WO2015079630A1 - Driving assistance unit and driving assistance system - Google Patents

Abstract

One mode of embodiment of a driving assistance unit is provided with a transmission processing unit (253) which uses vehicle-to-vehicle communication to transmit vehicle information including location information for the subject vehicle, the position of which has been measured using a satellite positioning system. The driving assistance unit is provided with a degradation-detecting unit (252) which detects whether the positioning accuracy of the location information of the subject vehicle, the position of which has been measured using the satellite positioning system, is degraded. If the degradation-detecting unit has detected that the positioning accuracy is degraded, the transmission processing unit prevents at least the location information from being transmitted.

Description

Driving support unit and driving support system Cross-reference of related applications

This application is based on Japanese Patent Application No. 2013-247323 filed on November 29, 2013, which is incorporated herein by reference.

The present disclosure relates to a driving support unit that transmits information through inter-vehicle communication or performs driving support using information received through inter-vehicle communication, and a driving support system including these driving support units.

Patent Document 1 discloses that vehicle position information measured using GPS is exchanged between vehicles by inter-vehicle communication. Patent Document 1 discloses that position information received from another vehicle by inter-vehicle communication is used for driving assistance such as determination of the possibility of collision between the own vehicle and the other vehicle.

JP 2008-65483 A

However, according to the study of the inventor of the present application, in the technique disclosed in Patent Document 1, in a location where the positioning accuracy of the location information is low, such as a location where the GPS reception status is poor, the location information with low accuracy is obtained by inter-vehicle communication. In a vehicle that has received this low-accuracy position information because it is transmitted from the vehicle, if this position information is used to determine the possibility of a collision between the host vehicle and another vehicle, the determination accuracy decreases, and the reliability of driving assistance is reduced. There is a risk that the degree will decrease.

The present disclosure has been made in view of the above points, and its purpose is to reduce the reliability of driving support in a driving support system that performs driving support using information exchanged between vehicles by inter-vehicle communication. It is an object of the present invention to provide a driving support unit and a driving support system that make it possible to prevent the vehicle from being driven.

A driving support unit according to an example of the present disclosure is a driving support unit including a transmission processing unit that is used in a vehicle and transmits vehicle information including position information of the own vehicle measured using a satellite positioning system by inter-vehicle communication. In addition, a deterioration detection unit for detecting that the positioning accuracy of the position information of the own vehicle measured using the satellite positioning system is deteriorated, and the transmission processing unit is deteriorated in positioning accuracy by the deterioration detection unit. If this is detected, at least position information is not transmitted.

According to this, when the deterioration detection unit detects that the positioning accuracy of the position information of the own vehicle measured using the satellite positioning system is deteriorated, the transmission processing unit does not transmit at least the position information. The position information of the own vehicle with low accuracy is not used for driving support in another vehicle. And if position information with low accuracy is no longer used for driving support, the reliability of driving support will not be impaired.

As a result, in the driving support system that performs driving support using information exchanged between vehicles by inter-vehicle communication, it is possible to prevent the reliability of driving support from being lowered.

A driving support unit according to another example of the present disclosure is used in a vehicle and transmits vehicle information including position information of other vehicles measured by a satellite positioning system transmitted from other vehicles than the own vehicle by inter-vehicle communication. A reception processing unit for receiving and a driving support processing unit for performing driving support for causing the display device to display the position of the other vehicle relative to the position of the own vehicle based on the position information of the other vehicle received by the reception processing unit ( The driving support processing unit includes a display that indicates the position of the other vehicle relative to the position of the own vehicle when the reception processing unit receives the vehicle information including the position information of the other vehicle. When the vehicle information that does not include the position information of the other vehicle is received by the reception processing unit, the display indicating the position of the other vehicle with respect to the position of the own vehicle is not performed and the other vehicle About from own car Causing the display device to display indicating that exist within a constant range.

If the reception processing unit that receives the vehicle information including the position information of the other vehicle measured by the satellite positioning system receives the vehicle information that does not include the position information of the other vehicle, there is a problem with the position information of the other vehicle. It can be said that there is. On the other hand, according to the driving support unit according to the present disclosure, when the vehicle information not including the position information of the other vehicle is received, the display indicating the position of the other vehicle relative to the position of the own vehicle is performed. First, for other vehicles, a display indicating that the vehicle is within a predetermined range from the own vehicle is performed. Therefore, it is possible to prevent a situation in which the position of an erroneous other vehicle is displayed according to the position information having some trouble, and to display at least without error that the other vehicle is within a predetermined range from the own vehicle. .

As a result, in the driving support system that performs driving support using information exchanged between vehicles by inter-vehicle communication, it is possible to prevent the reliability of driving support from being lowered.

A driving assistance unit according to another example of the present disclosure is used in a vehicle, and includes a transmission processing unit that transmits vehicle information including position information of the own vehicle measured using a satellite positioning system by inter-vehicle communication. This unit is equipped with a deterioration detection unit that detects that the positioning accuracy of the position information of the own vehicle measured using the satellite positioning system is deteriorated, and the transmission processing unit is deteriorated in positioning accuracy by the deterioration detection unit. When the vehicle information including the position information is transmitted, the vehicle information including the information indicating that the positioning accuracy is deteriorated is transmitted.

According to this, when the deterioration detection unit detects that the positioning accuracy of the position information of the own vehicle measured using the satellite positioning system has deteriorated, information indicating that the positioning accuracy has deteriorated is obtained. It is transmitted together with the position information of the own vehicle. In other vehicles that have received information indicating that the positioning accuracy has deteriorated, it becomes possible not to use the position information transmitted together with this information for driving assistance. And if position information with low accuracy is no longer used for driving support, the reliability of driving support will not be impaired.

As a result, in the driving support system that performs driving support using information exchanged between vehicles by inter-vehicle communication, it is possible to prevent the reliability of driving support from being lowered.

A driving support unit according to another example of the present disclosure is used in a vehicle and transmits vehicle information including position information of other vehicles measured by a satellite positioning system transmitted from other vehicles than the own vehicle by inter-vehicle communication. A driving support unit comprising: a receiving processing unit for receiving; and a driving support processing unit for supporting driving of the host vehicle using the position information of the other vehicle received by the receiving processing unit, wherein the driving support processing unit includes satellite positioning When vehicle information including information indicating that the positioning accuracy of the position information of other vehicles positioned using the system has deteriorated is not used for driving assistance. To.

According to this, when vehicle information including information indicating that the positioning accuracy of the position information of other vehicles positioned using the satellite positioning system is deteriorated, the position information included in the vehicle information is received. Is not used for driving assistance, and it is not necessary to perform erroneous driving assistance according to position information with low accuracy. As a result, in the driving support system that performs driving support using information exchanged between vehicles by inter-vehicle communication, it is possible to prevent the reliability of driving support from being lowered.

Since the driving support system of an example of the present disclosure includes the driving support unit described above, the reliability of driving support is reduced in the driving support system that performs driving support using information exchanged between vehicles by inter-vehicle communication. Can be prevented.

FIG. 1 is a diagram illustrating an example of a schematic configuration of a driving support system. FIG. 2 is a block diagram illustrating an example of a schematic configuration of the driving support unit. FIG. 3 is a block diagram illustrating an example of a schematic configuration of the communication device side control unit. FIG. 4 is a flowchart illustrating an example of a flow of vehicle information transmission related processing in the transmission processing unit in the embodiment. FIG. 5 is a block diagram illustrating an example of a schematic configuration of the portable control unit. FIG. 6 is a diagram illustrating a display example in driving support. FIG. 7 is a diagram for describing detection of positioning accuracy deterioration by the deterioration detection unit in the first modification. FIG. 8 is a block diagram illustrating an example of a schematic configuration of a wireless communication device according to the first modification. FIG. 9 is a flowchart illustrating an example of a flow of vehicle information transmission related processing in the transmission processing unit according to the second modification. FIG. 10 is a diagram illustrating a display example in driving support. FIG. 11 is a flowchart illustrating an example of a flow of vehicle information transmission related processing in the transmission processing unit according to the second embodiment.

Hereinafter, embodiments of the present disclosure will be described with reference to the drawings.

(Embodiment 1)
FIG. 1 is a diagram illustrating an example of a schematic configuration of a driving support system 100 according to an embodiment of the present disclosure. A driving support system 100 shown in FIG. 1 includes a driving support unit 1 used in each of a plurality of vehicles (vehicles A and B).

Here, a schematic configuration of the driving support unit 1 will be described with reference to FIG. FIG. 2 is a diagram illustrating an example of a schematic configuration of the driving support unit 1. As shown in FIG. 2, the driving support unit 1 includes a wireless communication device 2 and a portable terminal 3. For example, it is assumed that the wireless communication device 2 and the portable terminal 3 exchange information by wireless communication.

First, the wireless communication device 2 will be described. The wireless communication device 2 transmits and receives information by wireless communication with the wireless communication device 2 of a vehicle other than the vehicle in which the device is used (that is, the own vehicle). The wireless communication device 2 is not limited to a configuration that is used by being mounted on a vehicle, but may be a configuration in which a device that can be carried by a user (that is, a person) is brought into the vehicle and used. The wireless communication device 2 includes a communication device side communication unit 21, a position detector 22, a vehicle exterior communication unit 24, and a communication device side control unit 25.

The communication device side communication unit 21 includes a transmission / reception antenna, and exchanges information with the mobile terminal 3 used in the vehicle by performing wireless communication in accordance with, for example, the Bluetooth (registered trademark) standard. In the present embodiment, the configuration in which the communication between the wireless communication device 2 and the mobile terminal 3 is performed by wireless communication in accordance with the Bluetooth standard is shown, but the present invention is not limited to this. For example, it may be configured to perform wireless communication according to short-range wireless communication standards such as ZigBee (registered trademark) or wireless LAN standards such as IEEE 802.11, or may be configured to perform wired communication such as USB communication.

The position detector 22 is based on information obtained from a GPS receiver 23 for GPS (global positioning system) that detects the current position of the own vehicle (hereinafter, vehicle position) based on radio waves from the artificial satellite. The vehicle position is detected sequentially. The vehicle position is represented by, for example, latitude / longitude coordinates. This vehicle position corresponds to an example of position information of the present disclosure.

In the present embodiment, a configuration using the GPS receiver 23 for GPS as a receiver of the satellite positioning system is taken as an example, but the configuration is not necessarily limited thereto. For example, it is good also as a structure which uses the receiver of satellite positioning systems other than GPS.

Further, the position detector 22 performs known dead reckoning (non-astrometric position estimation method) using a sensor other than the GPS receiver 23 in a situation where it is difficult to perform high-accuracy positioning with GPS alone. Detect the vehicle position.

The situation where high-precision positioning with GPS alone is difficult is, for example, that there are two or less GPS satellites that can receive signals with the GPS receiver 23, or the reception level of signals from the GPS satellites with the GPS receiver 23 is low. This refers to the case where it is below the threshold.

Moreover, the dead reckoning may be configured to be performed based on the acceleration and angular velocity of the own vehicle starting from the position measured using GPS. In other words, in dead reckoning, the vehicle position of the vehicle is detected from the behavior of the vehicle based on the vehicle position of the vehicle measured using GPS. What is necessary is just to comprise the acceleration and angular velocity of the own vehicle from this acceleration sensor or angular velocity sensor, for example, by providing the wireless communication device 2 with an acceleration sensor or angular velocity sensor. In addition, it is good also as a structure obtained from the acceleration sensor and angular velocity sensor of the own vehicle.

The position detector 22 detects the vehicle position from the information obtained from the GPS receiver 23 without performing dead reckoning when it is not difficult to perform high-precision positioning with GPS alone. Therefore, the position detector 22 corresponds to an example of a position specifying unit of the present disclosure.

The outside-vehicle communication unit 24 includes a transmission / reception antenna, and transmits / receives information to / from the wireless communication device 2 of another vehicle by, for example, broadcast wireless communication without using a communication network. That is, vehicle-to-vehicle communication is performed. The inter-vehicle communication may be configured to use, for example, a 700 MHz band radio wave. The vehicle exterior communication unit 24 transmits information at a transmission cycle in accordance with an instruction from the communication device side control unit 25.

The communicator-side control unit 25 is configured as a normal computer, and includes a well-known CPU, a memory such as a ROM, a RAM, and an EEPROM, an I / O, and a bus line for connecting these configurations (both shown in the figure). (Not shown). The communicator-side control unit 25 performs various programs by the CPU executing programs stored in advance in the ROM based on various information input from the communicator-side communication unit 21, the position detector 22, and the vehicle exterior communication unit 24. Execute the process.

3, the communication device side control unit 25 includes a sensor information storage unit 251, a deterioration detection unit 252, a transmission processing unit 253, a reception processing unit 254, and a transmission processing unit 255 as functional blocks.

The sensor information storage unit 251 is assumed to be constructed in an electrically rewritable memory such as a RAM or an EEPROM. The sensor information storage unit 251 stores vehicle positions that are sequentially detected by the position detector 22.

When accumulating the vehicle position in the sensor information accumulating unit 251, information on the time when the vehicle position is detected (that is, time stamp) is associated and accumulated. Moreover, what is necessary is just to make it the structure which erase | eliminates in order from older information, when the sensor information storage part 251 exceeds the allocated memory capacity. In addition, it is good also as a structure which deletes the sensor information which passed for a fixed time since memorize | stored.

The deterioration detection unit 252 detects that the positioning accuracy of the vehicle position measured using GPS is deteriorated (hereinafter referred to as “positioning accuracy deterioration”). As an example, the degradation detection unit 252 monitors the reception status from the GPS satellites at the GPS receiver 23, and when the GPS receiver 23 can receive signals, the degradation detection unit 252 may degrade the positioning accuracy. What is necessary is just to set it as the structure to detect. In addition, it is good also as a structure which detects positioning accuracy degradation, when the reception level of the signal from the GPS satellite in the GPS receiver 23 is below a threshold value. An SN ratio, RSSI, or the like may be used as the reception level index. Also, the threshold value is a value that is low enough to presume that the positioning accuracy is degraded, and can be arbitrarily set.

Further, the deterioration detection unit 252 may be configured to count the continuation time during which dead reckoning is performed by the position detector 22 and detect the positioning accuracy deterioration when the continuation time exceeds a predetermined value. In addition, when the communicator-side control unit 25 can acquire information that can calculate the travel distance of the host vehicle, such as a signal from the wheel speed sensor of the host vehicle, the following may be performed. Specifically, the position detector 22 counts the distance traveled by the vehicle while dead reckoning is being performed (hereinafter referred to as a continuation distance), and detects a deterioration in positioning accuracy when the continuation distance exceeds a predetermined value. Also good. The predetermined value is a value that can be arbitrarily set.

The transmission processing unit 253 performs processing related to transmission of vehicle information (hereinafter referred to as vehicle information transmission related processing). Here, the vehicle information transmission related processing in the transmission processing unit 253 will be described using the flowchart of FIG. The flowchart of FIG. 4 may be configured to start when the ignition power of the own vehicle is turned on or when the power of the wireless communication device 2 is turned on.

First, in step S1, when it is the generation timing of vehicle information (YES in step S1), the process proceeds to step S2. On the other hand, if it is not the generation timing of the vehicle information (NO in step S1), the process proceeds to step S5.

The generation timing of the vehicle information may be set at regular intervals, for example, every 100 msec. In addition, the generation of the first vehicle information after the wireless communication device 2 is turned on may be generated after the wireless communication device 2 is turned on.

In step S2, when the deterioration detecting unit 252 detects the positioning accuracy deterioration (YES in step S2), the process proceeds to step S5. On the other hand, when the deterioration detection unit 252 has not detected the positioning accuracy deterioration (NO in step S2), the process proceeds to step S3.

In step S3, the vehicle position stored in the sensor information storage unit 251 is read together with the time stamp. And the vehicle information of the own vehicle is produced | generated from the read vehicle position and time stamp. When generating vehicle information, it is good also as a structure which reads vehicle position for several times arranged in time series, and produces | generates vehicle information. Further, the transmission processing unit 253 may be configured to generate the direction of the own vehicle as vehicle information.

As for the direction of the own vehicle, the vehicle information may be generated with the direction in which the approximate line obtained by the least square method extends from a plurality of vehicle positions arranged in time series as the direction of the own vehicle. Here, although the structure which calculates | requires the direction of the own vehicle from a vehicle position was shown, it does not necessarily restrict to this. For example, when the wireless communication device 2, the portable terminal 3, or the own vehicle has a geomagnetic sensor and the detection result of the geomagnetic sensor can be used, the direction of the own vehicle is determined using the detection result of the geomagnetic sensor. It is good also as a structure to require.

In the present embodiment, a description will be given by taking as an example a configuration in which the vehicle position detected by the position detector 22 of the wireless communication device 2 used in the own vehicle is the vehicle position of the own vehicle, but is not necessarily limited thereto. For example, when a module that can detect the current position such as the position detector 22 is mounted on the mobile terminal 3 or the vehicle that is used in the vehicle, the current position that can be detected using the module is It is good also as a structure used as a vehicle position. In addition, when adopting such a configuration, it goes without saying that the configuration described below is appropriately changed.

In step S4, the vehicle information generated in step S3 is transmitted from the outside communication unit 24. When the vehicle information is transmitted from the vehicle exterior communication unit 24, the transmission processing unit 253 transmits the vehicle information with a transmission interval of, for example, 100 msec from the previous transmission of the vehicle information.

In step S5, when it is the end timing of the vehicle information transmission related process (YES in step S5), the flow is ended. If it is not the end timing of the vehicle information transmission related process (NO in step S5), the process returns to step S1 to repeat the flow. As an example of the end timing of the vehicle information transmission related process, there is a time when the ignition power of the own vehicle is turned off, or when the power of the wireless communication device 2 is turned off.

When dead reckoning is performed by the position detector 22, it is considered that positioning accuracy is maintained high until the vehicle travels a predetermined distance after the dead reckoning is started. The predetermined distance here is a distance that is estimated to be able to travel while maintaining high positioning accuracy in dead reckoning, and is a value that can be arbitrarily set.

Therefore, in the first embodiment, the vehicle information is continuously transmitted from the time when the deterioration detection unit 252 detects the positioning accuracy deterioration until the vehicle travels the predetermined distance, and the deterioration detection unit 252 performs the positioning from the time when the vehicle traveled the predetermined distance. Vehicle information is not transmitted until accuracy deterioration is no longer detected.

According to this, the transmission of the vehicle information of the own vehicle is not interrupted until the positioning accuracy of the vehicle position of the own vehicle actually deteriorates after the deterioration detection unit 252 detects the deterioration of the positioning accuracy. It becomes possible. As a result, in spite of the fact that positioning accuracy is maintained high due to dead reckoning, there is no problem that the transmission of vehicle information is interrupted every time due to a very short positioning accuracy degradation. It becomes possible.

It should be noted that the vehicle information may not be transmitted after the deterioration detection unit 252 detects the positioning accuracy deterioration until the positioning accuracy deterioration is not detected.

Returning to FIG. 3, the reception processing unit 254 receives the vehicle information transmitted from the wireless communication device 2 of the other vehicle via the vehicle communication unit 24. The transmission processing unit 255 transmits the vehicle information of the other vehicle received by the reception processing unit 254 to the mobile terminal 3 of the own vehicle via the communication device side communication unit 21. In addition, the transmission processing unit 255 gives a time stamp to the vehicle position of the own vehicle that is sequentially detected by the position detector 22, and transmits the time stamp to the mobile terminal 3 of the own vehicle via the communication device side communication unit 21.

In addition, when the transmission processing unit 253 does not transmit the vehicle information, the transmission processing unit 255 provides information indicating that the transmission of the vehicle information is interrupted (hereinafter, first interruption information). Then, the data is transmitted to the mobile terminal 3 of the own vehicle via the communication device side communication unit 21. In addition, after the transmission processing unit 253 prevents the transmission processing unit 253 from transmitting the vehicle information, the transmission processing unit 255 restarts the transmission of the vehicle information when the transmission processing unit 253 restarts the transmission of the vehicle information. (Hereinafter, referred to as first resumption information) is transmitted to the portable terminal 3 of the own vehicle via the communication device side communication unit 21.

Referring back to FIG. 2, the mobile terminal 3 will be described. The portable terminal 3 performs processing related to driving support of the vehicle (that is, the own vehicle) in which the own terminal is used. The mobile terminal 3 may be configured to use a multifunctional mobile phone such as a smartphone. As illustrated in FIG. 2, the portable terminal 3 includes a portable communication unit 31, a display unit 32, and a portable control unit 33. In the present embodiment, for the sake of convenience, the description of the configuration related to the functions of a general multi-function mobile phone that is unnecessary for the description of the present disclosure is omitted.

The mobile communication unit 31 includes a transmission / reception antenna, and exchanges information with the wireless communication device 2 used in the vehicle by performing wireless communication in accordance with, for example, the Bluetooth standard.

The display unit 32 is configured using a liquid crystal display, an organic EL display, or the like, and displays text and images in accordance with instructions from the portable control unit 33. The display unit 32 corresponds to an example of the display device of the present disclosure.

The portable-side control unit 33 is configured as a normal computer, and includes a well-known CPU, a memory such as a ROM, a RAM, and an EEPROM, an I / O, and a bus line for connecting these configurations (all not shown). Etc.). Based on various information input from the mobile communication unit 31, the mobile side control unit 33 executes various processes when the CPU executes a program stored in advance in the ROM.

As shown in FIG. 5, the portable side control unit 33 includes a transmission information acquisition unit 331, a vehicle information classification unit 332, a driving support processing unit 333, and a notification processing unit 334 as functional blocks.

The transmission information acquisition unit 331 sequentially acquires information sequentially transmitted from the transmission processing unit 255 of the wireless communication device 2 of the own vehicle via the mobile communication unit 31. The transmission information acquisition unit 331 acquires the vehicle information of the other vehicle received from the wireless communication device 2 of the other vehicle by the reception processing unit 254 of the wireless communication device 2 of the own vehicle.

Further, the transmission information acquisition unit 331 sequentially acquires the vehicle position of the own vehicle that is sequentially transmitted from the transmission processing unit 255 of the wireless communication device 2 of the own vehicle. In addition, the transmission information acquisition unit 331 acquires the first interruption information and the first resumption information transmitted from the transmission processing unit 255 of the wireless communication device 2 of the own vehicle.

The vehicle information classification unit 332 classifies vehicle information for each vehicle information of other vehicles with different transmission sources, and temporarily stores them in an electrically rewritable memory such as a RAM of the portable control unit 33, for example. If an identifier such as an ID that identifies the transmission source vehicle or the wireless communication device 2 is given to the vehicle information, the vehicle information classification unit 332 is configured to classify the vehicle information based on this identifier. Good.

Further, the vehicle information classifying unit 332 may be configured as follows as an example when the above-described identifier is not given to the vehicle information. First, the travel locus of the other vehicle is specified from the vehicle position of the other vehicle included in the vehicle information acquired sequentially. Then, the vehicle information including the vehicle position along the specified travel locus may be classified as vehicle information about the same vehicle.

The driving support processing unit 333 performs driving support using the vehicle position (that is, the vehicle position of the other vehicle) included in the vehicle information of the other vehicle acquired by the transmission information acquisition unit 331 and the vehicle position of the own vehicle. As an example, the display part 32 is made to display the vehicle position of the other vehicle with respect to the vehicle position of the own vehicle, so that driving assistance for allowing the user to recognize the position of the other vehicle around the own vehicle is performed.

The vehicle positions of the own vehicle and other vehicles may be displayed on an electronic map as an example. When displaying the vehicle positions of the own vehicle and the other vehicle, the driving support processing unit 333 displays the vehicle positions of the own vehicle and the other vehicle at substantially the same point by using the time stamp described above.

Here, a display example of the vehicle positions of the own vehicle and the other vehicle is shown in FIG. A black triangle in FIG. 6 indicates the vehicle A as the own vehicle. Moreover, the white triangle of FIG. 6 has shown the vehicle B as another vehicle.

As an example, it is preferable that the driving assistance for displaying the vehicle positions of the host vehicle and the other vehicle has a configuration that also shows the direction of the host vehicle and the other vehicle on the electronic map. The direction of the host vehicle or other vehicle may be specified as described above. As for how to represent the direction, an arrow may be attached to a mark indicating the position of the own vehicle or another vehicle, or the direction of this mark may be used. In the example of FIG. 6, an isosceles triangular mark is used as a mark indicating the position of the own vehicle or other vehicle, and the direction of the own vehicle or other vehicle is represented by the direction of the apex angle of this mark.

In the first embodiment, as an example of driving assistance, a configuration in which the position of the own vehicle or another vehicle is displayed on the electronic map is shown, but the present invention is not necessarily limited thereto. For example, as driving support, the possibility of crossing between the host vehicle and the other vehicle is estimated from the vehicle position and direction of the host vehicle and the other vehicle, and notification is made by display or voice output according to the estimated result Also good.

The notification processing unit 334 displays a display on the display unit 32 indicating that the vehicle information itself is not transmitted from the own vehicle until the first resumption information is acquired after the transmission information acquisition unit 331 acquires the first interruption information. Let it be done. Therefore, the notification processing unit 334 corresponds to an example of the display processing unit of the present disclosure. As an example of a display indicating that the vehicle information itself is not transmitted from the own vehicle, there are a predetermined mark and icon, text such as “Poor positioning accuracy is being reduced” and “Vehicle information transmission is being suspended”.

Here, for the sake of convenience, the driving support unit 1 when the vehicle information transmission related process is performed is the driving support unit 1a, and the driving support unit 1 when the process related to the driving support is performed based on the vehicle information of the other vehicle is supported. It is distinguished from the unit 1b. The driving support system 100 includes a driving support unit 1a and a driving support unit 1b.

According to the configuration of the first embodiment, when the deterioration detection unit 252 detects that the positioning accuracy of the vehicle position of the own vehicle measured using GPS is deteriorated, the transmission processing unit 253 includes the vehicle position. Since the vehicle information is not transmitted, the vehicle position of the own vehicle with low accuracy is not used for driving support in another vehicle. In addition, since the vehicle position of the own vehicle with low accuracy is not used for driving support in another vehicle, the reliability of driving support is not impaired. As a result, in the driving support system 100 that performs driving support using information exchanged between vehicles by inter-vehicle communication, it is possible to prevent the reliability of driving support from being lowered.

Not only the configuration shown in the first embodiment, but also a configuration in which the deterioration detection unit 252 detects the positioning accuracy deterioration using information from the roadside device (hereinafter, modified example 1). Below, the structure of the modification 1 is demonstrated using FIG.7 and FIG.8. For convenience of explanation, members having the same functions as those shown in the drawings used in the description of the above-described embodiment are denoted by the same reference numerals, and description thereof is omitted. In the first modification, an example in which the optical beacon 4 is used as a road device will be described.

The driving support system 100 according to the first modification includes a wireless communication device 2a including an optical beacon 4 as a road device and an optical beacon receiver 26 that receives information from the optical beacon 4 instead of the wireless communication device 2. Is the same as that of the driving support system 100 of the first embodiment.

As shown in FIG. 7, the optical beacon 4 is installed above the road, for example, at a predetermined distance before the intersection. The optical beacon 4 has a narrow communication range of about 3.5 m immediately below the installation position of the optical beacon 4, and the coordinates of the installation position of the optical beacon 4 (hereinafter referred to as optical beacon coordinates) within the communication range. The beacon information including is transmitted. The optical beacon coordinates are determined by surveying.

As shown in FIG. 8, the wireless communication device 2 a includes a communication device side communication unit 21, a position detector 22, a vehicle exterior communication unit 24, a communication device side control unit 25, and an optical beacon receiver 26. The wireless communication device 2a is the same as the wireless communication device 2 of the first embodiment except that an optical beacon receiver 26 is provided.

The communication device side control unit 25 receives the beacon information transmitted by the optical beacon 4 via the optical beacon receiver 26. This beacon information is received from the optical beacon 4 when the vehicle passes directly under the optical beacon 4. The optical beacon coordinates included in the received beacon information are stored in a memory inside the communication device side control unit 25. Therefore, the communication device side control unit 25 corresponds to an example of a road-vehicle communication processing unit of the present disclosure.

In the deterioration detection unit 252 of the first modification, the positional deviation between the vehicle position of the own vehicle in the vicinity of the optical beacon 4 and the optical beacon coordinates received from the optical beacon 4 by the communication device-side control unit 25 is measured using GPS. calculate. As the vehicle position of the own vehicle in the vicinity of the optical beacon 4, the vehicle position of the own vehicle measured using GPS at the time closest to the time when the communication beacon control unit 25 receives the optical beacon coordinates from the optical beacon 4. What is necessary is just to use it.

Also, the deterioration detection unit 252 detects a deterioration in positioning accuracy when the calculated positional deviation is equal to or greater than a predetermined distance. The predetermined distance referred to here is a value that is large enough to estimate that the positioning accuracy is degraded, and can be arbitrarily set.

When the positioning accuracy of the vehicle position of the own vehicle in the vicinity of the optical beacon 4 measured using GPS is high, the vehicle position should be substantially the same as the installation position of the optical beacon 4. Therefore, the positioning accuracy of the vehicle position of the own vehicle measured using the GPS is deteriorated based on the positional deviation between the vehicle position of the own vehicle in the vicinity of the optical beacon 4 and the optical beacon coordinates measured using the GPS. Can be detected.

In the first modification, the case where the optical beacon 4 is used as an on-road machine is taken as an example, but the present invention is not necessarily limited thereto. As long as the range of road-to-vehicle communication is limited to the vicinity of the road unit, such as within a few meters from the road unit, the range for transmitting information on the installation position of the road unit to the vehicle is within a few meters. It is good also as a structure using.

Further, not only in the configuration shown in the first embodiment, when it is detected that the positioning accuracy of the vehicle position of the own vehicle measured using GPS is deteriorated, vehicle information not including the vehicle position is transmitted. It is good also as a structure (henceforth modification 2). Below, the structure of the modification 2 is demonstrated using FIG.9 and FIG.10. For convenience of explanation, members having the same functions as those shown in the drawings used in the description of the above-described embodiment are denoted by the same reference numerals, and description thereof is omitted.

The driving support system 100 according to the second modified example is different in that the processing in the transmission processing unit 253 of the communication device side control unit 25 is partially different, and the processing in the driving support processing unit 333 and the notification processing unit 334 of the portable side control unit 33. Is the same as the driving support system 100 according to the first embodiment except for some differences.

First, the vehicle information transmission related processing in the transmission processing unit 253 in Modification 2 will be described using the flowchart of FIG. The flowchart of FIG. 9 may be configured to start when the ignition power of the own vehicle is turned on or when the power of the wireless communication device 2 is turned on.

First, in step S21, when it is the generation timing of vehicle information (YES in step S21), the process proceeds to step S22, and when it is not the generation timing of vehicle information (step S21), as in step S1 described above. If NO, the process proceeds to step S26.

In step S22, as in step S2, when the deterioration detection unit 252 detects positioning accuracy deterioration (YES in step S22), the process proceeds to step S23. On the other hand, when the deterioration detection unit 252 has not detected the positioning accuracy deterioration (NO in step S22), the process proceeds to step S24.

In step S23, the vehicle information stored in the sensor information storage unit 251 is not read, and the vehicle information of the own vehicle not including the vehicle position is generated. When generating vehicle information that does not include the vehicle position, the vehicle information may not include the direction of the vehicle. In addition, when generating vehicle information that does not include the vehicle position, an invalid value may be included in the vehicle information instead of the vehicle position.

In step S24, vehicle information including the vehicle position of the host vehicle and the direction of the host vehicle is generated in the same manner as in step S3 described above, and the process proceeds to step S25.

In step S25, vehicle information is transmitted from the vehicle exterior communication unit 24 in the same manner as in step S4. If vehicle information not including the vehicle position is generated in step S23, vehicle information not including the vehicle position is transmitted. If vehicle information including the vehicle position is generated in step S24, the vehicle position is Vehicle information including is transmitted.

In the second modification, the vehicle information including the vehicle position of the host vehicle is continuously transmitted from the time when the deterioration detection unit 252 detects the positioning accuracy deterioration until the vehicle travels a predetermined distance. Until the deterioration detection unit 252 no longer detects positioning accuracy deterioration, vehicle information not including the vehicle position of the host vehicle is transmitted.

According to this, the transmission of the vehicle position of the own vehicle is not stopped until the positioning accuracy of the vehicle position of the own vehicle actually deteriorates after the deterioration detection unit 252 detects the deterioration of the positioning accuracy. It becomes possible. As a result, in spite of the fact that positioning accuracy is maintained high due to dead reckoning, there is no problem that transmission of the vehicle position is interrupted every time due to a very short positioning accuracy degradation. It becomes possible.

It should be noted that the vehicle position may not be transmitted after the deterioration detection unit 252 detects the positioning accuracy deterioration until no positioning accuracy deterioration is detected.

In step S26, similarly to step S5, if it is the end timing of the vehicle information transmission related process (YES in step S26), the flow is ended. If it is not the end timing of the vehicle information transmission related process (NO in step S26), the process returns to step S21 to repeat the flow.

In the second modification, the transmission processing unit 255, when the transmission processing unit 253 is configured to transmit vehicle information that does not include the vehicle position of the host vehicle, information indicating that the transmission of the vehicle position is interrupted (hereinafter referred to as “transmission”). , Second interruption information) is transmitted to the portable terminal 3 of the own vehicle via the communication device side communication unit 21. The transmission processing unit 255 causes the transmission processing unit 253 to transmit vehicle information that does not include the vehicle position of the host vehicle, and then transmits the vehicle information including the vehicle position of the host vehicle to the transmission processing unit 253. When making it perform, the information (henceforth 2nd restart information) which shows restarting transmission of a vehicle position is transmitted to the portable terminal 3 of the own vehicle via the communication apparatus side communication part 21. FIG.

The notification processing unit 334 in the second modification displays a display indicating that the vehicle position is not transmitted from the own vehicle until the second resumption information is acquired after the transmission information acquisition unit 331 acquires the second interruption information. Let the unit 32 perform it. As an example of a display indicating that the vehicle position is not transmitted from the own vehicle, there are a predetermined mark or icon, text such as “Positioning accuracy is being lowered” or “Vehicle position transmission is suspended”.

The driving support processing unit 333 in Modification 2 performs driving support similar to that described in the first embodiment when the transmission information acquisition unit 331 acquires vehicle information including the vehicle position of another vehicle. On the other hand, when the transmission information acquisition unit 331 acquires vehicle information that does not include the vehicle position of the other vehicle, driving assistance that does not use the vehicle position of the other vehicle is performed.

As an example, when the vehicle information including the vehicle position of the other vehicle is acquired by the transmission information acquisition unit 331, the vehicle positions of the own vehicle and the other vehicle are displayed on the electronic map as in the display example of FIG. To display. On the other hand, when the vehicle information that does not include the vehicle position of the other vehicle is acquired by the transmission information acquisition unit 331, it is clear that the other vehicle exists in a range in which the vehicle information can be communicated. As in the display example, the vehicle position of the own vehicle and an image indicating that the other vehicle is within a predetermined range from the own vehicle are displayed on the electronic map. In this case, the predetermined range may be a range assumed as a range in which the wireless communication device 2 can perform vehicle-to-vehicle communication.

The black triangle in FIG. 6 shows the vehicle A as the own vehicle. In addition, a triangle with a white area C surrounded by a broken-line circle in FIG. 6 indicates an image indicating that the other vehicle exists within a predetermined range from the own vehicle. In addition, as a display which shows that another vehicle exists in the predetermined range from the own vehicle, it is good also as a structure which uses an icon and a text not only in the example shown in FIG.

In addition, as a driving support, a configuration that estimates the possibility of crossing between the host vehicle and the other vehicle from the vehicle position and direction of the host vehicle and the other vehicle, and performs notification by display or voice output according to the estimated result. When it is adopted, the following may be performed. For example, when the transmission information acquisition unit 331 acquires vehicle information that does not include the vehicle position of another vehicle, the possibility of crossing between the own vehicle and the other vehicle is not estimated, and the other vehicle is within a predetermined range from the own vehicle. What is necessary is just to set it as the structure which performs the display and audio | voice output which show that it exists.

According to the configuration of the second modification, when the deterioration detection unit 252 detects that the positioning accuracy of the vehicle position of the own vehicle measured using GPS is deteriorated, the transmission processing unit 253 transmits the vehicle position. Therefore, the vehicle position of the own vehicle with low accuracy is not used for driving support in other vehicles. As a result, in the driving support system 100 that performs driving support using information exchanged between vehicles by inter-vehicle communication, it is possible to prevent the reliability of driving support from being lowered.

Further, according to the configuration of the second modification, when the vehicle information not including the vehicle position of the other vehicle is received, the vehicle position of the other vehicle is not used for driving support, but the other vehicle is within the predetermined range. The presence is notified. Therefore, it is possible to perform driving support within a range where there is no error.

(Embodiment 2)
The embodiment of the present disclosure is not limited to the above-described first embodiment, and the following second embodiment is also included in the embodiment of the present disclosure. Hereinafter, the second embodiment will be described. For convenience of explanation, members having the same functions as those shown in the drawings used in the description of the above-described embodiment are denoted by the same reference numerals, and description thereof is omitted.

The driving support system 100 according to the second embodiment is partially different in processing in the transmission processing unit 253 of the communication device side control unit 25, and processing in the driving support processing unit 333 and the notification processing unit 334 of the portable side control unit 33. Is the same as the driving support system 100 according to the first embodiment except for some differences.

First, vehicle information transmission related processing in the transmission processing unit 253 in Embodiment 2 will be described using the flowchart of FIG. The flowchart of FIG. 11 may be configured to start when the ignition power of the own vehicle is turned on or when the power of the wireless communication device 2 is turned on.

First, in step S41, when it is the generation timing of vehicle information (YES in step S41), the process proceeds to step S42, and it is not the generation timing of vehicle information (step S41), as in step S1 described above. If NO, the process proceeds to step S46.

In step S42, as in step S2, when the deterioration detection unit 252 detects positioning accuracy deterioration (YES in step S42), the process proceeds to step S43. On the other hand, when the degradation detection unit 252 has not detected the positioning accuracy degradation (NO in step S42), the process proceeds to step S44.

In step S43, vehicle information including the vehicle position of the own vehicle and the direction of the own vehicle is generated in the same manner as in step S3, and the positioning accuracy of the vehicle position of the own vehicle measured using GPS is deteriorated in this vehicle information. Information indicating that the operation is being performed (hereinafter, positioning accuracy deterioration information) is given. Then, the process proceeds to step S45.

In step S44, vehicle information including the vehicle position of the host vehicle and the direction of the host vehicle is generated in the same manner as in step S3 described above, and the process proceeds to step S25. In step S44, the positioning accuracy deterioration information is not given to the vehicle information.

In step S45, vehicle information is transmitted from the vehicle exterior communication unit 24 in the same manner as in step S4. When the vehicle information to which the positioning accuracy deterioration information has been assigned is generated in step S43, the vehicle information to which the positioning accuracy deterioration information is given is transmitted, and the vehicle information to which the positioning accuracy deterioration information is not given in step S44. Is generated, vehicle information to which positioning accuracy deterioration information is not given is transmitted.

In the second embodiment, the vehicle information without the positioning accuracy deterioration information is continuously transmitted until the vehicle travels a predetermined distance after the deterioration detection unit 252 detects the deterioration of the positioning accuracy, and travels the predetermined distance. The vehicle information to which the positioning accuracy deterioration information is added is transmitted from the time point until the deterioration detecting unit 252 no longer detects the positioning accuracy deterioration.

According to this, the vehicle information to which the positioning accuracy deterioration information is attached is not transmitted until the positioning accuracy of the vehicle position of the host vehicle is actually deteriorated after the deterioration detecting unit 252 detects the positioning accuracy deterioration. It becomes possible to do so. As a result, in spite of the fact that positioning accuracy is actually maintained at a high level by dead reckoning, vehicle information to which positioning accuracy degradation information is attached is transmitted for a very short period of degradation in positioning accuracy. Can be prevented.

The vehicle information to which the positioning accuracy deterioration information is added may be transmitted after the deterioration detecting unit 252 detects the positioning accuracy deterioration until the positioning accuracy deterioration is not detected.

In step S46, in the same manner as in step S5, when it is the end timing of the vehicle information transmission related process (YES in step S46), the flow is ended. If it is not the end timing of the vehicle information transmission related process (NO in step S46), the process returns to step S41 and the flow is repeated.

In the second embodiment, the transmission processing unit 255, when the transmission processing unit 253 is configured to transmit the vehicle information to which the positioning accuracy deterioration information is added, indicates that the positioning accuracy deterioration information is to be added (hereinafter, referred to as the positioning accuracy deterioration information). , Grant execution information) is transmitted to the portable terminal 3 of the own vehicle via the communication device side communication unit 21. In addition, after the transmission processing unit 255 causes the transmission processing unit 253 to transmit the vehicle information to which the positioning accuracy deterioration information is added, the transmission processing unit 253 transmits the vehicle information to which the positioning accuracy deterioration information is not added. When transmission is performed, information indicating that the provision of the positioning accuracy deterioration information has been completed (hereinafter, provision completion information) is transmitted to the portable terminal 3 of the own vehicle via the communication device side communication unit 21.

In the second embodiment, the notification processing unit 334 transmits the vehicle information to which the positioning accuracy deterioration information is added from the own vehicle until the transmission end information is acquired after the transmission information acquisition unit 331 acquires the allocation execution information. Is displayed on the display unit 32. Examples of the display include a predetermined mark or icon, text such as “Positioning accuracy is being lowered”, and the like.

The driving support processing unit 333 according to the second embodiment performs driving support similar to that described in the first embodiment when the transmission information acquisition unit 331 acquires vehicle information to which positioning accuracy deterioration information is not added. On the other hand, when the vehicle information to which the positioning accuracy deterioration information is added is acquired by the transmission information acquisition unit 331, driving assistance without using the vehicle position of another vehicle is performed. As an example, as in the display example of FIG. 10, the vehicle position of the own vehicle and an image indicating that the other vehicle is within a predetermined range from the own vehicle are displayed on the electronic map. In this case, the predetermined range may be a range assumed as a range in which the wireless communication device 2 can perform vehicle-to-vehicle communication.

According to the configuration of the second embodiment, when the deterioration detection unit 252 detects that the positioning accuracy of the vehicle position of the own vehicle measured using GPS is deteriorated, the transmission processing unit 253 determines the positioning accuracy deterioration information. Since the vehicle information to which is given is transmitted, it is possible to prevent the vehicle position of the own vehicle with low accuracy from being used for driving assistance in other vehicles. As a result, in the driving support system 100 that performs driving support using information exchanged between vehicles by inter-vehicle communication, it is possible to prevent the reliability of driving support from being lowered.

Further, according to the configuration of the second embodiment, when the vehicle information to which the positioning accuracy deterioration information is given is received, the vehicle position of the other vehicle is not used for driving support, but the other vehicle is within the predetermined range. The presence is notified. Therefore, it is possible to perform driving support within a range where there is no error.

In the first embodiment and the second embodiment described above, the configuration in which the detection of the positioning accuracy deterioration is performed on the wireless communication device 2 side is not necessarily limited to this. For example, it is good also as a structure which performs the detection of positioning accuracy degradation on the portable terminal 3 side using the information acquired from the wireless communication apparatus 2 side.

In the first embodiment and the second embodiment described above, the configuration using the mobile terminal 3 is shown, but the configuration is not necessarily limited thereto. For example, an in-vehicle navigation device, an in-vehicle ECU, or the like may be used in place of the mobile terminal 3 as long as it can communicate with the wireless communication device 2 and is used in a vehicle. In this case, the role of the display unit 32 may be a configuration that an in-vehicle display plays.

In the first embodiment and the second embodiment described above, the driving support unit 1 including the separate wireless communication device 2 and the mobile terminal 3 is shown as an example, but the present invention is not necessarily limited thereto. For example, the driving support unit 1 may be integrated. In addition, when employ | adopting such a structure, it cannot be overemphasized that it changes suitably also about the structure mentioned above.

In addition, the embodiments of the present disclosure are not limited to the above-described embodiments, and various modifications are possible. Embodiments obtained by appropriately combining technical sections disclosed in different embodiments, respectively. Are also included in the embodiments of the present disclosure.

Claims (15)

A driving support unit used in a vehicle,
A transmission processing unit (253) for transmitting vehicle information including the position information of the own vehicle measured using the satellite positioning system by inter-vehicle communication, and the positioning accuracy of the position information of the own vehicle measured using the satellite positioning system A deterioration detecting unit (252) for detecting that the battery has deteriorated,
The transmission processing unit is a driving support unit that prevents at least the position information from being transmitted when the deterioration detection unit detects that the positioning accuracy is deteriorated. In claim 1,
When the transmission processing unit detects that the positioning accuracy is deteriorated by the deterioration detecting unit, from the time when the vehicle travels a predetermined distance after detecting that the positioning accuracy is deteriorated, A driving support unit that prevents at least the position information from being transmitted until the deterioration detecting unit does not detect that the positioning accuracy has deteriorated. In claim 1 or 2,
The transmission processing unit is a driving support unit that prevents the vehicle information itself including the position information from being transmitted when the degradation detection unit detects that the positioning accuracy is degraded. In claim 3,
Driving support provided with a display processing unit (334) for causing the display device (32) to display that the vehicle information itself is not transmitted when the vehicle information itself including the position information is not transmitted by the transmission processing unit. unit. In claim 1 or 2,
When the transmission detection unit detects that the positioning accuracy has deteriorated, the transmission processing unit transmits the vehicle information not including the position information when transmitting the vehicle information. Driving support unit. In claim 5,
When the vehicle information that does not include the position information is transmitted by the transmission processing unit, a display processing unit (334) that causes the display device (32) to display that the vehicle information that does not include the position information is transmitted. ) With a driving support unit. A driving support unit (1a) used in a vehicle,
A transmission processing unit (253) for transmitting vehicle information including the position information of the own vehicle measured using the satellite positioning system by inter-vehicle communication;
A deterioration detecting unit (252) for detecting that the positioning accuracy of the position information of the own vehicle measured using the satellite positioning system is deteriorated,
When the transmission processing unit detects that the positioning accuracy is deteriorated by the deterioration detecting unit, the positioning accuracy is deteriorated when transmitting the vehicle information including the position information. A driving support unit that causes the vehicle information including information indicating the transmission to be transmitted. In claim 7,
When the transmission processing unit detects that the positioning accuracy is deteriorated by the deterioration detecting unit, from the time when the vehicle travels a predetermined distance after detecting that the positioning accuracy is deteriorated, The driving support unit that transmits the vehicle information including information indicating that the positioning accuracy is degraded until the degradation detection unit does not detect that the positioning accuracy is degraded. In any one of claims 1 to 8,
The deterioration detection unit is configured to detect that the positioning accuracy of the position information of the own vehicle measured using the satellite positioning system is deteriorated based on the reception status from the satellite used by the satellite positioning system. Support unit. In any one of claims 1 to 9,
A road-to-vehicle communication processing unit (25) for receiving position information of the installation position of the road machine transmitted by wireless communication from a road machine (4) whose communication range is limited to the vicinity,
The deterioration detection unit includes position information of the own vehicle measured in the vicinity of the road unit using the satellite positioning system, and position information of the installation position of the road unit received from the road unit by the road-to-road communication processing unit. A driving support unit that detects that the positioning accuracy of the position information of the own vehicle measured using the satellite positioning system has deteriorated based on the positional deviation with respect to the vehicle. In any one of claims 1 to 10,
Based on the position information of the own vehicle measured using the satellite positioning system, the position information estimated by performing dead reckoning that sequentially estimates the position information of the own vehicle from the behavior of the own vehicle is used. And specifying the position information of the own vehicle by switching between the case where the position information of the own vehicle measured using the satellite positioning system is used as the position information of the own vehicle without performing the dead reckoning. Part (22),
The deterioration detection unit detects that the positioning accuracy of the position information of the own vehicle measured using the satellite positioning system has deteriorated when the duration or the distance of the dead reckoning exceeds a predetermined value. Driving support unit. A driving support unit used in a vehicle,
A reception processing unit (254) for receiving vehicle information including position information of other vehicles measured by the satellite positioning system, transmitted from other vehicles than the own vehicle by inter-vehicle communication;
A driving support processing unit (333) for performing driving support for causing the display device to display the position of the other vehicle relative to the position of the own vehicle based on the position information of the other vehicle received by the reception processing unit. ,
The driving support processing unit
When receiving the vehicle information including the position information of the other vehicle in the reception processing unit, while causing the display device to display the position of the other vehicle relative to the position of the own vehicle,
When the vehicle information that does not include the position information of the other vehicle is received by the reception processing unit, the display indicating the position of the other vehicle with respect to the position of the own vehicle is not performed, and the other vehicle is predetermined from the own vehicle. A driving support unit that causes the display device to display that it is within a range. A driving support unit used in a vehicle,
A reception processing unit (254) for receiving vehicle information including position information of other vehicles measured by the satellite positioning system, transmitted from other vehicles than the own vehicle by inter-vehicle communication;
A driving support processing unit (333) that performs driving support of the host vehicle using the position information of the other vehicle received by the reception processing unit,
When the driving support processing unit receives the vehicle information including information indicating that the positioning accuracy of the position information of the other vehicle positioned using the satellite positioning system has deteriorated, A driving support unit that prevents the position information included from being used for the driving support. The driving support unit (1a) according to claim 5 or 6,
The driving support system including the driving support unit (1b) according to claim 12, which is used in a vehicle different from a vehicle in which the driving support unit (1a) is used. The driving support unit (1a) according to claim 7 or 8,
The driving support system including the driving support unit (1b) according to claim 13, which is used in a vehicle different from a vehicle in which the driving support unit (1a) is used.

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