JP2011003003A

JP2011003003A - Driving support device

Info

Publication number: JP2011003003A
Application number: JP2009145349A
Authority: JP
Inventors: Masayoshi Ito; 政義伊藤
Original assignee: Mitsubishi Motors Corp
Current assignee: Mitsubishi Motors Corp
Priority date: 2009-06-18
Filing date: 2009-06-18
Publication date: 2011-01-06
Anticipated expiration: 2029-06-18
Also published as: JP5224063B2

Abstract

【課題】簡易な構成にして低コスト化を図りつつドライバへ適切な注意喚起を行うことの可能な運転支援装置を提供する。
【解決手段】相関関係判定部(13)により、道路線形・対向車位置演算部(12)で演算する道路線形及び他車の位置情報及び進行距離演算部(22)から入力される自車の進行距離Ｌxにより演算される自車の位置情報に応じて自車及び他車の相対位置を判定し、表示ａ、表示ｂ、表示ｃのいずれかで表示灯(15)を点灯させ注意対象の方向を示し、同時に状況に合わせた音声で注意内容を報知する。
【選択図】図２Provided is a driving support device capable of appropriately alerting a driver while reducing the cost with a simple configuration.
SOLUTION: The correlation determining unit (13) calculates the road alignment calculated by the road alignment / opposite vehicle position calculation unit (12) and the position information of other vehicles and the own vehicle input from the travel distance calculation unit (22). The relative position of the host vehicle and the other vehicle is determined according to the position information of the host vehicle calculated from the travel distance Lx, and the indicator lamp (15) is turned on by any one of the display a, the display b, and the display c. The direction is indicated, and at the same time, the content of the caution is notified with a voice adapted to the situation.
[Selection] Figure 2

Description

本発明は、車両の運転を支援する運転支援装置に関し、詳しくは交差点でドライバに注意を喚起する技術に関する。 The present invention relates to a driving support device that supports driving of a vehicle, and more particularly to a technique for alerting a driver at an intersection.

従来交差点での車両の衝突を防止する方策として、ドライバが自己の目視により交差点の状況を認識し、直進又は右左折の可否について判断を行ってから、交差点を直進又は右左折を行っている。しかしながら、特に右折時にはドライバの目視による状況の認識だけでは、道路の形状や対向車等により陰に隠れた他車を認識することができなかったりする問題がある。 Conventionally, as a measure for preventing a vehicle collision at an intersection, the driver recognizes the situation of the intersection by his / her own visual observation, determines whether or not to go straight or turn left or right, and then goes straight or turns right or left at the intersection. However, particularly when turning right, there is a problem in that other vehicles hidden behind the road due to the shape of the road, oncoming vehicles, etc. cannot be recognized only by the situational recognition by the driver.

この様なことから、自車の右折予定を検知し、自車が右折予定の交差点の状態を把握及び判定し、判定結果を自車のドライバに通知する運転支援装置が開発されている（特許文献１参照）。 For this reason, a driving assistance device has been developed that detects the right turn schedule of the host vehicle, grasps and determines the state of the intersection where the host vehicle is scheduled to turn right, and notifies the driver of the determination result (patent) Reference 1).

特開２００８−２４３０６５号公報JP 2008-243065 A

上記特許文献１では、右折可否の判定結果をナビゲーションシステムのディスプレイ等の画像表示装置を用いてドライバへ通知をするようにしている。
ところで、廉価な車両には画像表示装置を備えるナビゲーションシステム等を搭載されていないことが多く、上記運転支援装置の恩恵を得るためにはナビゲーションシステム等の画像表示装置を搭載する必要がある。 In Patent Document 1, the determination result of whether to turn right is notified to the driver using an image display device such as a display of a navigation system.
By the way, in many cases, inexpensive vehicles are not equipped with a navigation system or the like equipped with an image display device, and in order to obtain the benefits of the driving support device, it is necessary to install an image display device such as a navigation system.

しかしながら、ナビゲーションシステム等の追加搭載は、コストを大幅に増加することとなり好ましいことではない。
本発明は、この様な問題を解決するためになされたもので、その目的とするところは、簡易な構成としコストの増加を抑えつつ、交差点で自車と対向車等の他車の進行状況に応じ、ドライバが容易にして即座に理解可能な注意喚起情報を提供することのできる運転支援装置を提供することにある。 However, the addition of a navigation system or the like is not preferable because it greatly increases the cost.
The present invention has been made to solve such problems, and the object of the present invention is to make progress in the progress of other vehicles such as the host vehicle and the oncoming vehicle at the intersection while keeping a simple structure and suppressing an increase in cost. Accordingly, it is an object of the present invention to provide a driving support device that can provide alert information that can be easily understood immediately by the driver.

上記の目的を達成するために、請求項１の運転支援装置は、道路側に設置される光ビーコン送信機より送信される光ビーコンを受信する光ビーコン受信部と、該光ビーコン受信部で受信した該光ビーコンを基に自車の走行中の道路線形情報と自車及び他車の車両位置情報を演算する道路線形・対向車位置演算部と、自車の進行状態を演算する自車進行状態演算部と、運転者より視認可能な自車の車幅方向左側、中央及び右側にそれぞれ配設され、注意する対象の方向を指示する表示部と、車室内に配設され、運転者に注意内容を報知するスピーカと、前記表示部の点灯及び消灯を制御する表示駆動部と、前記スピーカに音声信号を出力する音声発生部と、前記道路線形情報と前記車両位置情報と前記自車の進行状態を基に自車及び他車の相対位置を判定し、判定結果に応じて前記表示駆動部に表示灯点灯信号を前記音声発生部に音声発生信号を出力する相対関係判定部とを備えたことを特徴とする。 In order to achieve the above object, the driving support device according to claim 1 is an optical beacon receiving unit that receives an optical beacon transmitted from an optical beacon transmitter installed on a road side, and is received by the optical beacon receiving unit. Based on the optical beacon, the road alignment information and the oncoming vehicle position calculation unit for calculating the road alignment information of the own vehicle and the vehicle position information of the own vehicle and other vehicles, and the own vehicle progression calculating the traveling state of the own vehicle A state calculation unit, a display unit that indicates the direction of the object to be noted, and a display unit that is disposed on the left, center, and right side of the vehicle width direction of the host vehicle that can be visually recognized by the driver. A speaker for notifying the attention content, a display driving unit for controlling turning on and off of the display unit, a sound generating unit for outputting a sound signal to the speaker, the road alignment information, the vehicle position information, and the own vehicle Relative of own vehicle and other vehicles based on progress Determined location, characterized in that a relative relationship determination unit for outputting a sound generating signal to the display lamp lighting signal to the display drive unit to the voice generating unit in accordance with the determination result.

また、請求項２の運転支援装置では、請求項１の発明において、前記自車進行状態演算部は、車速を検出する車速検出部と、該車速より進行距離を演算する進行距離演算部からなることを特徴とする。
また、請求項３の運転支援装置では、請求項２の発明において、前記自車進行状態演算部は、ハンドル角を検出するハンドル角検出部と、前記ハンドル角よりハンドルの切増し角又は切戻し角を演算する切増し・切戻し演算部を含むことを特徴とする。 In the driving support device according to claim 2, in the invention according to claim 1, the own vehicle traveling state calculation unit includes a vehicle speed detection unit that detects a vehicle speed, and a travel distance calculation unit that calculates a travel distance from the vehicle speed. It is characterized by that.
According to a third aspect of the present invention, in the driving support device of the second aspect, the host vehicle traveling state calculation unit includes a steering wheel angle detection unit that detects a steering wheel angle, and a steering angle that is increased or decreased according to the steering wheel angle. It includes a rounding-up / switching-back computing unit for computing a corner.

また、請求項４の運転支援装置では、請求項１の発明において、前記自車進行状態演算部は、ＧＰＳ衛星からのＧＰＳ衛星信号を受信するＧＰＳ受信部と、受信したＧＰＳ衛星信号より自車の進行距離及び方位角を演算する進行距離・方位角演算部からなることを特徴とする。
また、請求項５の運転支援装置では、請求項２の発明において、前記道路は左側通行の車線規制の道路であって、前記相対関係判定部は、前記光ビーコン受信部で前記道路線形情報と前記自車及び他車の車両位置情報を受信した後、対向車が前方より交差点方向に走行し、且つ、自車が右折実施状態であれば、前記進行距離演算部により演算される前記進行距離が第１の所定距離未満であるとき、車幅方向中央に配設される前記表示灯を点灯すべく表示灯点灯信号を出力するとともに前記音声発生部に音声発生信号を出力し、前記進行距離が前記第１の所定距離以上第２の所定距離未満であるとき、車幅方向左側及び中央に配設される前記表示灯を点灯すべく表示灯点灯信号を出力するとともに前記音声発生部に音声発生信号を出力し、前記進行距離が前記第２の所定距離以上第３の所定距離未満であるとき、車幅方向左側に配設される前記表示灯を点灯すべく表示灯点灯信号を出力するとともに前記音声発生部に音声発生信号を出力することを特徴とする。 According to a fourth aspect of the present invention, there is provided the driving support apparatus according to the first aspect, wherein the own vehicle traveling state calculation unit includes a GPS receiving unit that receives a GPS satellite signal from a GPS satellite and the own vehicle from the received GPS satellite signal. It comprises a travel distance / azimuth angle calculation unit for calculating a travel distance and an azimuth angle.
Further, in the driving support device according to claim 5, in the invention according to claim 2, the road is a left-hand traffic lane-regulated road, and the relative relationship determination unit is the optical beacon reception unit and the road alignment information After receiving the vehicle position information of the own vehicle and other vehicles, if the oncoming vehicle runs in the direction of the intersection from the front and the own vehicle is in a right turn state, the travel distance calculated by the travel distance calculation unit Is less than the first predetermined distance, the indicator lamp lighting signal is output to turn on the indicator lamp disposed in the center in the vehicle width direction, and the voice generating signal is output to the voice generator, and the travel distance Is equal to or more than the first predetermined distance and less than the second predetermined distance, a display lamp lighting signal is output to turn on the indicator lamps arranged on the left and center in the vehicle width direction, and a sound is output to the sound generator. Output the generation signal, When the row distance is greater than or equal to the second predetermined distance and less than the third predetermined distance, an indicator lamp lighting signal is output to turn on the indicator lamp disposed on the left side in the vehicle width direction and a voice is transmitted to the voice generator. A generation signal is output.

また、請求項６の運転支援装置では、請求項３の発明において、前記道路は左側通行の車線規制の道路であって、前記相対関係判定部は、前記光ビーコン受信部で前記道路線形情報と前記自車及び他車の車両位置情報を受信した後、他車が前方より交差点方向に走行し、且つ、自車が右折実施状態であれば、前記進行距離演算部により演算される前記進行距離が第１の所定距離未満且つ前記切増し・切戻し演算部により演算される前記ハンドルの切増し角が所定の切増し角未満であるとき、車幅方向中央に配設される前記表示灯を点灯すべく表示灯点灯信号を出力するとともに前記音声発生部に音声発生信号を出力し、前記進行距離が前記第１の所定距離以上第２の所定距離未満且つ前記ハンドルの切戻し角が所定の切増し角以上所定の切戻し角未満であるとき、車幅方向左側及び中央に配設される前記表示灯を点灯すべく表示灯点灯信号を出力するとともに前記音声発生部に音声発生信号を出力し、前記進行距離が前記第２の所定距離以上第３の所定距離未満且つ前記ハンドルの切戻し角が所定の切戻し角以上であるとき、車幅方向左側に配設される前記表示灯を点灯すべく表示灯点灯信号を出力するとともに前記音声発生部に音声発生信号を出力することを特徴とする。 In the driving support device according to claim 6, in the invention according to claim 3, the road is a road that is a left-hand traffic lane restriction, and the relative relationship determination unit is configured to receive the road linear information and the road beacon reception unit. After the vehicle position information of the host vehicle and the other vehicle is received, if the other vehicle travels in the direction of the intersection from the front and the host vehicle is in a right turn state, the travel distance calculated by the travel distance calculation unit Is less than a first predetermined distance and the steering wheel angle calculated by the increase / return calculation unit is less than a predetermined angle, the indicator lamp disposed at the center in the vehicle width direction is An indicator lamp lighting signal is output to be lit, and a sound generation signal is output to the sound generation unit. The travel distance is greater than or equal to the first predetermined distance and less than the second predetermined distance, and the handle turning angle is predetermined. Predetermined return over the additional angle When the angle is less than a corner, the indicator lamp lighting signal is output to turn on the indicator lamps disposed on the left and center in the vehicle width direction, and the voice generation signal is output to the voice generator, and the travel distance is When a predetermined distance of 2 or more and less than a third predetermined distance and the turning-back angle of the steering wheel is not less than a predetermined turning-back angle, an indicator lamp lighting signal is turned on to turn on the indicator lamp disposed on the left side in the vehicle width direction. And outputting a sound generation signal to the sound generation unit.

また、請求項７の運転支援装置では、請求項４の発明において、前記道路は左側通行の車線規制の道路であって、前記相対関係判定部は、前記光ビーコン受信部で前記道路線形情報と前記自車及び他車の車両位置情報を受信した後、他車が前方より交差点方向に走行し、且つ、自車が右折実施状態であれば、前記進行距離・方位角演算部により演算される自車の方位角と前記道路線形・対向車位置演算部で演算される車両位置情報の他車の方位角より方位角の差を演算し、前記進行距離・方位角演算部により演算される前記進行距離が第１の所定距離未満且つ前記方位角の差が第１の所定方位角差未満であるとき、車幅方向中央に配設される前記表示灯を点灯すべく表示灯点灯信号を出力するとともに前記音声発生部に音声発生信号を出力し、前記進行距離が前記第１の所定距離以上第２の所定距離未満且つ前記方位角の差が第１の所定方位角差以上第２の所定方位角差未満であるとき、車幅方向左側及び中央に配設される前記表示灯を点灯すべく表示灯点灯信号を出力するとともに前記音声発生部に音声発生信号を出力し、前記進行距離が前記第２の所定距離以上第３の所定距離未満且つ前記方位角の差が第２の所定方位角差以上であるとき、車幅方向左側に配設される前記表示灯を点灯すべく表示灯点灯信号を出力するとともに前記音声発生部に音声発生信号を出力することを特徴とする。 According to a seventh aspect of the present invention, there is provided the driving support device according to the fourth aspect, wherein the road is a left-handed lane-regulated road, and the relative relationship determination unit is configured to receive the road linear information and the road beacon reception unit. After the vehicle position information of the host vehicle and the other vehicle is received, if the other vehicle travels in the direction of the intersection from the front and the host vehicle is in the right turn state, it is calculated by the travel distance / azimuth calculating unit. A difference in azimuth is calculated from the azimuth of the own vehicle and the azimuth of the other vehicle in the vehicle position information calculated by the road alignment / opposite vehicle position calculation unit, and the calculation is performed by the travel distance / azimuth calculation unit. When the traveling distance is less than the first predetermined distance and the difference between the azimuths is less than the first predetermined azimuth difference, a display lamp lighting signal is output to turn on the indicator lamp arranged at the center in the vehicle width direction. And output a sound generation signal to the sound generator. When the travel distance is greater than or equal to the first predetermined distance and less than the second predetermined distance and the azimuth angle difference is greater than or equal to the first predetermined azimuth angle difference and less than the second predetermined azimuth angle difference, the vehicle width direction left side and center The indicator lamp lighting signal is output to turn on the indicator lamp disposed at the same time and the voice generation signal is output to the voice generator, and the travel distance is greater than or equal to the second predetermined distance and less than the third predetermined distance and When the difference in azimuth is equal to or greater than a second predetermined azimuth difference, a display lamp lighting signal is output to turn on the indicator lamp disposed on the left side in the vehicle width direction, and a voice generation signal is output to the voice generator. Is output.

また、請求項８の運転支援装置では、請求項２乃至７のいずれかの発明において、前記相対関係判定部は、前記光ビーコン受信部で前記道路線形情報と前記自車及び他車の車両位置情報を受信した後、他車が左方向より交差点方向に走行し、且つ、自車が直進実施状態であれば、前記自車進行状態演算部により演算される前記進行距離が第４の所定距離未満であるとき、車幅方向中央に配設される前記表示灯を点灯すべく表示灯点灯信号を出力するとともに前記音声発生部に音声発生信号を出力し、前記進行距離が前記第４の所定距離以上第５の所定距離未満であるとき、車幅方向左側及び中央に配設される前記表示灯を点灯すべく表示灯点灯信号を出力するとともに前記音声発生部に音声発生信号を出力、前記進行距離が前記第５の所定距離以上第６の所定距離未満であるとき、車幅方向左側に配設される前記表示灯を点灯すべく表示灯点灯信号を出力するとともに前記音声発生部に音声発生信号を出力することを特徴とする。 Further, in the driving support device according to claim 8, in the invention according to any one of claims 2 to 7, the relative relationship determination unit is the optical beacon receiving unit, and the road alignment information and vehicle positions of the own vehicle and other vehicles. After the information is received, if the other vehicle travels from the left direction toward the intersection and the own vehicle is in a straight running state, the traveling distance calculated by the own vehicle traveling state calculating unit is the fourth predetermined distance. When it is less than, the indicator lamp lighting signal is output to turn on the indicator lamp arranged in the center in the vehicle width direction, and the voice generation signal is output to the voice generator, and the travel distance is the fourth predetermined distance. When the distance is greater than the distance and less than the fifth predetermined distance, the indicator lamp lighting signal is output to turn on the indicator lamps disposed on the left side and the center in the vehicle width direction, and the voice generation signal is output to the voice generator, Travel distance is the fifth predetermined distance When the distance is less than the sixth predetermined distance, an indicator lamp lighting signal is output to turn on the indicator lamp disposed on the left side in the vehicle width direction, and an audio generation signal is output to the audio generator. To do.

請求項１の発明によれば、道路線形情報と車両位置情報と自車の進行状態を基に相対関係判定部により自車及び他車の相対位置を判定し、表示灯で注意対象の方向を示し、スピーカで注意内容を音声で報知している。
これにより、簡易な構成でコストを低減しつつ運転者が容易で即座に理解可能な注意喚起情報を提供できる。 According to the first aspect of the present invention, the relative position determination unit determines the relative position of the host vehicle and the other vehicle based on the road alignment information, the vehicle position information, and the traveling state of the host vehicle, and the direction of the target object is indicated by the indicator light. The caution content is reported by voice through a speaker.
This makes it possible to provide alert information that can be easily and immediately understood by the driver while reducing costs with a simple configuration.

請求項２の発明によれば、車速より進行距離を演算する進行距離演算部を備えているので自車の進行距離を認識することができる。
請求項３の発明によれば、ハンドル角よりハンドルの切増し角又は切戻し角を演算する切増し・切戻し演算部を備えているので自車の進行方向及び進行距離を詳細に認識することができる。 According to the second aspect of the present invention, since the travel distance calculation unit that calculates the travel distance from the vehicle speed is provided, the travel distance of the host vehicle can be recognized.
According to the invention of claim 3, since it is provided with the increase / return calculation section for calculating the increase angle or return angle of the handle from the handle angle, the traveling direction and distance of the own vehicle can be recognized in detail. Can do.

請求項４の発明によれば、ＧＰＳ衛星からのＧＰＳ衛星信号より自車の進行距離及び方位角を演算する進行距離・方位角演算部を備えているので、自車の進行距離及び自車と他車との方位角の差を正確に認識することができる。
請求項５の発明によれば、自車の右折開始が検出されると相対関係判定部により、進行距離演算部で演算される進行距離に基づいて自車及び他車の相対位置を判定し、自車の進行距離に合わせて注意対象の方向を示す表示灯を点灯しスピーカで注意内容を音声で報知している。 According to the invention of claim 4, since the travel distance and azimuth angle calculation unit for calculating the travel distance and azimuth angle of the own vehicle from the GPS satellite signal from the GPS satellite is provided, It is possible to accurately recognize the difference in azimuth angle with other vehicles.
According to the invention of claim 5, when the start of a right turn of the host vehicle is detected, the relative relationship determination unit determines the relative positions of the host vehicle and the other vehicle based on the travel distance calculated by the travel distance calculation unit, An indicator lamp indicating the direction of the attention object is turned on according to the traveling distance of the vehicle, and the attention content is notified by voice through a speaker.

これにより、簡易な構成でコストを低減しつつ運転者への適切な注意喚起ができる。
請求項６の発明によれば、自車の右折開始が検出されると相対関係判定部により、進行距離演算部で演算される進行距離と切増し角・切り戻し角演算部で演算されるハンドルの切増し角又は切戻し角に基づいて自車及び他車の相対位置を判定し、自車の進行方向及び進行距離に合わせて正確に注意対象の方向を示す表示灯を点灯しスピーカで注意内容を音声で報知している。 Accordingly, it is possible to appropriately alert the driver while reducing the cost with a simple configuration.
According to the sixth aspect of the present invention, when the start of a right turn of the host vehicle is detected, the relative distance determination unit calculates the travel distance calculated by the travel distance calculation unit and the steering angle calculated by the addition angle / return angle calculation unit. The relative position of the vehicle and the other vehicle is determined based on the additional angle or the return angle of the vehicle, and the indicator light that indicates the direction of the caution object accurately according to the traveling direction and traveling distance of the own vehicle is turned on and the speaker is careful The contents are reported by voice.

これにより、簡易な構成でコストを低減しつつ運転者への車両姿勢に応じた適切な注意喚起ができる。
請求項７の発明によれば、自車の右折開始が検出されると相対関係判定部により、積算距離・方位角演算部で演算される進行距離と自車と他車の方位角の差に基づいて自車及び他車の相対位置を判定し、自車の進行距離及び自車と他車との方位角の差に合わせて更に正確に注意対象の方向を示す表示灯を点灯しスピーカで注意内容を音声で報知している。 Accordingly, it is possible to appropriately alert the driver according to the vehicle posture while reducing the cost with a simple configuration.
According to the seventh aspect of the present invention, when the start of a right turn of the own vehicle is detected, the relative relationship determination unit calculates the difference between the traveling distance calculated by the integrated distance / azimuth calculating unit and the azimuth of the own vehicle and the other vehicle. Based on the relative position of the host vehicle and the other vehicle based on the vehicle, the indicator light indicating the direction of the caution object is turned on more accurately according to the traveling distance of the host vehicle and the difference in azimuth between the host vehicle and the other vehicle The notice contents are reported by voice.

これにより、簡易な構成でコストを低減しつつ運転者への車両姿勢に応じた適切な注意喚起ができる。
請求項８の発明によれば、自車の直進状態が検出されると相対関係判定部により、自車進行状態演算部の進行距離演算部又は積算距離・方位角演算部で演算される自車の進行距離に基づいて自車及び他車の相対位置を判定し、注意対象の方向を示す表示灯を点灯しスピーカで注意内容を音声で報知している。 Accordingly, it is possible to appropriately alert the driver according to the vehicle posture while reducing the cost with a simple configuration.
According to the invention of claim 8, when the straight traveling state of the host vehicle is detected, the host vehicle calculated by the relative distance determination unit or the total distance / azimuth calculating unit of the host vehicle traveling state calculation unit The relative position of the vehicle and the other vehicle is determined based on the travel distance of the vehicle, the indicator lamp indicating the direction of the attention object is turned on, and the attention content is notified by voice through the speaker.

これにより、右折時衝突防止のみならず出会い頭衝突防止の注意喚起をも促すことができる。 As a result, it is possible not only to prevent a right turn collision but also to call attention to prevent a head-on collision.

本発明の実施の形態における車内表示灯の表示状態を示す図であり、（ａ）は表示ａ、（ｂ）は表示ｂ、（ｃ）は表示ｃを表示した状態を示す。It is a figure which shows the display state of the vehicle interior indicator lamp in embodiment of this invention, (a) shows the display a, (b) shows the display b, (c) shows the state which displayed the display c. 本発明の第１実施例に係る運転支援装置の概略構成図である。1 is a schematic configuration diagram of a driving assistance apparatus according to a first embodiment of the present invention. 本発明の第１実施例に係る右折時衝突防止支援システムの概要を説明する説明図である。It is explanatory drawing explaining the outline | summary of the collision prevention assistance system at the time of the right turn which concerns on 1st Example of this invention. 本発明の第１実施例に係る出会い頭衝突防止支援システムの概要を説明する説明図である。It is explanatory drawing explaining the outline | summary of the encounter collision prevention assistance system which concerns on 1st Example of this invention. 本発明の第１実施例に係る右折時衝突防止支援システムの注意喚起制御ルーチンを示すフローチャートである。It is a flowchart which shows the alerting control routine of the collision prevention assistance system at the time of the right turn which concerns on 1st Example of this invention. 本発明の第１実施例に係る出会い頭衝突防止支援システムの注意喚起制御ルーチンを示すフローチャートである。It is a flowchart which shows the alerting control routine of the encounter collision prevention assistance system which concerns on 1st Example of this invention. 本発明の第２実施例に係る運転支援装置の概略構成図である。It is a schematic block diagram of the driving assistance device which concerns on 2nd Example of this invention. 本発明の第２実施例に係る右折時衝突防止支援システムの概要を説明する説明図である。It is explanatory drawing explaining the outline | summary of the collision prevention assistance system at the time of the right turn which concerns on 2nd Example of this invention. 本発明の第２実施例に係る右折時衝突防止支援システムの注意喚起制御ルーチンを示すフローチャートである。It is a flowchart which shows the alerting control routine of the collision prevention assistance system at the time of the right turn which concerns on 2nd Example of this invention. 本発明の第３実施例に係る運転支援装置の概略構成図である。It is a schematic block diagram of the driving assistance device which concerns on 3rd Example of this invention. 本発明の第３実施例に係る右折時衝突防止支援システムの概要を説明する説明図である。It is explanatory drawing explaining the outline | summary of the collision prevention assistance system at the time of the right turn which concerns on 3rd Example of this invention. 本発明の第３実施例に係る右折時衝突防止支援システムの注意喚起制御ルーチンを示すフローチャートである。It is a flowchart which shows the alerting control routine of the collision prevention assistance system at the time of the right turn which concerns on 3rd Example of this invention.

以下、本発明の実施の形態を図面に基づき説明する。
図１は、本発明の実施の形態における車内表示灯を示す図であり、同図に示すように、車内表示灯は車内のダッシュパネル９４上に３つの表示灯１５ａ，１５ｂ，１５ｃを備えて構成されている。詳しくは、各表示灯１５ａ，１５ｂ，１５ｃは、ダッシュパネル９４上の車体幅方向左側、中央、右側にそれぞれ配設されており、これら表示灯１５ａ，１５ｂ，１５ｃを使い分けることにより、注意対象である他車の方向を示すことが可能である。 Hereinafter, embodiments of the present invention will be described with reference to the drawings.
FIG. 1 is a diagram showing an in-vehicle indicator lamp according to an embodiment of the present invention. As shown in FIG. 1, the in-vehicle indicator lamp includes three indicator lights 15a, 15b, 15c on a dash panel 94 in the vehicle. It is configured. Specifically, the indicator lights 15a, 15b, and 15c are respectively arranged on the left, center, and right sides of the dash panel 94 in the vehicle body width direction. It is possible to indicate the direction of some other vehicle.

そして、図１は、以下に説明する表示灯（表示部）１５の点灯状態を示しており、表示状態（ａ）が表示ａを、（ｂ）が表示ｂを、（ｃ）が表示ｃを表示している。ここに、表示灯１５ａ，１５ｂ，１５ｃにおいて、図中白抜き丸が点灯、黒塗り丸が消灯を示す。
先ず、第１実施例について説明する。
図２は、図示しない車両に搭載された本発明の第１実施例に係る運転支援装置の概略構成図であり、以下、当該運転支援装置の構成を説明する。 FIG. 1 shows a lighting state of an indicator lamp (display unit) 15 described below. The display state (a) indicates display a, (b) indicates display b, and (c) indicates display c. it's shown. Here, in the indicator lamps 15a, 15b, and 15c, white circles in the figure are turned on, and black circles are turned off.
First, the first embodiment will be described.
FIG. 2 is a schematic configuration diagram of the driving support apparatus according to the first embodiment of the present invention mounted on a vehicle (not shown). Hereinafter, the configuration of the driving support apparatus will be described.

なお、図中の一点鎖線の上側は車外、下側は車内の領域を示す。
図２に示すように、運転支援装置１は、光ビーコン受信部１１、道路線形・対向車位置演算部１２、相対関係判定部１３、表示灯駆動部１４、表示灯１５、音声発生部１６、スピーカ１７、車速センサ（車速検出部）２１及び進行距離演算部２２により構成される。
光ビーコン受信部１１は、路上に設置されている光ビーコン送信機から送信される光ビーコンを受信するものである。 In the drawing, the upper side of the alternate long and short dash line indicates the outside of the vehicle, and the lower side indicates the region inside the vehicle.
As shown in FIG. 2, the driving support device 1 includes an optical beacon receiving unit 11, a road alignment / oncoming vehicle position calculating unit 12, a relative relationship determining unit 13, an indicator lamp driving unit 14, an indicator lamp 15, an audio generator 16, The speaker 17, the vehicle speed sensor (vehicle speed detection unit) 21, and the travel distance calculation unit 22 are configured.
The optical beacon receiving unit 11 receives an optical beacon transmitted from an optical beacon transmitter installed on the road.

道路線形・対向車位置演算部１２は、光ビーコン受信部１１が受信した光ビーコンから自車が走行中の道路の線形情報と、自車及び他車の位置を演算するものである。
車速センサ２１は、車速パルスより車速を演算するものである。
進行距離演算部２２は、車速センサ２１で演算された車速から自車の進行距離Ｌxを演算するものである。 The road alignment / opposite vehicle position calculation unit 12 calculates linear information of the road on which the host vehicle is traveling and the positions of the host vehicle and other vehicles from the optical beacon received by the optical beacon receiving unit 11.
The vehicle speed sensor 21 calculates the vehicle speed from the vehicle speed pulse.
The travel distance calculation unit 22 calculates the travel distance Lx of the host vehicle from the vehicle speed calculated by the vehicle speed sensor 21.

表示灯駆動部１４は、表示灯１５の点灯及び消灯を制御するものである。
スピーカ１７は、ドライバ（運転者）に注意内容を音声で報知するものである。
音声発生部１６は、スピーカ１７へ音声信号を出力するものである。
相関関係判定部１３は、道路線形・対向車位置演算部１２で演算する道路線形及び他車の位置情報及び進行距離演算部２２から入力される自車の進行距離Ｌxより演算される自車の位置情報を基に自車と他車の相対位置を演算する。 The indicator lamp drive unit 14 controls turning on and off of the indicator lamp 15.
The speaker 17 notifies the driver (driver) of the content of the caution by voice.
The sound generator 16 outputs a sound signal to the speaker 17.
The correlation determination unit 13 calculates the vehicle alignment calculated from the road alignment calculated by the road alignment / oncoming vehicle position calculation unit 12 and the position information of the other vehicle and the travel distance Lx of the host vehicle input from the travel distance calculation unit 22. Based on the position information, the relative position of the vehicle and the other vehicle is calculated.

また、相関関係判定部１３は、上記演算結果に基づいて表示灯１５の表示を決定し、表示灯１５の点灯信号を表示灯駆動部１４へ出力し、同時に状況に合わせた音声の発生信号を音声発生部１６へ出力するものである。
以下、このように構成された本発明の第１実施例に係る運転支援装置の作用及び効果について説明する。 Further, the correlation determination unit 13 determines the display of the indicator lamp 15 based on the calculation result, outputs a lighting signal of the indicator lamp 15 to the indicator lamp drive unit 14, and simultaneously generates a sound generation signal according to the situation. This is output to the sound generator 16.
Hereinafter, the operation and effect of the driving support apparatus according to the first embodiment of the present invention configured as described above will be described.

図３は、本発明の第１実施例に係る右折時衝突防止支援システムの概要について説明する説明図であり、図４は、本発明の第１実施例に係る出会い頭衝突防止支援システムの概要について説明する説明図であり、図５は、第１実施例に係る右折時衝突防止支援システムの注意喚起制御ルーチンを示すフローチャートであり、図６は、第１実施例に係る出会い頭衝突防止支援システムの注意喚起制御ルーチンを示すフローチャートである。 FIG. 3 is an explanatory diagram for explaining the outline of the right turn collision prevention support system according to the first embodiment of the present invention, and FIG. 4 shows the outline of the encounter collision prevention support system according to the first embodiment of the present invention. FIG. 5 is a flowchart showing an attention control routine of the right turn collision prevention support system according to the first embodiment, and FIG. 6 is a flowchart of the encounter collision prevention support system according to the first embodiment. It is a flowchart which shows an alerting control routine.

図３、図４に示すように、道路は左側通行の車線規制の道路であり、白抜き五角形は自車９０を、黒塗り五角形は他車９１を示す。なお、これら五角形の頂角が自車９０及び他車９１の進行方向を示す。
また、図中のＬ1、Ｍ1及びＮ1は、光ビーコン送信機９２から送信される右折時の交差点の距離情報を示す。 As shown in FIGS. 3 and 4, the road is a left-hand traffic lane-restricted road. The white pentagon indicates the own vehicle 90, and the black pentagon indicates the other vehicle 91. Note that the apex angles of these pentagons indicate the traveling directions of the host vehicle 90 and the other vehicle 91.
Further, L1, M1 and N1 in the figure indicate the distance information of the intersection at the time of the right turn transmitted from the optical beacon transmitter 92.

図４に示すようＬ2、Ｍ2、Ｎ2は、光ビーコン送信機９２から送信される直進時の距離情報を示す。
図５に示すように、ステップＳ１０では、光ビーコン受信部１１が光ビーコン送信機９２から光ビーコンを受信する。
ステップＳ１２では、受信した光ビーコンを基に道路線形・対向車位置演算部１２にて自車９０の進行位置が右折可能車線かを判別する。判別結果が真（Ｙｅｓ）で右折可能車線であれば、ステップＳ１４に進む。判別結果が偽（Ｎｏ）であれば出会い頭衝突防止支援システムの点灯制御ルーチンのステップＳ５０に進む。 As shown in FIG. 4, L2, M2, and N2 indicate distance information when traveling straight from the optical beacon transmitter 92.
As shown in FIG. 5, in step S <b> 10, the optical beacon receiving unit 11 receives an optical beacon from the optical beacon transmitter 92.
In step S12, based on the received optical beacon, the road alignment / opposite vehicle position calculation unit 12 determines whether the traveling position of the host vehicle 90 is a right turn lane. If the determination result is true (Yes) and the vehicle can turn right, the process proceeds to step S14. If the determination result is false (No), the process proceeds to step S50 of the lighting control routine of the encounter collision prevention support system.

ステップＳ１４では、図示しない右ウインカーの作動の有無を判別する。判別結果が真（Ｙｅｓ）で右ウインカーが作動していれば、ステップＳ１６に進む。判別結果が偽（Ｎｏ）であれば、ステップＳ１２と同様にステップＳ５０に進む。
ステップＳ１６では、対向車の有無を判別する。判別結果が真（Ｙｅｓ）で対向車が有れば、ステップＳ１８に進む。判別結果が偽（Ｎｏ）であれば、ステップＳ１２と同様にステップＳ５０に進む。
［右折衝突防止支援］
ステップＳ１８では、右折衝突防止支援を開始する。 In step S14, it is determined whether or not a right turn signal (not shown) is activated. If the determination result is true (Yes) and the right turn signal is operating, the process proceeds to step S16. If the determination result is false (No), the process proceeds to step S50 as in step S12.
In step S16, it is determined whether there is an oncoming vehicle. If the determination result is true (Yes) and there is an oncoming vehicle, the process proceeds to step S18. If the determination result is false (No), the process proceeds to step S50 as in step S12.
[Right turn collision prevention support]
In step S18, right-turn collision prevention support is started.

ステップＳ２０では、相対関係判定部１３にて自車９０の進行距離Ｌxが第１の所定距離Ｌ1未満であるか判別する。判別結果が真（Ｙｅｓ）で第１の所定距離Ｌ1未満であればステップＳ２８に進み、表示灯１５を表示ａで点灯し注意対象の方向を示し、且つ、スピーカ１７より音声で注意内容を報知し、ステップＳ２０へ戻る。判別結果が偽（Ｎｏ）で第１の所定距離Ｌ1以上であれば、ステップＳ２２に進む。 In step S20, the relative relationship determination unit 13 determines whether the travel distance Lx of the host vehicle 90 is less than the first predetermined distance L1. If the determination result is true (Yes) and less than the first predetermined distance L1, the process proceeds to step S28, the indicator lamp 15 is turned on with the display a to indicate the direction of the cautionary object, and the caution content is notified from the speaker 17 by voice. Then, the process returns to step S20. If the determination result is false (No) and greater than or equal to the first predetermined distance L1, the process proceeds to step S22.

ステップＳ２２では、自車９０の進行距離Ｌxが第２の所定距離（Ｌ1＋Ｍ1）（第１の所定距離Ｌ1より大）未満であるか判別する。判別結果が真（Ｙｅｓ）で第２の所定距離（Ｌ1＋Ｍ1）未満であればステップＳ３０に進み、表示灯１５を表示ｂで点灯し注意対象の方向を示し、且つ、スピーカ１７より音声で注意内容を報知し、ステップＳ２０へ戻る。判別結果が偽（Ｎｏ）で第２の所定距離（Ｌ1＋Ｍ1）以上であれば、ステップＳ２４に進む。 In step S22, it is determined whether the traveling distance Lx of the host vehicle 90 is less than a second predetermined distance (L1 + M1) (greater than the first predetermined distance L1). If the determination result is true (Yes) and less than the second predetermined distance (L 1 + M 1), the process proceeds to step S 30, the indicator lamp 15 is turned on with the display b to indicate the direction of the caution target, and And returns to step S20. If the determination result is false (No) and greater than or equal to the second predetermined distance (L1 + M1), the process proceeds to step S24.

ステップＳ２４では、自車９０の進行距離Ｌxが第３の所定距離（Ｌ1＋Ｍ1＋Ｎ1）（第２の所定距離（Ｌ1＋Ｍ1）より大）未満であるか判別する。判別結果が真（Ｙｅｓ）で第３の所定距離（Ｌ1＋Ｍ1＋Ｎ1）未満であればステップＳ３２に進み、表示灯１５を表示ｃで点灯し注意対象の方向を示し、且つ、スピーカ１７より音声で注意内容を報知し、ステップＳ１８へ戻る。判別結果が偽（Ｎｏ）で第３の所定距離（Ｌ1＋Ｍ1＋Ｎ1）以上であれば、ステップＳ２６へ進み右折衝突防止支援を終了する。
［出会い頭衝突防止支援］
図６に示すように、ステップＳ５０では、図示しない左ウインカーの作動の有無を判別する。判別結果が真（Ｙｅｓ）で左ウインカーが作動していれば終了する。判別結果が偽（Ｎｏ）であれば、ステップＳ５２に進む。 In step S24, it is determined whether the traveling distance Lx of the host vehicle 90 is less than a third predetermined distance (L1 + M1 + N1) (greater than a second predetermined distance (L1 + M1)). If the determination result is true (Yes) and less than the third predetermined distance (L 1 + M 1 + N 1), the process proceeds to step S 32, the indicator lamp 15 is turned on with the display c to indicate the direction of the caution target, and And returns to step S18. If the determination result is false (No) and greater than or equal to the third predetermined distance (L1 + M1 + N1), the process proceeds to step S26 and the right-turn collision prevention support is terminated.
[Preventing encounter collisions]
As shown in FIG. 6, in step S50, it is determined whether or not a left turn signal (not shown) is activated. If the determination result is true (Yes) and the left turn signal is operating, the process ends. If the determination result is false (No), the process proceeds to step S52.

ステップＳ５２では、左方向から交差点へ進入する他車の有無を判別する。判別結果が真（Ｙｅｓ）で他車が左方向から交差点に進入していればステップＳ５４に進む。判定が偽（Ｎｏ）であれば、終了する。
ステップＳ５４では、出会い頭衝突防止支援を開始する。
ステップ５６では、相対関係判定部１３にて自車９０の進行距離Ｌxが第４の所定距離Ｌ2未満であるか判別する。判別結果が真（Ｙｅｓ）で第４の所定距離Ｌ2未満であればステップＳ６４に進み、表示灯１５を表示ａで点灯し注意対象の方向を示し、且つ、スピーカ１７より音声で注意内容を報知し、ステップＳ５６へ戻る。判別結果が偽（Ｎｏ）で第４の所定距離Ｌ2以上であれば、ステップＳ５８に進む。 In step S52, it is determined whether there is another vehicle entering the intersection from the left. If the determination result is true (Yes) and the other vehicle has entered the intersection from the left, the process proceeds to step S54. If the determination is false (No), the process ends.
In step S54, the encounter collision prevention support is started.
In step 56, the relative relationship determination unit 13 determines whether the travel distance Lx of the host vehicle 90 is less than the fourth predetermined distance L2. If the determination result is true (Yes) and less than the fourth predetermined distance L2, the process proceeds to step S64, the indicator lamp 15 is turned on with the display a to indicate the direction of the cautionary object, and the caution content is notified by sound from the speaker 17. Then, the process returns to step S56. If the determination result is false (No) and not less than the fourth predetermined distance L2, the process proceeds to step S58.

ステップＳ５８では、相対関係判定部１３にて自車９０の進行距離Ｌxが第５の所定距離Ｍ2（第４の所定距離Ｌ2より大）未満であるか判別する。判別結果が真（Ｙｅｓ）で第５の所定距離Ｍ2未満であればステップＳ６６に進み、表示灯１５を表示ｂで点灯し注意対象の方向を示し、且つ、スピーカ１７より音声で注意内容を報知し、ステップＳ５６へ戻る。判別結果が偽（Ｎｏ）で第５の所定距離Ｍ2以上であれば、ステップＳ６０に進む。 In step S58, the relative relationship determination unit 13 determines whether the travel distance Lx of the host vehicle 90 is less than the fifth predetermined distance M2 (greater than the fourth predetermined distance L2). If the determination result is true (Yes) and less than the fifth predetermined distance M2, the process proceeds to step S66, the indicator lamp 15 is turned on with the display b to indicate the direction of the cautionary object, and the caution content is notified from the speaker 17 by voice. Then, the process returns to step S56. If the determination result is false (No) and not less than the fifth predetermined distance M2, the process proceeds to step S60.

ステップＳ６０では、相対関係判定部１３にて自車９０の進行距離Ｌxが第６の所定距離Ｎ2（第５の所定距離Ｍ2より大）未満であるか判別する。判別結果が真（Ｙｅｓ）で第６の所定距離Ｎ2未満であればステップＳ６８に進み、表示灯１５を表示ｃで点灯し注意対象の方向を示し、且つ、スピーカ１７より音声で注意内容を報知し、ステップＳ５６へ戻る。判別結果が偽（Ｎｏ）で第６の所定距離Ｎ2以上であれば、ステップＳ６２へ進み出会い頭衝突防止支援を終了する。 In step S60, the relative relationship determination unit 13 determines whether the travel distance Lx of the host vehicle 90 is less than the sixth predetermined distance N2 (greater than the fifth predetermined distance M2). If the determination result is true (Yes) and less than the sixth predetermined distance N2, the process proceeds to step S68, the indicator lamp 15 is turned on with the display c to indicate the direction of the cautionary object, and the caution content is notified from the speaker 17 by voice. Then, the process returns to step S56. If the determination result is false (No) and is equal to or greater than the sixth predetermined distance N2, the process proceeds to step S62, and the encounter collision prevention support is terminated.

このように、本発明の第１実施例に係る運転支援装置によれば、自車９０の進行距離Ｌxに基づいて表示灯１５の表示を表示ａ〜表示ｃに適宜変化させ、自車の進行距離Ｌxに合わせて注意対象の方向を示し、且つ、音声で注意内容を報知することでドライバが容易で即座に理解可能な注意喚起情報を提供している。
これにより、簡易な構成でコストを低減しつつドライバへの注意喚起ができる。 As described above, according to the driving support apparatus according to the first embodiment of the present invention, the display of the indicator lamp 15 is appropriately changed from the display a to the display c based on the travel distance Lx of the host vehicle 90, and the host vehicle travels. The direction of the attention object is indicated in accordance with the distance Lx, and the attention information is provided by voice so that the driver can easily and easily understand the alert information.
Thereby, it is possible to alert the driver while reducing the cost with a simple configuration.

次に、第２実施例について説明する。
図７は、車両に搭載された本発明の第２実施例に係る運転支援装置の概略構成図である。
図７に示すように第２実施例では、上記第１実施例に対して、ハンドル角センサ３１及び切増し・切戻し角演算部３２を追加しており、以下に上記第１実施例と異なる点に付いて説明する。 Next, a second embodiment will be described.
FIG. 7 is a schematic configuration diagram of a driving support apparatus according to a second embodiment of the present invention mounted on a vehicle.
As shown in FIG. 7, in the second embodiment, a handle angle sensor 31 and an increase / return angle calculation unit 32 are added to the first embodiment, and the following differs from the first embodiment. I will explain the points.

ハンドル角センサ３１は、ハンドル角パルスより自車９０のハンドル９３の角度を検出するものである。
切増し・切戻し角演算部３２は、ハンドル角センサ３１により検出されるハンドル９３の角度からハンドル９３の切増し又は切戻し角度を演算するものである。
相関関係判定部１３’は、第１実施例と同様に道路線形・対向車位置演算部１２で演算する道路線形及び他車９１の位置情報及び進行距離演算部２２から入力される自車９０の進行距離Ｌxにより演算される自車９０の位置情報を基に自車９０と他車９１の相対位置を演算する。 The handle angle sensor 31 detects the angle of the handle 93 of the host vehicle 90 from the handle angle pulse.
The increase / return angle calculation unit 32 calculates the increase or decrease angle of the handle 93 from the angle of the handle 93 detected by the handle angle sensor 31.
Similar to the first embodiment, the correlation determination unit 13 ′ calculates the road alignment calculated by the road alignment / opposite vehicle position calculation unit 12 and the position information of the other vehicle 91 and the vehicle 90 input from the travel distance calculation unit 22. Based on the position information of the own vehicle 90 calculated from the travel distance Lx, the relative position of the own vehicle 90 and the other vehicle 91 is calculated.

また、相関関係判定部１３’は、上記演算結果及び切増し・切り戻し角演算部３２で演算したハンドル９３の切増し角θＭ又は切戻し角θＮに基づいて点灯させる表示灯１５を決定し、表示灯１５の点灯信号を表示灯駆動部１４へ出力し、同時に状況に合わせた音声の発生信号を音声発生部１６へ出力するものである。
図８は、本発明の第２実施例に係る右折時衝突防止支援システムの概要を説明する説明図であり、図９は、第２実施例に係る右折時衝突防止支援システムの注意喚起制御ルーチンを示すフローチャートである。 The correlation determination unit 13 ′ determines the indicator lamp 15 to be lit based on the calculation result and the increase angle θM or the return angle θN of the handle 93 calculated by the increase / return angle calculation unit 32. A lighting signal for the indicator lamp 15 is output to the indicator lamp drive unit 14, and at the same time, a sound generation signal suitable for the situation is output to the sound generator 16.
FIG. 8 is an explanatory diagram for explaining the outline of the right turn collision prevention support system according to the second embodiment of the present invention, and FIG. 9 shows the right turn collision prevention support system according to the second embodiment. It is a flowchart which shows.

図８において、車両の表示内容及び自車の進行区間は上記図３と同様である。
なお、（I）は距離Ｌ1の区間でのハンドル９３の状態、（II）は距離Ｍ1の区間でのハンドル９３の状態及び切増し角θＭ、（III）は距離Ｍ1の区間でのハンドル９３の状態及び切戻し角θＮを示す。
第２実施例では、上記第１実施例の右折衝突防止支援を進行距離Ｌxによる判別に加えて、ハンドル９３の切増し角θＭ又は切戻し角θＮによる判別を行っている点が相違しており、以下上記第１実施例と異なる点について説明する。
［右折衝突防止支援］
図９に示すようにステップＳ１０からステップＳ１８を経てステップＳ２０’では、相対関係判定部１３’にて自車９０の進行距離Ｌxが第１の所定距離Ｌ1未満であり、且つ切増し・切り戻し角演算部３２にてハンドルの切増し角θＭが所定の切増し角θ1未満であるか判別する。判別結果が真（Ｙｅｓ）で第１の所定距離Ｌ1未満であり、且つ所定の切増し角θ1未満であればステップＳ２８に進み、表示灯１５を表示ａで点灯し注意対象の方向を示し、且つ、スピーカ１７より音声で注意内容を報知し、ステップＳ２０’へ戻る。判別結果が偽（Ｎｏ）で第１の所定距離Ｌ1以上又は所定の切増し角θ1以上であれば、ステップＳ２２’に進む。 In FIG. 8, the display content of the vehicle and the traveling section of the own vehicle are the same as those in FIG.
(I) is the state of the handle 93 in the section of the distance L1, (II) is the state of the handle 93 and the increment angle θM in the section of the distance M1, and (III) is the handle 93 in the section of the distance M1. The state and the return angle θN are shown.
The second embodiment is different from the first embodiment in that the right turn collision prevention support of the first embodiment is determined by the additional angle θM or the return angle θN of the handle 93 in addition to the determination by the travel distance Lx. Hereinafter, differences from the first embodiment will be described.
[Right turn collision prevention support]
As shown in FIG. 9, from step S10 to step S18, in step S20 ′, the travel distance Lx of the host vehicle 90 is less than the first predetermined distance L1 in the relative relationship determination unit 13 ′, and is increased / returned. The angle calculator 32 determines whether the steering angle θM is less than a predetermined angle θ1. If the determination result is true (Yes), less than the first predetermined distance L1, and less than the predetermined increase angle θ1, the process proceeds to step S28, the indicator lamp 15 is turned on with the display a to indicate the direction of the attention object, Further, the attention content is notified by voice from the speaker 17, and the process returns to step S20 '. If the determination result is false (No) and is greater than or equal to the first predetermined distance L1 or greater than or equal to the predetermined increment angle θ1, the process proceeds to step S22 ′.

ステップＳ２２’では、相対関係判定部１３’にて自車９０の進行距離Ｌxが第２の所定距離（Ｌ1＋Ｍ1）未満であり、且つ切増し・切り戻し角演算部３２にてハンドルの切戻し角θＮが所定の切戻し角θ2未満であるか判別する。判別結果が真（Ｙｅｓ）で第２の所定距離（Ｌ1＋Ｍ1）未満であり、且つ所定の切戻し角θ2未満であればステップＳ３０に進み、表示灯１５を表示ｂで点灯し注意対象の方向を示し、且つ、スピーカ１７より音声で注意内容を報知し、ステップＳ２０’へ戻る。判別結果が偽（Ｎｏ）で第２の所定距離（Ｌ1＋Ｍ1）以上又は所定の切戻し角θ2以上であれば、ステップＳ２４に進む。
［出会い頭衝突防止支援］
出会い頭衝突防止支援では、第１実施例において相対関係判定部１３が判別を行っているのに対し、第２実施例では相対関係判定部１３’が判別を行う。判別内容は同一であり説明は省略する。 In step S22 ′, the travel distance Lx of the host vehicle 90 is less than the second predetermined distance (L1 + M1) in the relative relationship determination unit 13 ′, and the steering / turnback angle calculation unit 32 adds the steering wheel return angle. It is determined whether θN is less than a predetermined return angle θ2. If the determination result is true (Yes), less than the second predetermined distance (L 1 + M 1), and less than the predetermined switchback angle θ 2, the process proceeds to step S 30, the indicator lamp 15 is turned on with the display b, and the direction of the attention object is set. In addition, the attention content is notified by voice from the speaker 17, and the process returns to step S20 '. If the determination result is false (No) and is not less than the second predetermined distance (L1 + M1) or not less than the predetermined return angle θ2, the process proceeds to step S24.
[Preventing encounter collisions]
In the encounter collision prevention support, the relative relationship determination unit 13 performs the determination in the first embodiment, whereas the relative relationship determination unit 13 ′ performs the determination in the second embodiment. The content of the determination is the same and the description is omitted.

このように、本発明の第２実施例に係る運転支援装置によれば、自車９０の進行距離Ｌx及びハンドルの切増し角θＭ又は切戻し角θＮに基づいて表示灯１５を表示ａ〜ｃに適宜変化させ、自車の進行距離Ｌx及びハンドルの切増し角θＭ又は切戻し角θＮに合わせて正確に注意対象の方向を示し、且つ、音声で注意内容を報知することでドライバが容易で即座に理解可能な注意喚起情報を提供している。 As described above, according to the driving support apparatus according to the second embodiment of the present invention, the indicator lamps 15 are displayed a to c based on the travel distance Lx of the host vehicle 90 and the turning angle θM or the turning back angle θN of the steering wheel. The direction of the object of attention is accurately indicated in accordance with the traveling distance Lx of the host vehicle and the steering wheel turning angle θM or the turning back angle θN, and the contents of the warning are informed by voice. Provides alert information that can be understood immediately.

これにより、第１実施例と同様に簡易な構成でコストを低減しつつドライバへの注意喚起ができる。
次に、第３実施例について説明する。
図１０は、図示しない車両に搭載された本発明の第３実施例に係る運転支援装置の概略構成図である。 Thereby, it is possible to alert the driver while reducing the cost with a simple configuration as in the first embodiment.
Next, a third embodiment will be described.
FIG. 10 is a schematic configuration diagram of a driving support apparatus according to a third embodiment of the present invention mounted on a vehicle (not shown).

図１０に示すように第３実施例では、上記第１実施例に対して、車速センサ２１及び進行距離演算部２２をＧＰＳ受信部４１及び進行距離・方位角演算部４２に変更しており、以下に上記第１実施例と異なる点に付いて説明する。
ＧＰＳ受信部４１は、人工衛星からのＧＰＳ衛星信号を受信するものである。
進行距離・方位角演算部４２は、ＧＰＳ受信部４１で受信したＧＰＳ衛星信号から自車９０の方位角θx及び進行距離Ｌxを演算するものである。 As shown in FIG. 10, in the third embodiment, the vehicle speed sensor 21 and the travel distance calculation unit 22 are changed to a GPS reception unit 41 and a travel distance / azimuth calculation unit 42 with respect to the first embodiment. Hereinafter, differences from the first embodiment will be described.
The GPS receiver 41 receives GPS satellite signals from artificial satellites.
The travel distance / azimuth angle calculation unit 42 calculates the azimuth angle θx and the travel distance Lx of the host vehicle 90 from the GPS satellite signal received by the GPS reception unit 41.

相関関係判定部１３”は、道路線形・対向車位置演算部１２で演算する道路線形及び他車９１の位置情報及び進行距離・方位角演算部４２から入力される自車９０の進行距離Ｌxにより演算される自車９０の位置情報を基に他車９１と自車９０の相対位置を演算する。
また、相関関係判定部１３”では、進行距離・方位角演算部４２で演算される自車９０の方位角θx及び道路線形・対向車位置演算部１２で演算される他車９１の方位角θyより自車９０と他車９１の方位角の差θzも演算する。 The correlation determination unit 13 ″ determines the road alignment calculated by the road alignment / opposite vehicle position calculation unit 12 and the position information of the other vehicle 91 and the travel distance Lx of the host vehicle 90 input from the travel distance / azimuth calculation unit 42. Based on the calculated position information of the own vehicle 90, the relative position between the other vehicle 91 and the own vehicle 90 is calculated.
Further, in the correlation determination unit 13 ″, the azimuth angle θx of the host vehicle 90 calculated by the travel distance / azimuth angle calculation unit 42 and the azimuth angle θy of the other vehicle 91 calculated by the road alignment / opposite vehicle position calculation unit 12 are calculated. Further, the azimuth angle difference θz between the host vehicle 90 and the other vehicle 91 is also calculated.

また、相関関係判定部１３”は、上記の演算結果に基づいて点灯させる表示灯１５を決定し、表示灯１５の点灯信号を表示灯駆動部１４へ出力し、同時に状況に合わせた音声の発生信号を音声発生部１６へ出力するものである。
図１１は、本発明の第３実施例に係る右折時衝突防止支援システムの概要を説明する説明図であり、図１２は、第３実施例に係る右折時衝突防止支援システムの注意喚起制御ルーチンを示すフローチャートである。 Further, the correlation determination unit 13 ″ determines the indicator lamp 15 to be lit based on the above calculation result, outputs a lighting signal of the indicator lamp 15 to the indicator lamp drive unit 14, and simultaneously generates sound according to the situation. The signal is output to the sound generator 16.
FIG. 11 is an explanatory view for explaining the outline of the right turn collision prevention support system according to the third embodiment of the present invention, and FIG. 12 shows the right turn collision prevention support system according to the third embodiment. It is a flowchart which shows.

図１１において、車両の表示内容及び自車の進行区間は上記図３と同様であり、ここでは図中上方向は北を示す。
なお、（I）は距離Ｌ1の区間での自車９０の方位角θx、（II）は距離Ｍ1の区間での自車９０の方位角θx、（III）は距離Ｎ1の区間での自車９０の方位角θx、（IV）は他車９１の方位角θyを示す。また、方位角は北方向が０°である。 In FIG. 11, the display contents of the vehicle and the traveling section of the own vehicle are the same as those in FIG. 3, and here, the upper direction in the figure indicates north.
(I) is the azimuth angle θx of the own vehicle 90 in the section of the distance L1, (II) is the azimuth angle θx of the own vehicle 90 in the section of the distance M1, and (III) is the own vehicle in the section of the distance N1. The azimuth angle θx of 90, (IV) indicates the azimuth angle θy of the other vehicle 91. The azimuth angle is 0 ° in the north direction.

第３実施例では、上記第１実施例の右折衝突防止支援を進行距離Ｌxによる判別に加えて、自車９０と他車９１との方位角の差θzによる判別を行っている点が相違しており、以下上記第１実施例と異なる点について説明する。
［右折衝突防止支援］
図１２に示すようにステップＳ１０からステップＳ１８を経てステップＳ１９”では、相対関係判定部１３”にて自車９０と他車９１との方位角の差θzを演算する。 The third embodiment is different from the first embodiment in that the right-turn collision prevention support in the first embodiment is determined based on the azimuth angle difference θz between the host vehicle 90 and the other vehicle 91 in addition to the determination based on the travel distance Lx. Differences from the first embodiment will be described below.
[Right turn collision prevention support]
As shown in FIG. 12, from step S10 to step S18, in step S19 ″, the relative relationship determination unit 13 ″ calculates the azimuth difference θz between the host vehicle 90 and the other vehicle 91.

なお、方位角の差θzは、次式で表すことができる。
θz＝（他車方位角θy＋自車方位角θx）−１８０
但し、方位角の差θzが１８０°以上の場合、再度１８０°を減算する。
ステップＳ２０”では、相対関係判定部１３”にて自車９０の進行距離Ｌxが第１の所定距離Ｌ1未満であり、方位角の差θzが第１の所定方位角差θ3未満であるか判別する。判別結果が真（Ｙｅｓ）で第１の所定距離Ｌ1未満であり、且つ第１の所定方位角差θ3未満であればステップＳ２８に進み、表示灯１５を表示ａで点灯し注意対象の方向を示し、且つ、スピーカ１７より音声で注意内容を報知し、ステップＳ１９”へ戻る。判別結果が偽（Ｎｏ）で第１の所定距離Ｌ1以上又は第１の所定方位角差θ3以上であれば、ステップＳ２２”に進む。 The azimuth angle difference θz can be expressed by the following equation.
θz = (Other vehicle azimuth angle θy + own vehicle azimuth angle θx) −180
However, when the azimuth angle difference θz is 180 ° or more, 180 ° is subtracted again.
In step S20 ″, the relative relationship determination unit 13 ″ determines whether the traveling distance Lx of the host vehicle 90 is less than the first predetermined distance L1 and the azimuth angle difference θz is less than the first predetermined azimuth angle difference θ3. To do. If the determination result is true (Yes), less than the first predetermined distance L1, and less than the first predetermined azimuth angle difference θ3, the process proceeds to step S28, and the indicator lamp 15 is turned on with the display a to indicate the direction of the attention object. In addition, the caution content is notified by voice from the speaker 17, and the process returns to step S19 ". If the determination result is false (No) and the first predetermined distance L1 or more or the first predetermined azimuth difference θ3 or more, Proceed to step S22 ".

ステップＳ２２”では、相対関係判定部１３”にて自車９０の進行距離Ｌxが第２の所定距離（Ｌ1＋Ｍ1）未満であり、方位角の差θzが第２の所定方位角差θ4未満であるか判別する。判別結果が真（Ｙｅｓ）で第２の所定距離（Ｌ1＋Ｍ1）未満であり、第２の所定方位角差θ4未満であればステップＳ３０に進み、表示灯１５を表示ｂで点灯し注意対象の方向を示し、且つ、スピーカ１７より音声で注意内容を報知し、ステップＳ１９”へ戻る。判別結果が偽（Ｎｏ）で第２の所定距離（Ｌ1＋Ｍ1）以上又は第２の所定方位角差θ4以上であれば、ステップＳ２４に進む。
［出会い頭衝突防止支援］
出会い頭衝突防止支援では、第１実施例において相対関係判定部１３が判別を行っているのに対し、第３実施例では相対関係判定部１３”が判別を行う。判別内容は同一であり説明は省略する。 In step S22 ″, the travel distance Lx of the host vehicle 90 is less than the second predetermined distance (L1 + M1) and the azimuth difference θz is less than the second predetermined azimuth difference θ4 in the relative relationship determination unit 13 ″. To determine. If the determination result is true (Yes), less than the second predetermined distance (L1 + M1), and less than the second predetermined azimuth difference θ4, the process proceeds to step S30, the indicator lamp 15 is turned on with the display b, and the direction of the attention object In addition, the attention content is notified by voice from the speaker 17, and the process returns to step S19 ". When the determination result is false (No), the second predetermined distance (L1 + M1) or more or the second predetermined azimuth difference θ4 or more. If there is, the process proceeds to step S24.
[Preventing encounter collisions]
In the encounter collision prevention support, the relative relationship determination unit 13 performs the determination in the first embodiment, whereas in the third embodiment, the relative relationship determination unit 13 ″ performs the determination. Omitted.

このように、本発明の第３実施例に係る運転支援装置によれば、自車９０の進行距離Ｌx及び自車９０と他車９１との方位角の差θzに基づいて表示灯１５を表示ａ〜表示ｃに適宜変化させ、自車の進行距離Ｌx及び方位角の差θzに合わせて更に正確に注意対象の方向を示し、且つ、音声で注意内容を報知することで、ドライバが容易で即座に理解可能な注意喚起情報を提供している。 As described above, according to the driving support apparatus according to the third embodiment of the present invention, the indicator lamp 15 is displayed based on the traveling distance Lx of the own vehicle 90 and the azimuth difference θz between the own vehicle 90 and the other vehicle 91. The driver can be easily changed by appropriately changing from a to display c, indicating the direction of the attention object more accurately according to the traveling distance Lx of the vehicle and the difference θz in the azimuth angle, and notifying the attention content by voice. Provides alert information that can be understood immediately.

これにより、第１実施例と同様に簡易な構成でコストを低減しつつドライバへ注意喚起ができる。
以上で発明の実施形態の説明を終えるが、本発明の形態はこの実施形態に限定されるものではない。
例えば、上記実施形態では、道路が左側通行の車線規制の道路である場合を例に説明したが、右側通行の車線規制の道路である場合にも本発明を同様に適用可能である。この場合には、上記説明中「右」と「左」とを互いに読み替えるようにすればよい。 Thereby, it is possible to alert the driver while reducing the cost with a simple configuration as in the first embodiment.
This is the end of the description of the embodiment of the invention. However, the embodiment of the present invention is not limited to this embodiment.
For example, in the above-described embodiment, the case where the road is a road with a left-hand traffic lane restriction has been described as an example. However, the present invention can be similarly applied to a road with a right-hand traffic lane restriction. In this case, “right” and “left” in the above description may be read each other.

１運転支援装置
１１光ビーコン受信部
１２道路線形・対向車位置演算部
１３、１３’、１３” 相対関係判定部
１４表示灯駆動部
１５ａ表示灯（表示部）
１５ｂ表示灯（表示部）
１５ｃ表示灯（表示部）
１６音声発生部
１７スピーカ
２１車速センサ（車速検出部）
２２進行距離演算部
３１ハンドル角センサ（ハンドル角検出部）
３２切増し・切戻し角演算部
４１ＧＰＳ受信部
４２進行距離・方位角演算部
９０自車
９１他車
９２光ビーコン送信機 DESCRIPTION OF SYMBOLS 1 Driving assistance apparatus 11 Optical beacon receiving part 12 Road alignment and oncoming vehicle position calculating part 13, 13 ', 13 "Relative relation judging part 14 Indicator lamp drive part 15a Indicator lamp (display part)
15b Indicator lamp (display unit)
15c Indicator light (display part)
16 Sound generator 17 Speaker 21 Vehicle speed sensor (vehicle speed detector)
22 Travel distance calculation unit 31 Handle angle sensor (handle angle detection unit)
32 Increase / return angle calculation unit 41 GPS reception unit 42 Travel distance / azimuth calculation unit 90 Own vehicle 91 Other vehicle 92 Optical beacon transmitter

Claims

An optical beacon receiver that receives an optical beacon transmitted from an optical beacon transmitter installed on the road side;
Road alignment / opposite vehicle position calculation unit for calculating road alignment information of the vehicle and vehicle position information of the vehicle and other vehicles based on the optical beacon received by the optical beacon reception unit;
A vehicle progress state calculation unit for calculating the travel state of the vehicle;
A display unit that is arranged on the left, center, and right side of the vehicle width direction of the host vehicle that can be visually recognized by the driver, and that indicates the direction of the target to be noted;
A speaker that is arranged in the passenger compartment and informs the driver of the attention content;
A display driving unit for controlling lighting and extinction of the display unit;
An audio generator for outputting an audio signal to the speaker;
Based on the road alignment information, the vehicle position information, and the traveling state of the host vehicle, the relative positions of the host vehicle and the other vehicle are determined, and a display lamp lighting signal is sent to the display drive unit according to the determination result. And a relative relationship determination unit that outputs a voice generation signal.

The driving support device according to claim 1, wherein the own vehicle traveling state calculation unit includes a vehicle speed detection unit that detects a vehicle speed and a travel distance calculation unit that calculates a travel distance from the vehicle speed.

The own vehicle traveling state calculation unit includes a handle angle detection unit that detects a handle angle, and an increase / return calculation unit that calculates an increase angle or return angle of the handle from the handle angle. The driving support device according to claim 2.

The own vehicle traveling state calculating unit includes a GPS receiving unit that receives a GPS satellite signal from a GPS satellite, and a traveling distance / azimuth calculating unit that calculates a traveling distance and an azimuth angle of the own vehicle from the received GPS satellite signal. The driving support apparatus according to claim 1, wherein

The road is a left-hand traffic lane regulation road,
The relative relationship determination unit receives the road alignment information and the vehicle position information of the host vehicle and other vehicles at the optical beacon receiving unit, and then the oncoming vehicle travels in the direction of the intersection from the front, and the host vehicle turns right. In the implementation state, when the travel distance calculated by the travel distance calculation unit is less than the first predetermined distance, a display lamp lighting signal is generated to light the display lamp disposed at the center in the vehicle width direction. The indicator lamp disposed on the left side and the center in the vehicle width direction when the voice generation signal is output to the voice generator and the traveling distance is not less than the first predetermined distance and less than the second predetermined distance. When the traveling distance is greater than or equal to the second predetermined distance and less than the third predetermined distance, an indicator lamp lighting signal is output to turn on, and a sound generation signal is output to the sound generator. Turn on the indicator lamp And outputting a sound generated signal to the voice generating unit outputs a display lamp lighting signal to driving support apparatus according to claim 2.

The road is a road with left-hand traffic lane regulation,
The relative relationship determination unit receives the road alignment information and the vehicle position information of the host vehicle and other vehicles at the optical beacon receiving unit, and then the other vehicle travels in the direction of the intersection from the front, and the host vehicle turns right. If the state is an execution state, the travel distance calculated by the travel distance calculation unit is less than a first predetermined distance, and the steering wheel angle calculated by the increase / return calculation unit is a predetermined increase angle. When it is less than, the indicator lamp lighting signal is output to turn on the indicator lamp disposed at the center in the vehicle width direction, and the voice generating signal is output to the voice generator, and the travel distance is the first predetermined distance. When the distance between the steering wheel and the steering wheel is less than the second predetermined distance and the turning angle of the steering wheel is greater than or equal to a predetermined turning angle and less than the predetermined turning angle, the indicator lamps disposed on the left and center in the vehicle width direction should be turned on. When an indicator lighting signal is output When a sound generation signal is output to the sound generator, the travel distance is greater than or equal to the second predetermined distance and less than a third predetermined distance, and the return angle of the steering wheel is greater than or equal to a predetermined return angle, 4. The driving support device according to claim 3, wherein a display lamp lighting signal is output to turn on the indicator lamp disposed on the left side of the direction and a voice generation signal is output to the voice generation unit.

The road is a road with left-hand traffic lane regulation,
The relative relationship determination unit receives the road alignment information and the vehicle position information of the host vehicle and other vehicles at the optical beacon receiving unit, and then the other vehicle travels in the direction of the intersection from the front, and the host vehicle turns right. If it is an implementation state, the azimuth angle of the host vehicle calculated by the traveling distance / azimuth angle calculation unit and the azimuth angle of the vehicle position information calculated by the road alignment / opposite vehicle position calculation unit is greater than the azimuth angle. When the traveling distance calculated by the traveling distance / azimuth calculating unit is less than a first predetermined distance and the difference between the azimuths is less than a first predetermined azimuth difference, An indicator lamp lighting signal is output to illuminate the indicator lamp disposed at the same time and a voice generation signal is output to the voice generator, and the travel distance is greater than or equal to the first predetermined distance and less than a second predetermined distance and The difference between the azimuths is greater than or equal to a first predetermined azimuth difference and second When the difference between the azimuth angles is less than a predetermined azimuth difference, the indicator lamp lighting signal is output to turn on the indicator lamps disposed on the left and center in the vehicle width direction, and the voice generating signal is output to the voice generator, and the travel distance Is displayed to turn on the indicator lamp disposed on the left side in the vehicle width direction when the difference is not less than the second predetermined distance and less than the third predetermined distance and the azimuth difference is not less than the second predetermined azimuth difference. The driving support device according to claim 4, wherein a lamp lighting signal is output and a voice generation signal is output to the voice generation unit.

The relative relationship determination unit receives the road alignment information and the vehicle position information of the host vehicle and the other vehicle at the optical beacon receiving unit, and then the other vehicle travels in the intersection direction from the left direction, and the host vehicle is If the vehicle is in the straight running state, the indicator lamp to turn on the indicator lamp arranged at the center in the vehicle width direction when the traveling distance calculated by the own vehicle traveling state calculator is less than a fourth predetermined distance. When a lighting signal is output and a sound generation signal is output to the sound generator, and the traveling distance is greater than or equal to the fourth predetermined distance and less than a fifth predetermined distance, it is disposed on the left and center in the vehicle width direction. When the indicator lamp lighting signal is output to turn on the indicator lamp and a voice generation signal is output to the voice generator, and the traveling distance is not less than the fifth predetermined distance and less than the sixth predetermined distance, the vehicle width direction Turn on the indicator lamp on the left side. And outputting a sound generated signal to the voice generating unit outputs a display lamp lighting signal in order to, driving support apparatus according to any one of claims 2 to 7.