JP2002236161A - Running support device of vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a running support device of a vehicle capable of executing position discrimination of the vehicle without a road surface work for burying a marker in the road surface. SOLUTION: This device is equipped on the road side with a vehicle position discrimination device 1 for detecting the position of the vehicle by measuring the incident angle of a radio wave transmitted from the vehicle side, and a DSRC road side antenna 2 for transmitting the vehicle position detected by the vehicle position discrimination device 1 to the vehicle side. The vehicle side receives the vehicle position transmitted from the DSRC road side antenna 2.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a driving support device for driving a vehicle, and more particularly, to a lane marker used for detecting a position of a vehicle, which is one of the components, and a magnetic marker installed on a road surface. The present invention relates to a vehicle travel support device in which a device for detecting the position of a vehicle using a radio wave instead of a radio wave sensor is measured on a road or installed on the vehicle side.

[0002]

2. Description of the Related Art A conventional vehicle driving support system will be described with reference to FIG. In FIG. 8, reference numeral 2 denotes a DSRC (Dedicate
d Short Range Communicatio) Roadside antenna, 21
Is a DSRC in-vehicle antenna. Road-to-vehicle communication is performed between the roadside antenna 2 and the vehicle-mounted antenna 21 to transmit driving support information to be described later to the driver.

[0003] Reference numeral 3 denotes a road condition grasping sensor. The sensor 3 monitors the position and speed of a traveling vehicle and determines an obstacle on a road, a low-speed vehicle, a stopped vehicle, and the like. In addition, it is also used for monitoring a leading vehicle or a group of vehicles traveling on an oncoming lane or a priority road at an intersection, and for monitoring pedestrians on a crosswalk.

Reference numeral 4 denotes a road surface condition grasping sensor. The sensor 4 monitors road surface conditions (drying, freezing, etc.). 5 is a position marker. This is to obtain position information of the vehicle in the lane. The information is processed by the roadside processing device 6 and transmitted from the roadside antenna 2 to the vehicle.

[0005] The signal received by the vehicle is transmitted to a vehicle control device 7.
In consideration of the current running condition of the vehicle, the display device 8 informs the driver of the situation at an appropriate timing using images, sounds, and the like.

[0006] In this way, the road structure and road surface conditions ahead of the point where the driver is currently traveling, as well as the conditions of other vehicles and pedestrians, etc. can be obtained before arriving at the site, and the response to environmental changes is delayed. To prevent accidents due to excessive speed and improper operation, and to support safe driving of vehicles.

[0007] It is necessary to inform the vehicle whether the vehicle has entered the area for providing information for providing driving support and whether the service area has been completed. Further, in order to provide various information to the driver at an appropriate timing, it is necessary to recognize the position where the vehicle is traveling when entering the service area.

[0008] A belt-shaped magnetic marker 10 called a base marker is provided on the road surface at the start and end points of the service area in order to convey the position of the own vehicle to the vehicle side when starting and ending the traveling support service and entering the service area. Embed it. A method of embedding a short wave modulation active radio wave marker in the road surface in addition to the band-shaped magnetic marker 10 has also been considered.

On the vehicle side, the position detector 101 receives signals such as magnetism and radio waves from the base point marker 10 embedded in the road surface, and sends information on the start point and end point of the service area to the vehicle control device 7. Further, when the vehicle enters the service area, the position information of the own vehicle is sent to the vehicle control device 7.

[0010]

As a base point marker which is one of the driving support devices, a method of setting a band-shaped magnetic marker or the like in a lane-crossing direction on a road at a start point and an end point of a region for providing driving support information can be considered. . However, since these various lane markers need to be embedded and installed on the road surface, it is necessary to temporarily cut off traffic and install the markers, and it is necessary to perform road surface construction, which is uneconomical.

SUMMARY OF THE INVENTION The present invention has been made in view of such a situation of the prior art, and provides a vehicle travel support device capable of determining the position of a vehicle without performing a road surface work for embedding a marker on the road surface. .

[0012]

According to the present invention, there is provided a vehicle driving support apparatus for detecting a vehicle position on a road by measuring an incident angle of a radio wave transmitted from the vehicle. Transmission means for transmitting the vehicle position detected by the vehicle position determination device to the vehicle side, wherein the vehicle side receives the vehicle position transmitted from the transmission means. .

[0013] The transmitting means may be a DSRC (Dedica
ted Short Range Communication) A roadside antenna, wherein a vehicle is provided with a DSRC in-vehicle antenna for receiving a radio wave from the DSRC roadside antenna and a transmitter for transmitting a radio wave to the vehicle position determination device. It is assumed that.

[0014] The transmitting means may be a DSRC (Dedica
ted Short Range Communication) A roadside antenna, wherein the vehicle is provided with a vehicle-mounted DSRC antenna that receives a radio wave from the DSRC roadside antenna and transmits a radio wave to the vehicle position determination device. is there.

[0015] Further, a vehicle driving support device according to another invention includes a transmitting means for transmitting information to the vehicle side on the road side, and measures an incident angle of a radio wave from the transmitting means on the vehicle side. And a vehicle position determining device for detecting the position of the vehicle.

Further, the transmitting means is a DSRC (Dedica
ted Short Range Communication) This is a roadside antenna, which is provided with a vehicle-mounted DSRC antenna for receiving radio waves from the DSRC roadside antenna.

Further, a plurality of position marker receivers for detecting the position of the vehicle on the lane by measuring an incident angle of a radio wave transmitted from the vehicle are provided on the road side. The vehicle position detected by the discriminating device and the vehicle position on the lane detected by the position marker receiver are transmitted to the vehicle.

Further, a transmitter for a position marker is provided on the road side, and the vehicle position on the lane is transmitted to the vehicle side.

[0019]

DESCRIPTION OF THE PREFERRED EMBODIMENTS Embodiment 1 A vehicle driving assistance device according to Embodiment 1 of the present invention will be described with reference to FIG. FIG. 1 is a diagram showing a configuration of a vehicle driving support device according to the first embodiment. 1, the same parts as those of the conventional example shown in FIG. 8 are denoted by the same reference numerals, and the description thereof will be omitted. As a new code, 1 is a vehicle position determination device, 11
Is a transmitter for transmitting a radio wave to the vehicle position determination device 1.

Next, the operation according to the configuration of FIG. 1 will be described. When the DSRC in-vehicle antenna 21 receives a radio wave having information on various road conditions and the like from the DSRC roadside antenna 2, a radio wave is transmitted from the transmitter 11 for the vehicle position determination device 1 to the vehicle position determination device 1. The received vehicle position determination device 1 measures the position of the vehicle from the arrival angle of the radio wave, and transmits the vehicle position information from the DSRC roadside antenna 2 to the vehicle side.

DSRC installed at service area start point
The roadside antenna 2 first transmits various road information. Subsequently, after obtaining the position information, the position information is transmitted to the vehicle side.
The DSRC roadside antenna 2 at the end of the service area transmits that the service area has ended.

The outline of the vehicle position determining device 1 will be described with reference to FIG. The vehicle position determination device 1 includes an azimuth θ,
The position of the vehicle is estimated from the estimated incident angle of the elevation φ and the height of the vehicle-mounted device. For simplicity, a case will be described in which a three-element array is used to estimate the incident angle in one direction (here, θ). The details of this technique are disclosed in Japanese Patent Application No. 11-268929 filed by the present inventors. In FIG. 2, reference numerals 91a, 91b, and 91c denote element antennas arranged in the Y-axis direction in the figure. Element antenna 91
The arrays a and 91b form an array with a narrow element spacing d1, and the element antennas 91a and 91c form an array with a wide element spacing d2.

These element antennas 91k (k = 1, 2, 2)
The incident angle θ which is the angle between the arrival direction of the radio wave measured by the element antenna in the horizontal direction and the Y axis is estimated based on the phase difference of the radio wave received in 3). The input signals are selected from the received signals of the element antennas 91a, 91b, and 91c when the radio wave is incident from the angle θ by the combination of the element intervals, and the correlation is calculated. From the phase angle, an estimated incident angle θ in the array at each element interval is obtained by Expression (1).

[0024]

(Equation 1)

Here, λ is the wavelength of the signal, x ₁ (k), x
₂ (k) is the received signal, arg () is the phase angle, E [] is the time average (sample average) operation, * is the conjugate transpose, k is the time factor of the digital signal, f is the carrier frequency of the signal, and T is the sampling. Period, d is the distance between element antennas, A ₁ , A ₂
Represents the amplitude of the desired signal, and n ₁ (k) and n ₂ (k) represent the receiver noise.

Further, the array of the element spacing d1 and the element spacing d
The estimated incident angle from which the ambiguity is eliminated is obtained using the estimated incident angle obtained from the array No. 2. The azimuth φ is similarly obtained by the equation (4) using the element antennas 91b, 91d, and 91e.

(Equation 2)

Note that y ₁ (k) and y ₂ (k) are received signals,
B ₁ and B ₂ represent the amplitude of the desired signal, and m ₁ (k) and m ₂ (k) represent the receiver noise.

Here, in the coordinate system shown in FIG. 2, the relationship between θ and φ and the true position (x _t , y _t , z _t ) of the vehicle-mounted device is given by the following equation (7).

[0029]

(Equation 3)

In order to position from the above two pieces of angle information, since the height Z of the vehicle-mounted device is equal to Za (known), the following simultaneous equations are solved.

[0031]

(Equation 4)

The lateral result (x _t , y _t ) obtained by solving equation (8) is as follows.

[0033]

(Equation 5)

As described above, by using the vehicle position discriminating apparatus 1 that can be attached to a roadside gantry, a single pole or the like, traffic is cut off when the base point marker is embedded in the road surface and road surface construction is performed. It is thought that things can be avoided. Further, since the position information is directly received on the side of the vehicle, it is not necessary to perform the process of calculating the position of the own vehicle.
Further, if the system does not use a position marker, for example, a system for preventing a front obstacle collision, the position detecting unit 101 can be omitted.

Embodiment 2 Next, a second embodiment of the present invention will be described with reference to FIG. FIG. 3 is a configuration diagram showing a vehicle driving support device according to Embodiment 2.
In the first embodiment described above, the transmitter 11 is separately mounted on the vehicle side for the vehicle position discriminating apparatus 1 to transmit radio waves.
In the second embodiment having the configuration shown in FIG. 3, a radio wave transmitted from the DSRC vehicle-mounted antenna 21 is used for the vehicle position determination device 1 without using the separate transmitter 11.

That is, the DSRC on-board antenna 21 is
After receiving information such as road conditions from the DSRC roadside antenna 2, a radio wave is transmitted to the vehicle position determination device 1. Then, the vehicle position determination device 1 measures the position of the vehicle from the angle of arrival of the received radio wave, and outputs the DS via the roadside processing device 6.
The configuration is such that the position information of the vehicle is transmitted from the RC roadside antenna 2 to the vehicle side.

At this time, the DSRC roadside antenna 2 installed at the service area start point first transmits various road information. Subsequently, after obtaining the position information, the position information is transmitted to the vehicle side. The DSRC roadside antenna at the service area end point transmits that the service area has ended.

According to the second embodiment, the first embodiment
Can be used as a base point marker only by installing the vehicle position determination device 1 on the roadside without separately providing a transmitter for vehicle position determination.
As in the first embodiment, it is possible to avoid road construction work for installing the base point marker on the road surface and to omit the position calculation processing on the vehicle side. Further, if the system does not use a position marker, the position detecting unit 101 can be omitted.

Embodiment 3 Next, a third embodiment of the present invention will be described with reference to FIG. FIG. 4 is a configuration diagram showing a driving support device for a vehicle according to a third embodiment.
In FIG. 4, the same parts as those in Embodiments 1 and 2 shown in FIGS. 1 and 3 are denoted by the same reference numerals, and description thereof will be omitted. As a new code, reference numeral 12 denotes a vehicle position determination device mounted on the vehicle side, and detects the position of the vehicle by measuring an incident angle of a radio wave transmitted from the DSRC roadside antenna 2.

That is, in the configuration shown in FIG. 4, information on travel support such as road conditions and information on the position of the roadside antenna are transmitted from the DSRC roadside antenna 2 installed at the service area start point. The vehicle position determination device 12 mounted on the vehicle obtains the arrival angle of the radio wave from the roadside antenna 2 whose position is known, determines the position of the own vehicle, and sends it to the vehicle control device 7.

DSRC installed at service area start point
The roadside antenna 2 transmits various road information and the position information of the DSRC roadside antenna 2, and the end point DSRC roadside antenna 2 transmits that the service area has ended.

According to the third embodiment, one road-vehicle communication from the DSRC roadside antenna 2 to the on-vehicle antenna is performed,
It is possible to receive information on various road conditions related to driving support and obtain information on the position of the own vehicle. Further, similarly to the first embodiment, it is not necessary to set a base point marker on the road surface. Further, if the system does not use a position marker, the position detecting unit 101 can be omitted.

Embodiment 4 FIG. In each of the above-described embodiments, the position marker 5 that obtains position information in the lane of the vehicle may be installed on the roadside without being directly embedded on the road if the same configuration as the vehicle position determination device in the embodiment is used. Is possible. The position marker 5 is used to obtain the vertical position (traveling direction) and the horizontal position (traverse direction) of the vehicle on the lane. The position marker 5 is installed when it is necessary to maintain a lane such as a lane departure prevention service. In the fourth embodiment, a description will be given of a point that position information in a lane of a vehicle is obtained with a configuration similar to that of the vehicle position determination device.

Embodiment 4 of the present invention will be described with reference to FIG. FIG. 5 is a configuration diagram showing a vehicle driving support device according to Embodiment 4. 5, the same components as those in the first embodiment shown in FIG. 1 are denoted by the same reference numerals, and the description thereof will be omitted. As a new code, 51 indicates a receiver for a position marker mounted on the road side without directly embedded in the road, and the transmitter 1 is provided in the same manner as the vehicle position determination device 1.
The position of the vehicle in the lane is determined based on the arrival angle of the radio wave transmitted from the vehicle.

That is, in the fourth embodiment shown in FIG. 5, the position marker receiver 51 determines the position of the vehicle in the lane based on the angle of arrival of the radio wave transmitted from the transmitter 11 for the vehicle position determination device 1. It is configured to determine and transmit the information from the DSRC transmission antenna 2 to the vehicle.

According to the fourth embodiment, the vehicle position discriminating device 51 for the position marker is attached to the gantry, the single pole, and the lighting on the road side without performing the road work for installing the position marker. , Can be installed.

Embodiment 5 Next, a fifth embodiment of the present invention will be described with reference to FIG. FIG. 6 shows Embodiment 5
FIG. 1 is a configuration diagram illustrating a driving support device for a vehicle according to the first embodiment. 6, the same components as those of the second embodiment shown in FIG. 3 are denoted by the same reference numerals, and the description thereof will be omitted. As a new code, 51
Indicates a receiver for a position marker attached directly to the road without being embedded in the road.
The position of the vehicle in the lane is determined based on the arrival angle of the radio wave transmitted from the DSRC on-vehicle antenna 21 in the same manner as described above.

That is, in the fifth embodiment shown in FIG. 6, a position marker receiver 51 which replaces the position marker 5 in the second embodiment is not directly embedded on the road as in the vehicle position determination device 1. DSRC installed on the road
The position of the vehicle in the lane is determined based on the arrival angle of the radio wave transmitted from the vehicle-mounted antenna 21, and the information is transmitted from the DSRC transmission antenna 2 to the vehicle.

According to the fifth embodiment, the second embodiment
As described above, the effect that the transmitter can be omitted and the effect that the road construction related to the mounting of the position marker described in the fourth embodiment can be avoided can be obtained.

Embodiment 6 FIG. Next, a sixth embodiment of the present invention will be described with reference to FIG. FIG. 7 shows Embodiment 6
FIG. 1 is a configuration diagram illustrating a driving support device for a vehicle according to the first embodiment. 7, the same components as those of the third embodiment shown in FIG. 4 are denoted by the same reference numerals, and the description thereof will be omitted. As a new code, 52
Is a transmitter for a position marker, which is a substitute for the position marker 5 in the third embodiment, and is mounted directly on the road without being directly embedded on the road similarly to the vehicle position determination device 12.

In FIG. 7, the vehicle position discriminating device 12 receives a radio wave transmitted from the position marker transmitter 52.
The vehicle position determination device 12 is configured to determine the position of the vehicle in the lane from the arrival angle of the received radio wave and the position information of the position marker.

According to the sixth embodiment, the third embodiment
And the effect of avoiding road construction related to the mounting of the position marker described in the fourth embodiment.

[0053]

As described above, according to the present invention,
A base marker that informs the vehicle of the information required to enter the service area required for providing the driving support service, the end of the service and the current position of the vehicle when entering the service area, and a position marker that determines the position of the vehicle on the lane. By using a vehicle position determination device based on radio waves, it is not necessary to set a base marker and a position marker on the road surface. For this reason,
The installation work can be simplified and the period can be shortened.

[Brief description of the drawings]

FIG. 1 is a configuration diagram showing a vehicle travel support device according to Embodiment 1 of the present invention.

FIG. 2 is an explanatory diagram illustrating an outline of the vehicle position determination device 1 of FIG.

FIG. 3 is a configuration diagram showing a vehicle travel support device according to Embodiment 2 of the present invention.

FIG. 4 is a configuration diagram showing a vehicle travel support device according to Embodiment 3 of the present invention.

FIG. 5 is a configuration diagram showing a vehicle travel support device according to Embodiment 4 of the present invention.

FIG. 6 is a configuration diagram showing a vehicle travel support device according to Embodiment 5 of the present invention.

FIG. 7 is a configuration diagram showing a vehicle travel support device according to Embodiment 6 of the present invention.

FIG. 8 is a configuration diagram of a conventional driving support system in which a lane marker is installed on a road surface.

[Explanation of symbols]

REFERENCE SIGNS LIST 1 vehicle position determination device, 11 vehicle position determination device transmitter, 12 vehicle-mounted vehicle position determination device, 2 DSRC roadside antenna, 21 DSRC vehicle-mounted antenna, 51 position marker receiver, 52 position marker transmitter, 91 a, 91
b, 91c element antenna.

 ──────────────────────────────────────────────────続 き Continuing from the front page (72) Inventor Takashi Sekiguchi 2-3-2 Marunouchi, Chiyoda-ku, Tokyo Mitsubishi Electric Corporation F-term (reference) 5H180 AA01 CC12 CC24 FF05 FF13 5K067 AA42 BB03 BB43 DD20 EE02 EE14 JJ51 KK00 KK03

Claims (7)

[Claims] 1. A vehicle position determining device for detecting a position of a vehicle by measuring an incident angle of a radio wave transmitted from a vehicle side on a road side, and a vehicle position detected by the vehicle position determining device is determined on a vehicle side. Transmission means for transmitting the vehicle position to the vehicle, and the vehicle receives the vehicle position transmitted from the transmission means. 2. The driving support device for a vehicle according to claim 1, wherein the transmitting unit is a Dedicated Short Range Coordinator (DSRC).
mmunication) is a roadside antenna and has the D
A vehicle travel support device comprising: a DSRC in-vehicle antenna for receiving a radio wave from an SRC roadside antenna; and a transmitter for transmitting a radio wave to the vehicle position determination device. 3. The driving support device for a vehicle according to claim 1, wherein the transmitting means is a Dedicated Short Range Coordinator (DSRC).
mmunication) is a roadside antenna and has the D
A driving support device for a vehicle, comprising: a DSRC vehicle-mounted antenna that receives a radio wave from an SRC roadside antenna and transmits a radio wave to the vehicle position determination device. 4. A vehicle position discriminating apparatus comprising a transmitting means for transmitting information to a vehicle side on a road side, and detecting a position of a vehicle by measuring an incident angle of a radio wave from the transmitting means on the vehicle side. A driving support device for a vehicle, comprising: 5. The driving support device for a vehicle according to claim 4, wherein the transmitting means includes a Dedicated Short Range Coordinator (DSRC).
mmunication) is a roadside antenna and has the D
A driving support device for a vehicle, comprising a DSRC in-vehicle antenna for receiving a radio wave from an SRC roadside antenna. 6. The driving support system for a vehicle according to claim 1, wherein a position of the vehicle on the lane is detected by measuring an incident angle of a radio wave transmitted from the vehicle on the road side. A transmitter for transmitting a vehicle position detected by the vehicle position determination device and a vehicle position on a lane detected by the position marker receiver to the vehicle side. A driving support device for a vehicle, comprising: 7. The traveling support system for a vehicle according to claim 5, further comprising a transmitter for a position marker on a road side, and transmitting a vehicle position on a lane to the vehicle side. Support equipment.