for dividing the moving body detection area at the intersection into a plurality of areas based on the intersection structure information included in the driving support information, and determining the priority of the plurality of areas based on the traveling state of the vehicle. When,
Based on the priority order determined by the priority order determination means, the mobile body behavior predicting the behavior of the mobile body existing in the area from the area with the highest priority order based on the mobile body state information included in the driving support information Prediction means,
Necessity determination means for determining the necessity of alerting based on the prediction result by the moving body behavior prediction means and the running state of the own vehicle;
A vehicle driving support apparatus comprising: information presenting means for presenting warning information indicating that a moving body is present when the necessity judging means judges that there is a need for alerting. The travel state detection means detects at least the speed of the host vehicle,
The vehicle driving support apparatus according to claim 1, wherein the priority order determination unit determines the priority order of the plurality of areas based on a vehicle speed of the host vehicle.   The vehicle driving support device according to claim 2, wherein the priority order determining means determines the priority order of the plurality of areas based on a vehicle speed of the own vehicle and a size of a crosswalk at the intersection.   The priority determination means tries to cross the moving object detection area at the intersection, a pedestrian crossing area, a pedestrian crossing area that is a region of a predetermined width on a roadway adjacent to the right and left of the pedestrian crossing, and a pedestrian crossing. A standby area where the moving body waits on the sidewalk, an area adjacent to the roadway adjacent to the roadway near the intersection, and an area on the sidewalk near the standby area and away from the roadway And the adjacent sidewalk area that is a predetermined width area on the roadway adjacent to the roadway adjacent sidewalk area, and determine the priority of each area based on the traveling state of the vehicle The vehicle driving support device according to any one of claims 1 to 3.   The vehicle driving support device according to claim 1, wherein the transmission unit is an optical beacon.   6. The vehicle driving support apparatus according to claim 5, wherein the transmission means includes a first optical beacon installed at an upstream position away from the intersection and a second optical beacon installed in the intersection.   The priority order determining means is based on intersection structure information included in the driving support information transmitted from the first optical beacon when the receiving means receives the driving support information transmitted from the first optical beacon. The vehicle driving support device according to claim 6, wherein the moving body detection area at the intersection is divided into a plurality of areas, and the priority order of the plurality of areas is determined based on a traveling state of the host vehicle. A vehicle driving support method for supporting driving of a vehicle at an intersection,
Detecting a moving object crossing or about to cross a road at the intersection;
Generating driving support information based on the moving body state information indicating the detected state of the moving body and the intersection structure information indicating the structure of the intersection;
Transmitting the driving support information from a transmission means installed on the road;
Receiving the driving support information with an in-vehicle device installed in a vehicle;
Detecting the running state of the vehicle by the in-vehicle device;
The in-vehicle device divides the moving object detection area at the intersection into a plurality of areas based on the intersection structure information included in the driving support information, and determines the priority order of the plurality of areas based on the traveling state of the vehicle. And predicting the behavior of the moving body existing in the area in order from the area with the highest priority based on the moving body state information included in the driving support information;
When the in-vehicle device determines the necessity of alerting based on the behavior prediction result of the moving object and the traveling state of the host vehicle, and determines that the alerting is necessary, the moving object exists. And a step of presenting warning information indicating the vehicle driving support method.

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