JP2018180882A - Driving support device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To support driving so as to join smoothly to a main lane at a junction point.SOLUTION: A driving support device providing a driving support for a vehicle joining a main lane smoothly at a junction point includes: a road-to-vehicle communication part 12 for receiving roadside information detected by a roadside device 2; an inter-vehicle communication part 13 for receiving another vehicle information that is information on another vehicle acquired by the another vehicle 3 traveling on the main lane; and a driving support processing part 14 for comparing information on the another vehicle included in the roadside information with the another vehicle information, determining reliability of the compared information, and deciding on driving support contents based on the reliability of the compared information.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a driving support device.

  Patent Document 1 below discloses a driving support device that supports the driving of a host vehicle based on the possibility of collision with another vehicle at an intersection. The driving support device determines the possibility of collision with another vehicle using the roadside-vehicle information received from the roadside device installed near the intersection, and supports the driving.

Patent No. 5287464 gazette

  The roadside apparatus that transmits roadside information may be affected by the weather or the like and detection accuracy may decrease. If driving is supported based on the road-to-vehicle information received from the roadside apparatus whose detection accuracy has decreased, the level of the driving support may decrease. Therefore, in the driving support device of Patent Document 1, when the detection accuracy of the roadside device is equal to or less than the specified value, the other vehicle information acquired from the other vehicle by inter-vehicle communication is added to the road-to-vehicle information, and the information after the addition Support driving.

  This driving assistance device assists driving so as to safely pass an intersection where traveling paths traveling in different directions cross each other. On the other hand, even in the case of driving assistance so that the main line can smoothly join at the junction where the traveling roads traveling in the same direction join, driving assistance based on the road-to-vehicle information received from the roadside device with reduced detection accuracy As the level of driving support decreases, it becomes difficult to support smooth merging.

  Then, this invention aims at providing the driving assistance device which can assist driving | operation so that it can join to a main line smoothly in a confluence | merging point.

  A driving assistance apparatus according to an aspect of the present invention is a driving assistance apparatus that implements driving assistance for a vehicle joining a main line at a junction, and includes a roadside information reception unit that receives roadside information detected by the roadside apparatus; The other vehicle information reception unit that receives other vehicle information that is information of the other vehicle acquired by the other vehicle traveling on the main line, and information on the other vehicle included in the roadside information is compared with the other vehicle information A determination unit that determines the reliability of the compared information, and a support content determination unit that determines the content of the driving support based on the reliability of the compared information.

  According to the present invention, it is possible to provide a driving assistance device capable of assisting driving so that the vehicle can smoothly join the main line at the junction point.

BRIEF DESCRIPTION OF THE DRAWINGS It is a figure which illustrates schematic structure of the driving assistance system containing the driving assistance device which concerns on embodiment.

  Preferred embodiments of the present invention will be described with reference to the accompanying drawings. In addition, what attached the same code | symbol in each figure has the same or same structure.

  The configuration of a driving support system including the driving support device according to the embodiment will be described with reference to FIG. The driving support system 1 includes, for example, a host vehicle information acquisition unit 11, a road-to-vehicle communication unit (roadside information receiving unit) 12, a vehicle-to-vehicle communication unit (other vehicle information receiving unit) 13, a driving support processing unit (determination unit, support content A determination unit) 14, a support output control unit 15, and a surrounding vehicle detection unit 16 are provided.

  Among these components included in the driving support system 1, at least the road-vehicle communication unit 12, the inter-vehicle communication unit 13, and the driving support processing unit 14 constitute a driving support apparatus according to the present embodiment. In addition, the component of a driving assistance device is not limited to this, Arbitrary components can be added suitably as needed.

  The host vehicle information acquisition unit 11 uses, for example, various sensors such as a gyro sensor, an acceleration sensor, a geomagnetic sensor, etc. mounted on the host vehicle, a GPS (Global Positioning System) receiver, etc. Also referred to as “own vehicle information”. The host vehicle information includes, for example, the position, speed, acceleration, direction, and the like of the host vehicle.

  The road-vehicle communication unit 12 performs wireless communication with the roadside apparatus 2 and receives information detected by the roadside apparatus 2 (hereinafter, also referred to as “roadside information”).

  Here, the roadside apparatus 2 in the present embodiment is installed, for example, on the main line side near a junction where a plurality of travel roads merge. The roadside apparatus 2 includes, for example, a sensor unit 21 and a transmission unit 22. The sensor unit 21 is, for example, an image sensor, a camera, a millimeter wave radar or the like, and detects, as roadside information, the position, speed, acceleration, direction, etc. of the other vehicle 3 traveling the main line. The transmitting unit 22 transmits the roadside information detected by the sensor unit 21.

  When the main line has a plurality of lanes, the roadside apparatus 2 detects at least the roadside information of the other vehicle 3 traveling in the traveling lane, and the roadside information of the other vehicle 3 traveling in the overtaking lane Alternatively, whether or not to detect may be arbitrarily set.

  Further, the position of the other vehicle 3 traveling on the main line can be determined, for example, by calculating the distance from any reference point and the direction. Here, since a time lag occurs from the detection of the roadside information to the transmission thereof, the position of the other vehicle 3 is moved during this time lag. Therefore, the roadside apparatus 2 may add to the roadside information and transmit (provide information) as time lag information, for example, an indication of the distance traveled during the time lag, an indication of the time occurring as the time lag, and the like. Further, roadside information corrected by the time lag information may be transmitted (provision of information) as estimation information without transmitting the time lag information. At that time, it may be notified together that it is estimated information.

  The inter-vehicle communication unit 13 performs bi-directional wireless communication with the other vehicle 3, transmits vehicle information, and receives vehicle information of the other vehicle 3 (hereinafter, also referred to as "other vehicle information"). Do. The driving support system 1 is mounted on the other vehicle 3 in the same manner as the host vehicle. The other vehicle information includes, for example, the position, the speed, the acceleration, the direction, and the like of the other vehicle 3 as in the case of the host vehicle information.

  The driving support processing unit 14 includes information such as the position and speed of the other vehicle 3 included in the roadside information received by the road-to-vehicle communication unit 12 and the other vehicle included in the other vehicle information received by the inter-vehicle communication unit 13. 3 is compared with information such as the position and speed, and the reliability of the compared information is determined. The reliability of the compared information can be determined, for example, as follows.

  (1) If the information included in the roadside information is the same as the information included in the other vehicle information, it is determined that the reliability of the compared information is high.

  (2) When the information included in the roadside information is different from the information included in the other vehicle information, or when the other vehicle information can not be received by the inter-vehicle communication unit 13, the reliability of the compared information is low. It is determined that

  Here, since the roadside information includes an error due to the above-described time lag, the accuracy or reliability of the information is low as compared with other vehicle information received from the same vehicle.

  However, when the information included in the roadside information is the same as the information included in the other vehicle information, the reliability of the roadside information is considered to be equal to the reliability of the other vehicle information, so the compared information is Can be determined to be as high as the reliability of other vehicle information.

  On the other hand, when the information included in the roadside information is different from the information included in the other vehicle information, it is considered that the difference is because the vehicle corresponding to the roadside information is different from the vehicle corresponding to the other vehicle information. Be Therefore, in such a case, it is desirable to implement merging support using roadside information even if the reliability is relatively low, so it is assumed that roadside information is used and the reliability of the compared information is low. judge.

  Similarly, when the other-vehicle information can not be received, the merging support is performed using roadside information with relatively low reliability, so it is determined that the reliability of the information to be compared is low.

  The drive support processing unit 14 determines the content to be supported based on the determined reliability, and requests the support output control unit 15 to perform the drive support. Specifically, when the driving support processing unit 14 determines that the reliability is low, the driving support processing unit 14 sets the level to support merging relatively low (for example, the information provision level), and performs driving support to the support output control unit 15 Let On the other hand, when the driving support processing unit 14 determines that the reliability is high, the driving support processing unit 14 sets the level for supporting the merging relatively high (for example, the alerting level or the alarm level), and the driving output support unit 15 To carry out.

  The support output control unit 15 carries out driving support by providing information and alerting the driver of the state of a vehicle traveling on the main line near the junction. Providing information to the driver and alerting may be performed, for example, by displaying on the display a message indicating that the approaching vehicle is present on the main line, or a voice message indicating that the approaching vehicle is present on the main line is used as a speaker It is good also as outputting by outputting from etc.

  The surrounding vehicle detection unit 16 uses, for example, various sensors such as a camera mounted on the host vehicle, a millimeter wave radar, and LiDAR (Light Detection and Ranging), and detects vehicle information of vehicles existing around the host vehicle (hereinafter Also referred to as “neighboring vehicle information”. The surrounding vehicle information includes, for example, the position, the speed, and the moving direction of the surrounding vehicle. Since the reliability of the surrounding vehicle information is higher than the reliability of the roadside information and the reliability of the other vehicle information, the driving support processing unit 14 uses the surrounding vehicle information in addition to the roadside information and the other vehicle information. By determining the above, it is possible to implement more reliable driving assistance.

  For example, the driving support processing unit 14 is included in the other vehicle information received by the inter-vehicle communication unit 13 and information such as the position and speed of the other vehicle 3 included in the roadside information received by the road-to-vehicle communication unit 12 The information such as the position and the speed of the other vehicle 3 and the information such as the position and the speed of the other vehicle 3 included in the surrounding vehicle information acquired by the surrounding vehicle detection unit 16 are compared with each other. It is good also as judging.

  As described above, according to the driving support system 1 in the embodiment, the roadside information detected by the roadside device 2 and the other vehicle information acquired by the other vehicle 3 traveling on the main line are received and included in the roadside information The degree of reliability of the compared information can be determined by comparing the information on the other vehicle 3 with the other vehicle information, and the content of the driving support can be determined based on the determined degree of reliability.

  That is, according to the driving support system 1 in the embodiment, when the determined reliability is low, the level for supporting the merging can be set relatively low, and the driving support can be performed at the information provision level, and it is determined. If the degree of reliability is high, it is possible to set the level to support merging relatively high, and to provide driving support at a warning level or a warning level.

  Therefore, according to the driving support system 1 in the embodiment, it is possible to support the driving so that the main line can be smoothly merged at the merging point.

[Modification]
The present invention is not limited to the above-described embodiment, and can be implemented in other various forms without departing from the scope of the present invention. For this reason, the said embodiment is only a mere illustration in all the points, and is not interpreted restrictively.

  Specifically, in the above-described embodiment, the driving support processing unit 14 determines the reliability of the information by comparing the information included in the roadside information with the information included in the other vehicle information. The method of determining the reliability of is not limited to this. For example, when the accuracy (reliability) of the roadside information transmitted from the roadside apparatus 2 is known, the merging support may be performed according to the accuracy. In this case, the detection accuracy of the sensor generally has a characteristic that the closer the object to be detected is, the higher the accuracy. Therefore, using such characteristics, the detection accuracy of the sensor may be added to the roadside information and transmitted. . Further, roadside information after correction based on the detection accuracy of the sensor may be transmitted. When transmitting the information after correction, it may be notified together that the roadside information is corrected.

  In addition, the driving support system in the above-described embodiment can also be implemented in the following manner.

(Supplementary Note 1)
A driving support device for performing driving support of a vehicle joining a main line at a junction,
A roadside information receiving unit that receives roadside information detected by the roadside apparatus;
Another vehicle information receiving unit that receives other vehicle information that is information of the other vehicle acquired by the other vehicle traveling on the main line,
A determination unit that compares the information related to the other vehicle included in the roadside information with the other vehicle information, and determines the reliability of the compared information;
A support content determination unit that determines the content of the driving support based on the reliability of the compared information;
A vehicle equipped with a driving support device comprising:

(Supplementary Note 2)
A method of controlling a driving support device for performing driving support of a vehicle joining a main line at a junction point, comprising:
A roadside information receiving step of receiving roadside information detected by the roadside apparatus;
Another vehicle information receiving step of receiving other vehicle information which is information of the other vehicle acquired by the other vehicle traveling on the main line,
A determination step of comparing the information on the other vehicle included in the roadside information with the other vehicle information to determine the reliability of the compared information;
A support content determination step of determining the content of the driving support based on the reliability of the compared information;
Driving support method including.

(Supplementary Note 3)
A driving support device for performing driving support of a vehicle joining a main line at a junction;
Roadside information receiving means for receiving roadside information detected by the roadside apparatus;
Other vehicle information receiving means for receiving other vehicle information that is information of the other vehicle acquired by the other vehicle traveling on the main line,
A determination unit that compares the information on the other vehicle included in the roadside information with the other vehicle information, and determines the reliability of the compared information;
Support content determination means for determining the content of the driving support based on the reliability of the compared information;
Driving support program to function as.

DESCRIPTION OF SYMBOLS 1 ... Driving assistance system, 2 ... Roadside apparatus, 3 ... Other vehicle, 11 ... Own vehicle information acquisition part, 12 ... Road-vehicle communication part, 13 ... Inter-vehicle communication part, 14 ... Driving assistance processing part, 15 ... Assistance output control Unit 21 ... Sensor unit 22 ... Transmission unit

Claims (1)

A driving support device for performing driving support of a vehicle joining a main line at a junction,
A roadside information receiving unit that receives roadside information detected by the roadside apparatus;
Another vehicle information receiving unit that receives other vehicle information that is information of the other vehicle acquired by the other vehicle traveling on the main line,
A determination unit that compares the information related to the other vehicle included in the roadside information with the other vehicle information, and determines the reliability of the compared information;
A support content determination unit that determines the content of the driving support based on the reliability of the compared information;
Driving assistance device comprising: