JP2018190028A - Driving assistance device - Google Patents

Abstract

An object of the present invention is to support smooth driving in the vicinity of a junction. Kind Code: A1 A driving support device for performing driving support for a vehicle traveling toward a merging point, the road side provided on a traveling path different from the traveling path on which the vehicle travels, among the traveling paths joining at the merging point. A road-to-vehicle communication unit 12 that receives roadside information detected by the device 2, another vehicle information acquisition unit 13 that acquires information about other vehicles existing in the vicinity of the vehicle, Driving assistance that provides driving assistance based on roadside information when the relative speed of the vehicle is greater than or equal to a predetermined speed, and provides driving assistance based on information about other vehicles when the relative speed is less than the predetermined speed. and an enforcement unit 14 . [Selection drawing] Fig. 1

Description

  The present invention relates to a driving support device.

  Patent Document 1 below discloses a driving support device that notifies a vehicle traveling on the main road of an automobile exclusive road that there is a vehicle that joins the main road from the merge lane. This driving support device recognizes the presence of a vehicle that joins the main line by detecting a vehicle traveling in the merging lane with a roadside device such as a loop coil, and displays that fact on a display device provided near the merging point. By doing so, attention is urged to vehicles traveling on the main line.

Japanese Patent No. 2004-102655

  The driving support device described in Patent Document 1 supports driving of a vehicle that travels in the vicinity of a merging point based on information detected by a roadside device, but some vehicles detect the periphery of the host vehicle. Some have sensors installed. Depending on the conditions at the time of detection, it may be possible to detect surrounding vehicles more accurately than the detection by the roadside device, so there is room for improvement in the proper use of information used to support driving near the junction. There is.

  Then, an object of this invention is to provide the driving assistance device which can assist so that it can drive | work smoothly near a junction.

  A driving support apparatus according to an aspect of the present invention is a driving support apparatus that implements driving support for a vehicle that travels toward a merge point, and is a travel path on which the vehicle travels among travel paths that merge at the merge point. A roadside information receiving unit that receives roadside information detected by a roadside device provided on a different road, an other vehicle information acquiring unit that acquires information about other vehicles existing around the vehicle, and the roadside information When the relative speed of the vehicle with respect to the other vehicle traveling on the different travel road calculated based on the vehicle is equal to or higher than a predetermined speed, driving assistance is performed based on the roadside information, while the relative speed is predetermined. A driving support execution unit that performs driving support based on the information related to the other vehicle when the speed is less than the speed.

  ADVANTAGE OF THE INVENTION According to this invention, the driving assistance device which can assist so that it can drive | work smoothly near a junction can be provided.

1 is a diagram illustrating a schematic configuration of a driving support system including a driving support device according to an embodiment.

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

  With reference to FIG. 1, the structure of the driving assistance system containing the driving assistance device which concerns on embodiment is demonstrated. The driving support system 1 includes, for example, a host vehicle information acquisition unit 11, a road-to-vehicle communication unit (roadside information reception unit) 12, another vehicle information acquisition unit 13, and a driving support execution unit 14.

  Among these constituent elements of the driving support system 1, at least the road-to-vehicle communication unit 12, the other vehicle information acquisition unit 13, and the driving support execution unit 14 constitute a driving support device 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 own vehicle information acquisition unit 11 uses, for example, various sensors such as a gyro sensor, an acceleration sensor, and a geomagnetic sensor mounted on the own vehicle, a GPS (Global Positioning System) receiver, and the like, and the vehicle information (hereinafter referred to as the vehicle information) of the own vehicle. Also referred to as “own vehicle information”). The own vehicle information includes, for example, information about the position, speed, acceleration, direction, and the like of the own vehicle.

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

  Here, the roadside apparatus 2 in the present embodiment is installed on the main line side in the vicinity of a junction where, for example, a plurality of traveling roads merge. The roadside device 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, and the like, and detects information on the position, speed, acceleration, direction, and the like of the other vehicle 3 traveling on the main line as roadside information. The position of the other vehicle 3 traveling on the main line can be obtained, for example, by calculating the distance and direction from an arbitrary reference point.

  The transmission unit 22 transmits roadside information detected by the sensor unit 21. Here, the roadside device 2 may calculate an average speed of a plurality of other vehicles 3 traveling on the main line based on the detected roadside information, and may transmit information on the calculated average speed together with the roadside information. .

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

  The other vehicle information acquisition unit 13 is present in the vicinity of the own vehicle traveling in the merged lane using various sensors such as a camera, millimeter wave radar, and LiDAR (Light Detection and Ranging) mounted on the own vehicle. Vehicle information of the other vehicle 3 (hereinafter also referred to as “other vehicle information”) is acquired. The other vehicle information includes, for example, the position, speed, moving direction, and the like of the other vehicle 3. Since the merge lane is generally provided so as to run parallel to the main line or approach the main line, other vehicles traveling on the main line can be detected as vehicles existing around the own vehicle.

  In addition, the other vehicle information acquisition part 13 is good also as acquiring other vehicle information by vehicle-to-vehicle communication. The vehicle-to-vehicle communication is wireless communication performed bidirectionally with the other vehicle 3.

  The driving support execution unit 14 calculates the relative speed (speed difference) of the host vehicle with respect to the other vehicle 3 traveling on the main line based on the roadside information and the speed information of the host vehicle received by the road-to-vehicle communication unit 12. As the speed of the other vehicle 3, the speed of any other vehicle 3 traveling on the main line may be used, or the average speed of a plurality of other vehicles 3 traveling on the main line may be used.

  The driving support execution unit 14 compares the calculated relative speed with a predetermined speed, determines information used when driving support is performed, and then performs driving support. Information used when carrying out driving support can be determined as follows, for example.

  (1) When the relative speed is equal to or higher than a predetermined speed, driving assistance (cooperative assistance) is performed using the roadside information received from the roadside apparatus 2.

  (2) When the relative speed is less than the predetermined speed, driving assistance (autonomous assistance) is performed using other vehicle information based on information detected by a sensor mounted on the own vehicle.

  When driving support is performed according to (1) above, the driving support execution unit 14 supports driving of the host vehicle so that the vehicle can travel in accordance with the speed of the other vehicle 3 traveling on the main line. Thereby, since the relative speed can be made lower than the predetermined speed, the driving support according to the above (2) can be performed.

  Here, the detection accuracy of the sensor mounted on the host vehicle tends to increase as the relative speed between the host vehicle and the other vehicle 3 decreases. Further, when the relative speed between the own vehicle and the other vehicle 3 is reduced to some extent, the detection accuracy of the sensor mounted on the own vehicle tends to be higher than the detection accuracy in the roadside device 2. Accordingly, the relative speed at which the detection accuracy of the sensor mounted on the host vehicle switches from a lower state to a higher state than the detection accuracy in the roadside device 2 is obtained by experiments or the like, and the predetermined speed is set in the vicinity of the obtained relative speed. It is desirable.

  Among the sensors mounted on the vehicle, the moving speed (calculated based on the speed and relative speed of the host vehicle) is relatively slow (for example, less than 10 km / h) and located at a relatively distant place (for example, 30 m). Some) Exclude objects from detection targets. This is to detect a stationary object on the roadside or the like and prevent the vehicle speed from being reduced in accordance with the stationary object.

  When such a sensor is mounted, when the other vehicle 3 traveling on the main line is traveling at a low speed, for example, 5 km / h due to traffic congestion, the own vehicle traveling at a high speed on the merging lane will increase the speed. If the vehicle travels without dropping, the other vehicle 3 traveling on the main line is detected by the sensor when the host vehicle approaches a distance of, for example, less than 30 m from the other vehicle 3. Therefore, when driving assistance is performed using other vehicle information based on information detected by such a sensor, the driving assistance is performed so that the discovery of the other vehicle 3 is delayed and the own vehicle can smoothly join. It becomes difficult to do.

  More specifically, when the host vehicle is traveling at a high speed of 100 km / h on the merging lane and the other vehicle 3 is traveling at a high speed of 100 km / h on the main line (relative speed is 0 km / h), for example, The other vehicle 3 can be found even from a place 30 m or more away, such as 100 m. On the other hand, if the host vehicle travels at a high speed in the confluence lane at 100 km / h and the other vehicle 3 travels at a low speed at 5 km / h on the main line (relative speed is 95 km / h), until it approaches less than 30 m Cannot find another vehicle 3.

  Here, in order to make it easy to find the other vehicle 3 that travels at a low speed on the main line, it is also conceivable to guide the host vehicle that travels on the merged lane to travel at a low speed unconditionally. However, in this case, when another vehicle traveling on the main line is traveling at a high speed (relative speed is large), the vehicle is rapidly accelerated after the other vehicle traveling at a high speed is detected by a sensor. Emergency measures are required. Also in this case, it becomes difficult to support driving so that the own vehicles can smoothly join.

  As described above, when the relative speed between the own vehicle and the other vehicle 3 is large, when driving assistance is performed using the other vehicle information based on the information detected by the sensor mounted on the own vehicle, the own vehicle It tends to be difficult to support driving so that it can smoothly join.

  In view of such circumstances, the disclosure in the present application receives information related to the other vehicle 3 detected by the roadside device 2 and the relative speed between the host vehicle and the other vehicle 3 is equal to or higher than a predetermined speed. Is to support driving so that the speed of the host vehicle traveling in the merged lane matches the speed of other vehicles traveling on the main line (so that the relative speed is reduced).

  As a result, when the main line is flowing at a low speed due to traffic jams or the like, the vehicle is traveling near the host vehicle after guiding the speed of the host vehicle to match the speed of the other vehicle 3 so that it can be driven at a lower speed. The other vehicle 3 can be reliably detected by a sensor mounted on the host vehicle, and driving assistance can be provided so that the host vehicle can smoothly join.

  In addition, when the main line is flowing at high speed, after guiding the speed of the own vehicle so as to be able to travel at high speed in accordance with the speed of the other vehicle 3, the other vehicle 3 traveling near the own vehicle is Thus, the vehicle can be detected with certainty by a sensor mounted on the own vehicle, and driving assistance can be provided so that the own vehicle can smoothly join.

  The driving support execution unit 14 may provide driving support by providing information or alerting the driver about the state of the vehicle traveling on the main line in the vicinity of the junction when the driving support is performed. It is good also as guiding by a message etc. so that it can join smoothly and driving assistance by automatic driving. Information provision, alerting and guidance to the driver may be performed, for example, by displaying a message on a display, or by outputting a voice message from a speaker or the like.

  As described above, according to the driving support system 1 in the embodiment, the roadside information detected by the roadside device 2 provided on the main line side of the merging point is received and exists in the vicinity of the own vehicle traveling in the merging lane. When the information about the other vehicle 3 is acquired and the relative speed of the host vehicle with respect to the other vehicle 3 calculated based on the roadside information is equal to or higher than a predetermined speed, driving assistance is performed based on the roadside information. When the vehicle speed is less than the predetermined speed, driving assistance can be implemented based on information about the other vehicle 3.

  Here, for example, when the other vehicle 3 is detected by analyzing an image taken by a camera mounted on the own vehicle, or when the other vehicle 3 is detected using a reflected wave by a millimeter wave radar mounted on the own vehicle. The detection accuracy tends to increase as the relative speed between the host vehicle and the other vehicle 3 decreases. According to the driving support system 1 in the embodiment, when the relative speed between the own vehicle and the other vehicle 3 is less than the predetermined speed, the information detected by the sensor mounted on the own vehicle instead of the roadside information. Driving assistance can be implemented using other vehicle information based on the above. As a result, it is possible to reliably detect the other vehicle 3 traveling in the vicinity of the host vehicle and provide driving assistance so that the host vehicle can smoothly join.

  Therefore, according to the driving support system 1 in the embodiment, it is possible to support so that the vicinity of the junction can be smoothly driven.

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

  Specifically, in the above-described embodiment, the roadside device 2 includes the sensor unit 21, but instead of the sensor unit 21, probe information (information about position, speed, etc.) transmitted from the other vehicle 3 is received. It is good also as providing the receiving part to perform. In this case, the roadside device 2 calculates an average speed of a plurality of other vehicles 3 traveling on the main line based on the received probe information, and transmits information on the calculated average speed as roadside information together with the probe information. It is good.

  Moreover, although embodiment mentioned above demonstrated the case where the own vehicle which receives driving assistance drive | works a merge lane, and the other vehicle is driving the main line, it is not limited to this, The own vehicle which receives driving assistance The present invention can also be applied to a case where the vehicle travels on the main line and another vehicle travels on the merged lane. In this case, the roadside apparatus 2 is installed on the merging lane side in the vicinity of the merging point where a plurality of traveling paths merge.

DESCRIPTION OF SYMBOLS 1 ... Driving assistance system, 2 ... Roadside device, 3 ... Other vehicle, 11 ... Own vehicle information acquisition part, 12 ... Road-to-vehicle communication part, 13 ... Other vehicle information acquisition part, 14 ... Driving assistance execution part, 21 ... Sensor part 22 Transmitter

Claims (1)

A driving support device that performs driving support for a vehicle traveling toward a meeting point,
A roadside information receiving unit for receiving roadside information detected by a roadside device provided on a road different from the road where the vehicle travels among the roads that merge at the junction;
Other vehicle information acquisition unit for acquiring information on other vehicles existing around the vehicle;
When the relative speed of the vehicle with respect to another vehicle traveling on the different traveling road calculated based on the roadside information is equal to or higher than a predetermined speed, driving assistance is performed based on the roadside information, while the relative When the speed is less than a predetermined speed, a driving support execution unit that performs driving support based on the information about the other vehicle;
A driving support apparatus comprising:

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