JP2016189074A - Notification device, notification method, and notification program - Google Patents

Abstract

PROBLEM TO BE SOLVED: To determine whether passing a parking vehicle is possible.SOLUTION: A notification device includes: a stopping detection section 101 for detecting the stopping of a bus in front of a self vehicle; an approach detection section 102 for detecting the approach of an oncoming vehicle traveling on an opposite traffic lane; and a notification section 104 for performing notification indicating the prohibition of passing the bus when the stopping of the bus is detected and the also the approach of the oncoming vehicle is detected. The notification section 104 cancels the notification of the prohibition of passing the bus when the oncoming vehicle has passed and also the approach of another oncoming vehicle is not detected.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a notification device, a notification method, and a notification program for notifying information on overtaking of a vehicle. However, utilization of this invention is not restricted to a notification apparatus, a notification method, and a notification program.

  2. Description of the Related Art Conventionally, there has been disclosed a technique for determining stopping or getting off of a pedestrian based on the state of a bus traveling in front of the host vehicle by inter-vehicle communication (see, for example, Patent Document 1 below).

JP 2014-67125 A

  In the above-mentioned conventional technology, it is difficult to judge whether it is possible to overtake the bus because it is difficult to see whether the oncoming vehicle is coming from the oncoming lane when the own vehicle tries to overtake the bus that is stopped Is given as an example.

  In order to solve the above-described problems and achieve the object, a notification device according to the invention of claim 1 includes a stop detection means for detecting a stop of a forward moving body in front of the host vehicle, and an opposing movement that travels in an opposite lane. An approach detecting means for detecting approach of a body, and a notification for notifying overtaking of the forward moving body when a stop of the forward moving body is detected and an approach of the opposing moving body is detected And means.

  The notification method according to an eighth aspect of the present invention is the notification method implemented by the notification device, wherein a stop detection step for detecting a stop of a forward moving body in front of the host vehicle and an opposite moving body traveling in an opposite lane are provided. An approach detecting step for detecting approach, and a notifying step for notifying overtaking of the forward moving body when a stop of the forward moving body is detected and an approach of the opposing moving body is detected; , Including.

  A notification program according to a ninth aspect of the invention causes a computer to execute the notification method according to the eighth aspect.

FIG. 1 is a block diagram illustrating an example of a functional configuration of the notification device according to the embodiment. FIG. 2 is a flowchart illustrating an example of a processing procedure of the notification device according to the embodiment. FIG. 3 is a block diagram illustrating an example of a hardware configuration of the navigation device according to the embodiment of the notification device. FIG. 4 is a diagram for explaining determination contents of overtaking prohibition in consideration of the oncoming moving body by the navigation device according to the embodiment. FIG. 5 is a diagram for explaining cancellation details of the overtaking prohibition by the navigation device according to the embodiment. FIG. 6 is a diagram illustrating determination details of overtaking prohibition in consideration of a backward moving body by the navigation device according to the embodiment. FIG. 7 is a diagram illustrating determination details of overtaking prohibition in consideration of the end of user boarding / alighting on the bus by the navigation device according to the embodiment. FIG. 8 is a diagram illustrating the determination content of the stop position behind the bus by the navigation device according to the example. FIG. 9 is a diagram for explaining a range in which notification / release at the time of stopping / departing of a bus by the navigation device according to the embodiment. FIG. 10 is a diagram for explaining determination contents by communication with the user's pedestrian terminal at the bus stop by the navigation device according to the embodiment. FIG. 11 is a flowchart illustrating an example of main determination and notification processing executed by the navigation device according to the embodiment. FIG. 12 is a flowchart illustrating an example of determination and notification processing at the time of departure of a bus, which is performed by the navigation device according to the example. FIG. 13 is a flowchart illustrating an example of determination and notification processing when the bus is stopped performed by the navigation device according to the embodiment. FIG. 14 is a flowchart illustrating an example of determination and notification processing at the time of bus stop performed by communication with the pedestrian terminal executed by the navigation device according to the example.

(Embodiment)
Exemplary embodiments of a notification device, a notification method, and a notification program according to the present invention will be explained below in detail with reference to the accompanying drawings. In the following description, the own vehicle is a vehicle such as an automobile equipped with a notification device, and the forward moving body is a moving body that travels in front of the own vehicle, and stops on a road ahead of the traveling direction of the own vehicle. The moving body (various vehicles) inside is the target. For this reason, when the vehicle approaches the bus, it is necessary to determine whether to stop behind the bus or overtake the bus using the oncoming lane and to drive the vehicle.

  In the following description, a bus that stops at a bus stop for getting on and off by a user will be described as a front moving body, and the opposite moving body and the rear moving body will be described using an unspecified vehicle as an example. Also, if the road is a one-way lane, the vehicle will use the opposite lane, and if it is a multi-lane, such as a two-way lane, it will not go to the opposite lane (passing lane, etc.) Let's take an example of overtaking using.

  FIG. 1 is a block diagram illustrating an example of a functional configuration of the notification device according to the embodiment. Notification device 100 includes a stop detection unit 101, an approach detection unit 102, and a notification unit 104.

  The stop detection unit 101 detects a stop of a forward moving body that travels in front of the same lane as the host vehicle. Moreover, the stop detection part 101 detects the stop of a front mobile body based on receiving the signal of a stop from a front mobile body. The approach detection unit 102 detects the approach of the opposite moving body traveling in the opposite lane. Further, the approach detection unit 102 detects the approach of a rear moving body traveling in another lane with the same traveling direction as the host vehicle.

  The stop detection unit 101 and the approach detection unit 102 transmit and receive information between the own vehicle and the forward moving body by, for example, direct communication (inter-vehicle communication) between the own vehicle and another vehicle. Then, the stop of the forward moving body is detected. In addition, by transmitting and receiving information between the vehicle and the forward moving body, the approach of the opposite moving body and the backward moving body is detected.

  For this reason, the stop detection unit 101 and the approach detection unit 102 may be connected to a communication unit for vehicle-to-vehicle communication or may have a function of a communication unit for vehicle-to-vehicle communication. A communication unit for inter-vehicle communication broadcasts vehicle information to an unspecified number of other vehicles, and receives vehicle information broadcast from other vehicles. The vehicle information includes vehicle identification information (vehicle ID), latitude / longitude information indicating the position of the vehicle, vehicle speed information indicating the travel speed of the vehicle, travel direction information indicating the travel direction of the vehicle, and travel of the vehicle. Traveling road information indicating the road number (including the lane number) of the middle road.

  Further, when the forward moving body is a bus, the vehicle information further includes information that the user is getting on and off, information that the user gets off and gets off, and identification information (bus stop ID) of the bus stop that stops. May be transmitted. Furthermore, since there are buses of the operation system that pass through the bus stop, it is possible to judge overtaking for the buses that are scheduled to stop at the bus stop by transmitting including the operation system (all bus stops that stop). (Excludes overtaking for buses that do not stop at bus stops).

  When the forward moving body is a bus stopped at a bus stop, it can be detected based on the vehicle ID included in the vehicle information transmitted by the bus, and the latitude / longitude information is obtained from the position of the bus stop (latitude / longitude) on the map data. ) Can be detected to be located at the bus stop. Further, it can be detected from the vehicle speed information that the vehicle is stopped if the speed is zero. Further, it is possible to detect that the vehicle is scheduled to stop at the bus stop when the speed decreases as it approaches the bus stop, and that the vehicle has already left the bus stop when the speed increases as it moves away from the bus stop.

  Based on continuously receiving the vehicle information (position, vehicle speed, direction, road number, lane) of other vehicles in the vicinity of the host vehicle, the stop detection unit 101 and the approach detection unit 102 are obtained by inter-vehicle communication, It detects (calculates) the movement state (stop / running, etc.) of the other vehicle and the movement state (approach / passing, etc.) of the other vehicle relative to the host vehicle.

  Moreover, the stop detection part 101 may detect the presence or absence of the user who waits in the pre-stop position of a front moving body. For example, the communication unit of the vehicle has a user waiting for the bus (forward moving body) at the bus stop by performing inter-pedestrian communication with a portable pedestrian terminal such as a smartphone held by the user. Is detected.

  For example, the notification device 100 acquires the position of the bus stop set in the map data. The map data may be held inside the notification device 100 or may be held by an external server, and the notification device 100 can acquire the bus stop position from the server. And the stop detection part 101 detects the presence or absence of the user at a bus stop by the position (latitude and longitude) of the user detected by inter-vehicle communication and the position of the bus stop, and when there is a user near the bus stop, It is determined that the bus located in front of the host vehicle is scheduled to stop at the bus stop, and this bus is treated as a forward moving object to be overtaken. When there is no user in the vicinity of the bus stop, it is determined that the bus located in front of the own vehicle passes without stopping at the bus stop, and this bus may be excluded from the target of the forward moving object to be overtaken.

  Furthermore, the stop detection unit 101 receives from the bus (front moving body) that the user getting on the bus gets off by operating the get-off button or the like, and detects the stop (planned) of the bus (front moving body). You can also

  In the description of FIG. 1, for convenience of explanation, the moving object to be overtaken is a forward moving object, and the forward moving object is detected by the stop detection unit 101. In addition, the approaching detection unit 102 detects the opposite moving body and the backward moving body. Not only this but a single detection part can also be set as the function structure which detects all a front moving body, an opposing moving body, and a back moving body.

  The notification unit 104 notifies that the overtaking of the forward moving body is prohibited when the stop of the forward moving body is detected and the approach of the opposite moving body is detected. In addition, the notification unit 104 notifies that the overtaking of the front moving body is prohibited when the stop of the front moving body is detected and the approach of the rear moving body is detected. And the notification part 104 cancels | releases notification, when an opposing moving body passes and the approach of another opposing moving body is not detected.

  Further, the notification device 100 may include a determination unit 103. In this case, the notification unit 104 performs notification based on the determination result of the determination unit 103. The determination unit 103 determines whether the forward moving body can be overtaken based on the distance between the own vehicle and the forward moving body and the respective speeds, and the distance between the own vehicle and the opposite moving body and the respective speeds. . The determination unit 103 determines overtaking on the assumption that the vehicle, the forward moving body, the opposite moving body, and the backward moving body are all traveling on the same road (same link) on the map data.

  In addition, when the traveling lane is a plurality of lanes (for example, two lanes in one way), the determination unit 103 detects the approach of the rear moving body traveling in another lane in the same traveling direction as the own vehicle. When the stop of the forward moving body is detected and the approach of the backward moving body is detected, overtaking of the forward moving body is prohibited. For example, when overtaking a forward moving body while the vehicle is driving in the driving lane (left lane), the overtaking lane (right lane) will be used. Detects the approaching state of a moving object and makes an overtaking decision.

  Furthermore, the determination unit 103 can also determine that the forward moving body stops based on the presence of the user at the predetermined position in front as described above by the detection of the stop detection unit 101.

  The notification unit 104 notifies the user of the determination result by the determination unit 103 through screen display, audio output, or the like. For example, when the result of the determination is that overtaking of the forward moving body is prohibited, a warning notification prohibiting overtaking is performed. When the determination result is not overtaking prohibition of the forward moving body, notification may not be performed, or it may be notified that overtaking is possible. In addition, when the overtaking prohibition by the determination unit 103 is released, the notification unit 104 may perform a notification indicating that overtaking is possible.

  The notification unit 104 may also notify the vehicle information of the approaching moving body and the backward moving body that are approaching. This vehicle information can be notified at the time of determination of overtaking prohibition by the determination of the determination unit 103.

  FIG. 2 is a flowchart illustrating an example of a processing procedure of the notification device according to the embodiment. A processing example of overtaking determination for a forward moving body executed by the notification device 100 is shown. First, the notification device 100 determines whether a stop of the forward moving body (bus) is detected (step S201). When the stop of the forward moving body (bus) is detected (step S201: Yes), the process proceeds to step S202, and when the stop of the forward moving body (bus) is not detected (step S201: No), the process ends.

  In step S202, the notification device 100 determines whether the opposite moving body is approaching (step S202). When the opposing mobile body is approaching the host vehicle (step S202: Yes), the process proceeds to step S203, and when the opposing mobile body is not approaching (step S202: No), the process is terminated.

  In step S203, it is determined whether the forward moving body can be overtaken (step S203). For example, the distance between the vehicle and the forward moving body and the respective speeds are detected. Further, the distance between the own vehicle and the opposite moving body and the respective speeds are detected. Then, based on the speed and distance of the forward moving person and the opposite moving body, the time required for overtaking the forward moving body by the own vehicle is obtained, and the time required for overtaking is compared with a predetermined threshold (for example, a fixed value), If the time required for overtaking is less than or equal to the threshold, if overtaking is performed, it is determined that the vehicle is in contact with the oncoming moving body, and it is determined that overtaking is prohibited.

  In step S204, if the overtaking determination result in step S203 is overtaking prohibited (step S204: Yes), the process proceeds to step S205, and if the overtaking result is overtaking (step S204: No), the process is performed. finish.

  In step S205, the determination result of overtaking prohibition is notified to the user by screen display or audio output (step S205), and the above processing ends.

  In the above processing, the processing contents up to the determination of overtaking prohibition and the notification have been described. However, after the processing of FIG. 2, the forward moving body is stopped and the opposite moving body passes the position of the own vehicle. The overtaking prohibition can be canceled based on the fact that the distance between the own vehicle and the opposite moving body starts from decreasing to increasing.

  In the process of FIG. 2, the process when the opposite moving body approaches is described, but in addition to this, when the traveling lane is a plurality of lanes, overtaking can be determined including the approach of the rear moving body.

  According to the above embodiment, the notification device determines whether or not the forward moving body can be overtaken while the forward moving body is stopped in consideration of the oncoming vehicle approaching the host vehicle and the approaching state. Notify if it is dangerous to overtake. Accordingly, it is possible to notify the user whether or not the forward moving body that is stopped can be safely overtaken, and the user can appropriately drive safely according to the notification.

  Next, examples of the present invention will be described. In the embodiment, an example in which the navigation device 300 is mounted on a user's vehicle and the navigation device 300 executes the function of the notification device 100 will be described.

(Hardware configuration of navigation device 300)
FIG. 3 is a block diagram illustrating an example of a hardware configuration of the navigation device according to the embodiment of the notification device. In FIG. 3, a navigation device 300 includes a CPU 301, ROM 302, RAM 303, magnetic disk drive 304, magnetic disk 305, optical disk drive 306, optical disk 307, audio I / F (interface) 308, microphone 309, speaker 310, input device 311, A video I / F 312, a display 313, a communication I / F 314, a GPS unit 315, various sensors 316, and a camera 317 are provided. Each component 301 to 317 is connected by a bus 320.

  The CPU 301 governs overall control of the navigation device 300. The ROM 302 records a boot program and a notification program. The RAM 303 is used as a work area for the CPU 301. That is, the CPU 301 controls the entire navigation device 300 by executing various programs recorded in the ROM 302 while using the RAM 303 as a work area.

  The magnetic disk drive 304 controls the reading / writing of the data with respect to the magnetic disk 305 according to control of CPU301. The magnetic disk 305 records data written under the control of the magnetic disk drive 304. As the magnetic disk 305, for example, an HD (hard disk) or an FD (flexible disk) can be used.

  The optical disk drive 306 controls reading / writing of data with respect to the optical disk 307 according to the control of the CPU 301. The optical disk 307 is a detachable recording medium from which data is read according to the control of the optical disk drive 306. As the optical disc 307, a writable recording medium can be used. In addition to the optical disk 307, an MO, a memory card, or the like can be used as a removable recording medium.

  Examples of information recorded on the magnetic disk 305 and the optical disk 307 include map data, vehicle information, road information, travel history, and the like. Map data is used when searching for routes in car navigation systems. Background data that represents features (features) such as buildings, rivers, ground surfaces, and energy supply facilities, and road shapes that represent road shapes with links and nodes. It is vector data including data.

  The audio I / F 308 is connected to a microphone 309 for audio input and a speaker 310 for audio output. The sound received by the microphone 309 is A / D converted in the sound I / F 308. For example, the microphone 309 is installed in a dashboard portion of a vehicle, and the number thereof may be one or more. From the speaker 310, a sound obtained by D / A converting a predetermined sound signal in the sound I / F 308 is output.

  Examples of the input device 311 include a remote controller having a plurality of keys for inputting characters, numerical values, various instructions, and the like, a keyboard, and a touch panel. The input device 311 may be realized by any one form of a remote control, a keyboard, and a touch panel, but can also be realized by a plurality of forms.

  The video I / F 312 is connected to the display 313. Specifically, the video I / F 312 is output from, for example, a graphic controller that controls the entire display 313, a buffer memory such as a VRAM (Video RAM) that temporarily records image information that can be displayed immediately, and a graphic controller. And a control IC for controlling the display 313 based on the image data to be processed.

  The display 313 displays icons, cursors, menus, windows, or various data such as characters and images. As the display 313, for example, a TFT liquid crystal display, an organic EL display, or the like can be used.

  The camera 317 captures an image including a road outside the vehicle. The image may be either a still image or a moving image. For example, the outside of the vehicle is photographed by the camera 317, and the photographed image is analyzed by the CPU 301, or a recording medium such as the magnetic disk 305 or the optical disk 307 via the video I / F 312. Or output to

  The communication I / F 314 is connected to a network via wireless and functions as an interface between the navigation device 300 and the CPU 301. Communication networks that function as networks include in-vehicle communication networks such as CAN and LIN (Local Interconnect Network), public line networks and mobile phone networks, DSRC (Dedicated Short Range Communication), LAN, and WAN. The communication I / F 314 is, for example, a public line connection module, an ETC (non-stop automatic fee payment system, registered trademark) unit, an FM tuner, a VICS (Vehicle Information and Communication System) / beacon receiver, or the like.

  The GPS unit 315 receives radio waves from GPS satellites and outputs information indicating the current position of the vehicle. The output information of the GPS unit 315 is used when the CPU 301 calculates the current position of the vehicle together with output values of various sensors 316 described later. The information indicating the current position is information for specifying one point on the map data such as latitude / longitude and altitude.

  The various sensors 316 output information for determining the position and behavior of the vehicle, such as a vehicle speed sensor, an acceleration sensor, an angular velocity sensor, and a tilt sensor. The output values of the various sensors 316 are used for the calculation of the current position of the vehicle by the CPU 301 and the amount of change in speed and direction.

  The notification device 100 shown in FIG. 1 uses the programs and data recorded in the ROM 302, RAM 303, magnetic disk 305, optical disk 307, etc. shown in FIG. The function of the determination unit 103 is realized.

  In addition, the communication I / F 314 of FIG. 3 is used to perform communication by short-range wireless communication using radio waves for communication with other vehicles. With this communication, the functions of the stop detection unit 101 and the approach detection unit 102 in FIG. 1 can be realized. Further, the function of the notification unit 104 in FIG. 1 can be realized by using the display 313, the speaker 310, and the like in FIG. Note that the communication I / F 314 may communicate with other vehicles via a network.

  Next, processing by various states will be described for overtaking a forward moving body (bus) that is stopped. A description will be given using an example in which the front moving body is the bus 402, the opposite moving body is the oncoming vehicle 403, the rear moving body is the rear vehicle 404, and the navigation device 300 (notification device 100) is mounted on the own vehicle 401.

(Notification processing when an oncoming vehicle approaches)
FIG. 4 is a diagram for explaining determination contents of overtaking prohibition in consideration of the oncoming moving body by the navigation device according to the embodiment. The vehicle 401 on the road 400 is traveling in the driving lane A, and the bus 402 is stopped at the bus stop 410 in front of the vehicle 401 for getting on and off the user. Further, the oncoming vehicle 403 is traveling on the oncoming lane B.

  In the state of FIG. 4, the bus 402 indicates that the vehicle is stopped according to vehicle information D1 (vehicle position, vehicle speed information, traveling direction, etc.) via inter-vehicle communication. Etc.). Similarly, the own vehicle 401 and the oncoming vehicle 403 also transmit that they are running to surrounding mobile bodies by the vehicle information D2 of the inter-vehicle communication.

  Thereby, the navigation apparatus 300 of the own vehicle 401 receives the vehicle information D1 of the bus 402 and the vehicle information D2 of the oncoming vehicle 403, and indicates that the bus 402 is stopped at the position of the bus stop 410 and the oncoming vehicle. It is detected that 403 is approaching and traveling.

  Then, the navigation device 300 of the own vehicle 401 has the oncoming vehicle 403 approaching from the front based on the fact that the bus 402 is stopped at the position of the bus stop 410 and the oncoming vehicle 403 is approaching. Notify that In this way, by notifying the user (driver) of the own vehicle that the oncoming vehicle 403 is approaching, it is possible to notify that there is a danger in overtaking.

  Further, the navigation device 300 determines whether or not the bus 402 can be overtaken based on the distance L1 between the own vehicle 401 and the bus 402 and the respective speeds, and the distance L2 between the own vehicle 401 and the oncoming vehicle 403 and the respective speeds. Judging.

  For example, the navigation device 300 holds the time required for the vehicle to safely overtake as a fixed value (for example, 15 seconds). And the navigation apparatus 300 calculates | requires distance L3 (L2-L3) of the bus | bath 402 and oncoming vehicle 403 required in order to pass the bus | bowl 402 safely. At this time, if the speed of the oncoming vehicle 403 is 40 km / h, it is determined that the distance L3 needs (40 × 1000/3600) × 15 = about 170 m.

  Accordingly, if the distance L3 between the bus 402 and the oncoming vehicle 403 is 170 m or less, the navigation device 300 determines that overtaking of the bus 402 is dangerous and prohibits overtaking, and notifies the user of the own vehicle 401 of overtaking prohibited. .

  FIG. 5 is a diagram for explaining cancellation details of the overtaking prohibition by the navigation device according to the embodiment. After the state shown in FIG. 4, it is assumed that the oncoming vehicle 403 has passed the position of the own vehicle 401 while traveling in the oncoming lane (in the example of FIG. 4, the own vehicle 401 is not overtaking the bus 402). In this case, when the oncoming vehicle 403 passes through the position of the own vehicle 401, the navigation device 300 cancels the notification of overtaking that has been performed so far.

  At this time, when the oncoming vehicle 403 approaches the own vehicle 401, the mutual distance (absolute distance) decreases, and by passing the position of the own vehicle 401 as shown in FIG. The mutual distance turns to increase. The navigation device 300 cancels the overtaking prohibition notification when the mutual distance between the own vehicle 401 and the oncoming vehicle 403 changes from decreasing to increasing.

(Notification process when approaching rear vehicle when driving in 2 lanes)
FIG. 6 is a diagram illustrating determination details of overtaking prohibition in consideration of a backward moving body by the navigation device according to the embodiment. As shown in FIG. 6, the host vehicle travels on a driving lane A1 on a two-lane road 400, and a bus 402 is stopped in front of the driving lane A1. It is assumed that the rear car 404 is traveling behind the direction.

  As shown in FIG. 6, when the own vehicle 401 is traveling on a road with multiple lanes, the navigation device 300 determines whether to pass the bus 402 using the overtaking lane A2 instead of overtaking using the oncoming lane B. Do. The determination of overtaking of the bus 402 takes into account the approaching state of the rear vehicle 404, and the rear vehicle 404 is positioned behind the traveling direction of the own vehicle 401 until the own vehicle 401 passes the bus 402. It is determined that overtaking is possible.

  For this reason, the navigation apparatus 300 calculates | requires the distance L4 of the own vehicle 401 and the back vehicle 404. FIG. At this time, if the speed of the rear vehicle 404 is 60 km / h, it is determined that (60 × 1000/3600) × 15 = about 250 m is required as the distance L4.

  Accordingly, if the distance L4 between the bus 402 and the rear vehicle 404 is 250 m or less, the navigation device 300 determines that overtaking the bus 402 is dangerous and prohibits overtaking, and notifies the user of the own vehicle 401 of overtaking prohibited. .

(Notification processing at the end of passenger boarding / departing by bus)
FIG. 7 is a diagram illustrating determination details of overtaking prohibition in consideration of the end of user boarding / alighting on the bus by the navigation device according to the embodiment. When the user's boarding / exiting at the bus stop 410 is completed, the bus 402 transmits the vehicle information D1 of inter-vehicle communication including the fact that the user's boarding / exiting is completed. A signal indicating that the user's boarding / exit has ended may be used as a signal indicating the departure of the bus 402. In addition to this signal, the hazard is canceled or the operation of the right turn signal is transmitted as a signal indicating the departure. May be.

  Thereby, the navigation apparatus 300 of the own vehicle 401 can judge the overtaking prohibition of the bus 402 based on the departure of the stopped bus 402 and can notify the user of the own vehicle 401 of the overtaking prohibition. The bus 402 departs when the user gets on and off, but the approach of the own vehicle 401 to the bus 402 at the time of departure can be avoided.

(Notification processing of the stop position behind the bus)
FIG. 8 is a diagram illustrating the determination content of the stop position behind the bus by the navigation device according to the example. When the bus 402 departs at the bus stop 410, the navigation device 300 determines a position where the traveling vehicle 401 can stop safely behind the bus 402.

  The bus 402 transmits the vehicle information D1 of the vehicle-to-vehicle communication including the fact that the boarding / exiting of the user is completed and the vehicle starts. Thereby, the navigation apparatus 300 can notify a user of the departure of the bus 402.

  The navigation device 300 notifies the position where the vehicle 402 can be safely stopped behind the bus 402 because it is dangerous if the vehicle 401 is traveling too close to the bus 402 that has just started. For example, if the speed of the host vehicle 401 is 40 km / h, it is determined that (40 × 1000/3600) × 10 = about 111 m is required as the distance L5 between the host vehicle 401 and the bus 402. The value “10” is a time (fixed value) from when the navigation device 300 receives the notification of “departure” of the bus 402 until the user (driver) of the own vehicle 401 determines and the actual vehicle 401 stops. ).

  As a result, the navigation device 300 notifies the vehicle 401 approaching the bus 402 when the bus 402 departs by notifying that it immediately stops if the distance L5 between the vehicle 401 and the rear vehicle 404 is 111 m or less. And a safe stop position can be notified.

(Bus departure notification process after the vehicle stops behind the bus)
FIG. 9 is a diagram for explaining a range in which notification / release at the time of stopping / departing of a bus by the navigation device according to the embodiment. A state in which the own vehicle 401 is stopped behind the bus 402 (speed 0 km) is shown. When the own vehicle 401 is stopped, the navigation device 300 notifies the notification / cancellation when the bus 402 stops or leaves when the distance L6 to the bus 402 is short. For example, the stop / departure of the bus 402 is notified to a vehicle whose distance L6 with the bus 402 is within 20 m (within three passenger cars). As a result, it is possible to call attention associated with stopping and departure of the bus 402.

(Notification processing when a bus departs while notifying the oncoming vehicle)
Referring to FIG. 4 described above, when the bus 402 departs while the navigation device 300 notifies the approach of the oncoming vehicle 403, the notification of the approach of the oncoming vehicle 403 that has been performed until then is canceled, and the bus 402 Notify that you are leaving. As a result, the navigation device 300 is necessary for the user of the host vehicle 401 without overlapping the notification of the approach of the oncoming vehicle 403 (FIG. 4) and the notification of departure of the bus 402 (FIG. 9). Information in an easy-to-understand manner.

  If the traveling lane is two or more lanes, the navigation device 300 performs the determination process for the rear vehicle 404 instead of the oncoming vehicle 403, and cancels the notification of the approach of the rear vehicle 404 that has been performed so far. To notify that the bus 402 departs. As a result, the navigation device 300 is necessary for the user of the own vehicle 401 without overlapping the notification of the approach of the rear vehicle 404 (FIG. 6) and the notification of the departure of the bus 402 (FIG. 9). Information in an easy-to-understand manner.

(Notification processing for buses scheduled to stop)
The bus 402 described with reference to each of the above figures transmits the traveling state to the own vehicle 401 or the like by inter-vehicle communication (sends information when the vehicle stops at the bus stop 410), but before the bus stops at the bus stop 410, A stop at the bus stop 410 can be transmitted in advance. For example, when the user of the bus 402 operates the get-off button in order to get off at the next bus stop 410, the bus 402 transmits the vehicle information D1 indicating that the next stop is at the bus stop 410 by inter-vehicle communication. To do.

  Thereby, the navigation apparatus 300 of the own vehicle 401 can notify that the bus 402 stops at the bus stop 410 while the bus 402 is running (the bus 402 is a position before the bus stop 410). Thereby, the stop of the bus 402 can be notified to the user before the bus 402 actually stops, and a notification for performing safer driving can be performed.

(Notification processing by communication with bus passengers)
FIG. 10 is a diagram for explaining determination contents by communication with the user's pedestrian terminal at the bus stop by the navigation device according to the embodiment. The bus 402 stops at the bus stop 410 when there is a user getting off at the bus stop 410 or when there is a user 1001 getting on and off the bus 402 at the bus stop 410.

  For this reason, if the pedestrian terminal 1002 held by the user 1001 has the same function as the above-mentioned inter-vehicle terminal, the navigation device 300 performs inter-vehicle communication with the pedestrian terminal 1002. It can be carried out. At this time, the pedestrian terminal 1002 transmits user information instead of the vehicle information transmitted by the vehicle through the above-described inter-vehicle communication. The user information includes the current position (latitude / longitude) of the user.

  For example, if the pedestrian terminal 1002 of the user 1001 is located near the position of the bus stop 410, the navigation device 300 determines that the user 1001 is waiting for the arrival of the bus 402 at the bus stop 410. Note that the user 1001 may include and transmit information indicating “bus ride” via the pedestrian terminal 1002. Thereby, the navigation apparatus 300 can detect that the bus 402 stops at the bus stop 410 before the bus 402 actually reaches the bus stop 410, and by this detection, the bus 402 can be detected earlier than the actual stop. By grasping the stop position (bus stop 410), the overtaking determination process can be performed.

(Example of determination and notification processing performed by the navigation device)
FIG. 11 is a flowchart illustrating an example of main determination and notification processing executed by the navigation device according to the embodiment. The contents of processing executed by the CPU 301 of the navigation device 300 regarding the determination and notification of overtaking prohibition corresponding to the description of FIGS.

  The navigation device 300 first checks the position of the bus 402 when the user is getting on and off (stopped) (step S1101), and determines whether the bus 402 is positioned in front of the traveling lane of the own vehicle 401. (Step S1102). If the bus 402 is located at the front position of the own vehicle 401 (step S1102: Yes), the process proceeds to step S1103, and if the bus 402 is not located at the front position of the own vehicle 401 (step S1102: No), The process ends.

  In step S1103, the navigation device 300 checks the number of lanes (the number of lanes) on the running road (step S1103), and if it is one lane on one side (step S1104: Yes), the determination target for overtaking the bus 402 Vehicle (target vehicle) is set as an oncoming vehicle 403 (step S1105). If it is not one lane on one side (two or more lanes on one side) (step S1104: No), the vehicle to be determined for overtaking the bus 402 is set as the rear vehicle 404 (step S1106). The target vehicle is the oncoming vehicle 403 or the rear vehicle 404 described above.

  Thereafter, the navigation device 300 checks for the presence of the target vehicle (step S1107). For example, it is checked whether or not the target vehicle is on the same road 400 as the own vehicle 401 (within a predetermined distance from the own vehicle 401, for example, a distance that enables inter-vehicle communication). If there is a target vehicle (step S1108: Yes), the process proceeds to step S1109. If there is no target vehicle (step S1108: No), the process ends.

  In step S1109, the navigation apparatus 300 acquires information on the target vehicle (step S1109). Here, the vehicle information of the target vehicle is acquired by the inter-vehicle communication. Next, the navigation apparatus 300 checks the distance between the bus 402 and the target vehicle (the oncoming vehicle 403 or the rear vehicle 404) (step S1110).

  When the distance between the bus 402 and the target vehicle is within the predetermined distance (step S1111: Yes), the navigation device 300 notifies the vehicle 401 that the overtaking of the bus 402 is dangerous and prohibits overtaking. (Warning display or the like) is performed (step S1112), and the above processing is terminated. If the distance between the bus 402 and the target vehicle is a predetermined distance or more (step S1111: No), the process ends.

  FIG. 12 is a flowchart illustrating an example of determination and notification processing at the time of departure of a bus, which is performed by the navigation device according to the example. Corresponding to the description of FIG. 8, FIG. 9, etc., the processing contents executed by the CPU 301 of the navigation device 300 when the bus 402 departs are shown.

  The navigation device 300 first checks the speed of the host vehicle 401 (step S1201). If there is no speed (stopped) (step S1202: Yes), the distance when the host vehicle 401 is stopped is set (step S1203), and if there is speed (running) (step S1202: No), The distance when the host vehicle 401 is traveling is set (step S1204). For these distances, fixed values necessary for stopping the vehicle 401 are read and set in advance. Thereafter, the distance between the vehicle 401 and the bus 402 is checked (step S1205).

  If the distance between the vehicle 401 and the bus 402 is within the predetermined distance (step S1206: Yes), the navigation apparatus 300 checks whether an overtaking prohibition warning is being displayed (notifying) (step S1207). In addition, if the distance between the vehicle 401 and the bus 402 is not within the predetermined distance (step S1206: No), the navigation device 300 ends the process.

  If the overtaking prohibition warning is being displayed (notifying) (step S1208: Yes), the navigation apparatus 300 cancels the overtaking warning display (notification) (step S1209), proceeds to step S1210, and overtaking is prohibited. If no warning is being displayed (notifying) (step S1208: No), the process proceeds to step S1210.

  In step S1210, the navigation device 300 displays (notifies) the departure of the bus 402 (step S1210) and ends the process.

  FIG. 13 is a flowchart illustrating an example of determination and notification processing when the bus is stopped performed by the navigation device according to the embodiment. The processing content which CPU301 of the navigation apparatus 300 at the time of the above-mentioned bus 402 operation of the user's getting-off button in the bus 402 mentioned above is shown.

  When the user operates the get-off button for getting off at the next bus stop 410 in the bus 402, the bus 402 includes information indicating the operation of the get-off button (stop at the next bus stop 410) in the vehicle information of inter-vehicle communication. Do not send.

  The navigation apparatus 300 receives the vehicle information of the bus 402, thereby checking the distance between the bus 402 where the getting-off button is pressed and the host vehicle 401 (step S1301). Next, the navigation apparatus 300 determines whether the distance between the own vehicle 401 and the bus 402 is within a predetermined distance (step S1302).

  If it is determined in step S1302 that the distance between the vehicle 401 and the bus 402 is within the predetermined distance (step S1302: Yes), it is determined that the bus 402 is approaching the bus 402 scheduled to stop at the bus stop 410, and the bus Is notified (warning display) (step S1303), and the process ends. On the other hand, if the distance between the own vehicle 401 and the bus 402 is a predetermined distance or more (step S1302: No), it is determined that the vehicle is not approaching the bus 402 scheduled to stop, and the process is terminated without displaying a warning. To do.

  FIG. 14 is a flowchart illustrating an example of determination and notification processing at the time of bus stop performed by communication with the pedestrian terminal executed by the navigation device according to the example. Corresponding to the description of FIG. 10, processing contents executed by the CPU 301 of the navigation device 300 through communication with a pedestrian terminal 1002 possessed by a user waiting for boarding the bus 402 at the bus stop 410 are shown.

  The navigation device 300 checks the speed of the pedestrian terminal through communication with the pedestrian terminal 1002 in a state where the bus 402 is detected as a forward moving body (step S1401). If there is no speed as a result of the determination (step S1402: Yes), it is determined that the user has stopped, and the process proceeds to step S1403. On the other hand, if the result of determination in step S1401 is that there is a speed (step S1402: No), the processing is terminated assuming that the user is walking. This speed can be detected using a general walking speed of a pedestrian as a threshold value.

  Next, the navigation apparatus 300 acquires the position of the bus stop 410 from the map data (step S1403), and checks whether the pedestrian terminal 1002 is located near the bus stop 410 (step S1404). As a result of the determination, if the position of the pedestrian terminal 1002 is near the bus stop 410 (step S1405: Yes), it is determined that the bus 402 stops at the bus stop 410 (the user 1001 is on the bus), and the bus stops. Notification (warning display) is made (step S1406), and the process is terminated.

  On the other hand, if the position of the pedestrian terminal 1002 is far from the vicinity of the bus stop 410 (step S1405: No), it is determined that at least the user 1001 does not get on the bus, and communication with the pedestrian terminal 1002 is performed. The processing based on the processing ends. However, the processing of FIG. 11 is executed based on receiving information on stopping from the bus 402 thereafter.

  As described above, the navigation device determines whether or not the bus can be overtaken in consideration of the presence or absence of an oncoming vehicle approaching the host vehicle and the approaching state while the bus is stopped. Will notify. This makes it safe for the user to overtake a stopped bus even if it is difficult to see if an oncoming vehicle is approaching (for example, weather such as a curve, evening, or rain). You can tell if you can pass. Further, when the driving lane is a plurality of lanes, it is determined whether or not the bus can be overtaken while the bus is stopped in consideration of the presence / absence of a subsequent vehicle behind the host vehicle and the approaching state. Thus, the user can perform safe driving according to the notification of whether or not overtaking the bus is dangerous.

  In addition, based on the speed and distance of the vehicle, the bus, and the oncoming vehicle, the time required for overtaking is determined to determine whether the vehicle can be overtaken. It will be possible to judge.

  In addition, based on the reception of the information that the stopped bus departs from, it is possible to notify the overtaking prohibition of the bus and avoid the approach of the own vehicle to the bus at the time of departure. Further, it is possible to notify the position where the host vehicle can safely stop behind the bus based on the distance between the stopped bus and the host vehicle. In addition, when the vehicle stops behind the stopped bus, if the distance between the bus and the vehicle is short, it can be notified, and the user who gets on and off the bus urges attention such as crossing the road before and after the bus be able to.

  In addition, when a bus departs while an oncoming vehicle or a following vehicle is approaching, the notification of the approach of the oncoming vehicle or the following vehicle is canceled and the departure of the bus is notified, so necessary information according to the changing state every moment Can be clearly notified.

  Moreover, it is set as the structure which receives operation including the operation of a user's getting-off button as a vehicle information from a bus, or it is set as the structure which detects the presence of the user at a bus stop using communication with the user's terminal in a bus stop. As a result, it is possible to grasp in advance the stop schedule at the bus stop and to make an overtaking judgment in advance.

  In the embodiment described above, the navigation device is used as the notification device, and the configuration in which the navigation device is mounted on a moving body (vehicle) has been described as an example. However, the vehicle on which the notification device (navigation device) is mounted is an automobile. Not limited to this, it can be mounted on bicycles and motorcycles as well. In the above description, the bus has been described as an example of the forward moving body. However, the present invention can be similarly applied to various moving bodies on which the user gets on and off, for example, taxis. As another example of forward moving objects, delivery vehicles and various moving objects that are not frequently used by passengers but are parked on the shoulders of the road (trucks stopped by delivery, etc., and even ordinary cars) are also overtaken. Judgment can be made appropriately.

  Moreover, although the Example demonstrated as a structure which provides a navigation apparatus in the own vehicle, terminal devices, such as a smart phone and a tablet, can also be used besides this.

  The notification method described in the present embodiment can be realized by executing a program prepared in advance on a computer such as a personal computer or a workstation. This program is recorded on a computer-readable recording medium such as a hard disk, a flexible disk, a CD-ROM, an MO, and a DVD, and is executed by being read from the recording medium by the computer. The program may be a transmission medium that can be distributed via a network such as the Internet.

DESCRIPTION OF SYMBOLS 100 Notification apparatus 101 Stop detection part 102 Approach detection part 103 Judgment part 104 Notification part 300 Navigation apparatus 301 CPU
400 road 401 own vehicle 402 bus (moving forward)
403 Oncoming vehicle (opposing moving body)
404 Rear vehicle (rear vehicle)
410 Bus stop 1001 User 1002 Pedestrian terminal A (A1, A2) Driving lane B Oncoming lane D1, D2 Vehicle information

Claims (9)

Stop detection means for detecting a stop of a forward moving body in front of the host vehicle;
An approach detection means for detecting the approach of an opposite moving body traveling in an opposite lane;
A notification means for notifying overtaking of the forward moving body when a stop of the forward moving body is detected and an approach of the opposing moving body is detected;
A notification device comprising:   The notification device according to claim 1, wherein the notification unit cancels the notification when the counter moving body passes and an approach of another counter moving body is not detected. Judgment means for judging whether or not the forward moving body can be overtaken based on the distance between the own vehicle and the forward moving body and the respective speeds, and the distance between the own vehicle and the opposite moving body and the respective speeds; Further comprising
The notification device according to claim 1, wherein the notification unit performs the notification based on a determination result by the determination unit.   The notification according to any one of claims 1 to 3, wherein the stop detection unit detects a stop of the front moving body based on receiving a signal indicating a stop from the front moving body. apparatus.   The stop detection means detects the presence of a user waiting at a pre-stop position of the front moving body, and detects the stop of the front moving body based on the presence of the user. The notification device according to any one of 1 to 4. The approach detection means detects the approach of a rear moving body traveling in another lane in the same traveling direction when the traveling lane is a plurality of lanes,
The said notification means performs the said notification, when the stop of the said front mobile body is detected, and the approach of the said back mobile body is detected, The notification is any one of Claims 1-4 characterized by the above-mentioned. Notification device. The approach detection means acquires vehicle information of the opposing moving body and the backward moving body,
The notification device according to claim 1, wherein the notification unit also notifies vehicle information of the opposite moving body and the rear moving body at the time of the notification. In the notification method performed by the notification device,
A stop detection process for detecting a stop of a forward moving body in front of the host vehicle;
An approach detection step for detecting the approach of an opposite moving body traveling in an opposite lane;
A notification step of notifying overtaking of the forward moving body when a stop of the forward moving body is detected and an approach of the opposing moving body is detected;
The notification method characterized by including.   A notification program for causing a computer to execute the notification method according to claim 8.

Images