JP2004038244A - Traveling assistance information providing method and traveling assistance information providing device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a traveling assistance information providing device which can provide a driver with road information on the front of own vehicle even if communication information for receiving radio waves including the road information can not be acquired from a road side facility. <P>SOLUTION: The above device is constituted such that communication reference information can be received from a first road side transmission device 18A, and the device also acquires the communication reference information through a vehicle-to-vehicle communication instrument 9 from a preceding vehicle MS, on the basis of the communication reference information acquired through any of the two acquisition routes, acquires assistance information from a second road side transmission device 18B, and provides the driver with the road information for assisting the traveling of the own vehicle MM through a notification means of an alarm 13. <P>COPYRIGHT: (C)2004,JPO

Description

[0001]
TECHNICAL FIELD OF THE INVENTION
The present invention obtains driving support information (for example, obstacle information, intersection information, and the like) from the road side, and provides a driving support information providing method and driving support information providing for providing driving support information of a vehicle to a driver. Equipment related.
[0002]
[Prior art]
For example, driving assistance information is provided to the driver of the own vehicle based on road information ahead of the driving direction received from a communication device on the road side, such as a "curve warning device" disclosed in JP-A-11-53695. In some cases, a driving support information providing apparatus that performs intervention control such as automatic braking has been proposed. In the system of the driving support information providing device described in JP-A-11-53695, the position information of an obstacle ahead of a curve with poor visibility is received from a plurality of transmitters installed on the road side, and the vehicle The warning output and the intervention control are performed at an appropriate approach distance according to the speed of the vehicle.
[0003]
In a system in which roadside information is received by a vehicle-side communication device as in this conventional example, information is provided by radio waves having a frequency different from the frequency of radio waves used in other reception areas depending on the radio wave reception area. In some cases, only corresponding road information can be acquired. For example, taking an intersection as an example, the information provided to a traveling vehicle in a certain lane is different from the information provided to a traveling vehicle in an intersection lane crossing that lane. It is necessary to use a different frequency for each lane as the frequency of a radio wave for transmitting information.
[0004]
Therefore, in such a system as described above, generally, the frequency of a road-side transmitted radio wave to be received (hereinafter, sometimes referred to as a reference frequency) is acquired by some means, and the acquired radio wave of the reference frequency is scanned. A method of receiving support information from the road side when the vehicle travels while reaching an area where road information (travel support information) ahead can be received is used.
[0005]
[Problems to be solved by the invention]
However, there are cases where the reference frequency of the radio wave received from the roadside transmitting device cannot be acquired for some reason.
For example, assuming a system in which the reference frequency of the roadside radio wave is acquired by receiving a radio wave having a predetermined frequency, the influence of the failure or poor sensitivity of the onboard antenna, the direction of the vehicle, etc. It is conceivable that reference frequency information for obtaining information cannot be received from the side.
[0006]
Also, in the case of a method of obtaining a reference frequency for obtaining road information from a transmitter such as a marker buried in a road, depending on a traveling pattern of the vehicle such as a lane change or a direction change, a road side transmitter may be installed. It is also conceivable that the vehicle enters the reception area of the road information (running support information) without passing through the position, that is, before acquiring the reference frequency.
[0007]
The present invention has been made by paying attention to the above points, and can receive the radio wave of the road information even when the communication information for receiving the radio wave having the road information cannot be obtained from the roadside facility. It is an object of the present invention to provide a driving support information providing device capable of providing a driver with road information ahead of the own vehicle by acquiring a reference frequency through communication with another vehicle before passing through a special area.
[0008]
[Means for Solving the Problems]
In order to solve the above-mentioned problems, the present invention receives driving assistance information from a roadside transmitting device installed on a roadside, and, based on the received traveling assistance information, outputs road information that supports traveling of the own vehicle to a driver. In the driving support information providing method or device provided to the vehicle, the reference frequency information can be obtained as a part of the driving support information from the vehicles around the own vehicle via communication means, and the driving support information received from the roadside transmitting device is provided. And providing road information to the driver for assisting the traveling of the host vehicle based on the driving support information received from the vehicles around the host vehicle.
[0009]
【The invention's effect】
Even if communication reference information (reference frequency and the like) and other driving support information cannot be obtained from the road side due to some factor, communication reference information and other driving support information can be obtained from a preceding vehicle or the like. Become.
[0010]
BEST MODE FOR CARRYING OUT THE INVENTION
Next, a first embodiment of the present invention will be described with reference to the drawings.
FIG. 1 is a schematic diagram for explaining the basic configuration of the present embodiment.
In the vehicle provided with the driving support information providing device of the present embodiment, as the driving state detection means 30A of the own vehicle MM, a brake switch 2, an accelerator pedal stroke sensor 3, a direction indicator 4, The vehicle includes a steering angle sensor 5, a yaw rate sensor 6 for inputting a vehicle motion state, a vehicle acceleration / deceleration (front-rear G) sensor 7, and wheel speed sensors 8 for front, rear, left and right wheels. Each of the switches and sensors 2 to 8 constituting the own vehicle MM traveling state detecting means 30A can output each detected signal to the traveling support controller 1.
[0011]
In addition, an inter-vehicle communication device 9 for the preceding vehicle for communicating with the preceding vehicle MS is provided in front of the own vehicle MM, and a following vehicle MF is provided behind the own vehicle MM. An inter-vehicle communication device 10 for a following vehicle for performing communication with the vehicle is provided. Each of the inter-vehicle communicators 9 and 10 establishes a communication link with a vehicle on the opposite side in the traveling direction based on a command from the traveling support controller 1 to enable transmission and reception of various information. That is, in the present embodiment, the inter-vehicle communication device 9 for communicating with the vehicle MS traveling in front of the own vehicle MM and the inter-vehicle communication for communicating with the vehicle MF following the rear of the own vehicle MM. The machine 10 is provided. The inter-vehicle communicators 9 and 10 transmit radio waves in a specific direction (the inter-vehicle communicator 9 is in front of the own vehicle MM and the inter-vehicle communicator 10 is behind the own vehicle MM), and receive the radio waves. By detecting that another vehicle has entered the possible area, it is determined whether the communication partner vehicle is the preceding vehicle MS or the following vehicle MF. Therefore, the inter-vehicle communication devices 9 and 10 are configured not to communicate with oncoming vehicles having different traveling lanes. The inter-vehicle communicators 9 and 10 may transmit and receive vehicle ID information for specifying the own vehicle MM to and from the other vehicle along with the operation amount and state amount of the vehicle.
[0012]
The vehicle includes a road-to-vehicle communication device 11, which can receive information from each of the roadside transmitting devices 18 provided on the roadside, and outputs the received information to the driving support controller 1.
Here, as shown in FIG. 2, the roadside transmitting device 18 is connected to the first roadside transmitting device 18 </ b> A provided in the reference point wireless area 202 at a position upstream of the reference point wireless area 202 in the traveling direction. And a second roadside transmitting device 18B capable of transmitting to a certain communicable area 203. The first roadside transmitting device 18A is a device that transmits communication reference information. The communication reference information includes at least a reference frequency for receiving support information from the second roadside transmitting device 18B. It also has reference point information of the position information of the communicable area.
[0013]
The second roadside transmitting device 18B is a device for transmitting road information of a target area (curve position in FIG. 2) detected by the road information detector 19.
Here, the following two reasons are provided: a reference point wireless area 202 for the first roadside transmitting device 18A and a communicable area 203 for the second roadside transmitting device 18B. . That is, prior to obtaining appropriate support information corresponding to the current driving lane in the communicable area 203, it is possible to obtain a communication reference such as a reference frequency necessary to obtain only the information. is there.
[0014]
An inter-vehicle distance radar 12 which constitutes an inter-vehicle distance detecting means is provided on the front side of the vehicle, detects a distance to a preceding vehicle MS or an obstacle in front of the own vehicle MM, and outputs the detected content to the driving support controller 1. I do.
Further, it includes an alarm / alarm 13, a display 14, and a sound generator 15 for providing the driver of the host vehicle MM with support information of the host vehicle MM, and operates based on a signal from the driving support controller 1.
[0015]
The driving support controller 1 can output control command values to a brake actuator 16 for braking wheels and an engine throttle control device 17 for controlling vehicle acceleration.
The driving support controller 1 includes, as main components, a control unit main body 1A that controls the entire process, a vehicle communication link unit 1B, an inter-vehicle reference information obtaining unit 1C, a communication reference information transmitting unit 1D, and an inter-vehicle support information obtaining unit. 1F, an inter-vehicle support information transmitting unit 1E, a communication reference information acquiring unit 1G, a road condition receiving unit 1H, a road information reference point estimating unit 1J, an operation mode determining unit 1K, and an information providing unit 1L. Also, an information storage unit 20 for storing various information is connected.
[0016]
The vehicle communication link unit 1B performs a process of establishing a communication link between the preceding vehicle MS and the following vehicle MF.
The inter-vehicle reference information acquisition means 1C operates when a communication link with the preceding vehicle MS is established, acquires the communication reference information transmitted by the preceding vehicle MS through the inter-vehicle communication device 9 for the preceding vehicle, and stores the information in the information storage unit. 20.
[0017]
The communication reference information transmitting means 1D outputs the communication reference information obtained by the communication reference information obtaining means 1G to the following vehicle MF via the inter-vehicle communication device 10 for the following vehicle.
The inter-vehicle support information obtaining means 1F operates when a communication link with the following vehicle MF is established, and obtains road information transmitted from the following vehicle MF via the following vehicle inter-vehicle communication device 10. The inter-vehicle support information acquiring means 1F converts the road information transmitted from the preceding vehicle MS via the inter-vehicle communication device 9 for the preceding vehicle according to the road condition such as the traveling lane state and the acquired communication reference information. It may be configured to acquire.
[0018]
The inter-vehicle support information transmitting unit 1E transmits the road information acquired by the own vehicle MM to the preceding vehicle MS via the inter-vehicle communication device 9 for the preceding vehicle. The inter-vehicle support information transmitting means 1E transmits the road information to the following vehicle MF via the following vehicle inter-vehicle communication device 10 in accordance with the road condition such as the traveling lane state and the acquired communication reference information. It may be configured as follows.
[0019]
Here, the inter-vehicle reference information obtaining means 1C, the communication reference information transmitting means 1D, the inter-vehicle support information obtaining means 1F, and the inter-vehicle support information transmitting means 1E constitute inter-vehicle support information transfer means.
In the communication reference information acquisition, the communication reference information transmitted from the first roadside transmitting device 18A is acquired via the road-to-vehicle communication device 11 when passing through the road information reference point wireless area. Note that the communication reference information also has a role of transmitting to the traveling vehicle that the vehicle has entered the section where the road information is being transmitted.
[0020]
The road condition receiving means 1H sets the road-to-vehicle communication device 11 to the reference frequency included in the communication reference information, and is transmitted from the second road-side transmitting device 18B when passing through the communicable area of the road information. The road information (running support information) is received via the road-to-vehicle communication device 11, that is, the information of the road information target area 204 is received.
In the present embodiment, for example, as the road information, the position and the moving speed of an obstacle, a stopped vehicle, and a low-speed vehicle (including the end of a traffic jam) that are equal to or lower than a predetermined speed are included in the road information reference point wireless area 202. It is received as a relative value based on a reference point (usually, the center point of the area).
[0021]
The road information reference point estimating means 1J operates when the inter-vehicle reference information acquiring means 1C receives the communication reference information, and communicates with the preceding vehicle MS at the moment when the inter-vehicle reference information acquiring means 1C receives the communication reference information. Is calculated based on the signal from the inter-vehicle distance radar, and the reference point of the road information is estimated from the calculated inter-vehicle distance and the received communication reference information.
[0022]
The operation mode determining unit 1K forms a part of the information providing unit 1L, and determines the current operation mode.
The information providing means 1L provides the driver with road information that supports the traveling of the vehicle MM through the alarm 13, the display 14, and the sound generator 15 based on the received road information. Further, depending on the traveling state and road information of the own vehicle MM, intervention control is performed via the brake actuator 16 and the engine throttle control device 17, that is, the traveling of the own vehicle MM can be controlled to avoid obstacles and the like. Te For example, assuming that the vehicle 205 has stopped for some reason, the traveling vehicle 201 in the reception area 203 has a distance Lob (a distance 206 in the figure) from the reference point to the vehicle 205 and a moving speed Vob of the vehicle 205 (here, In this case, the value 0) is received because the vehicle is a stopped vehicle. Based on the relationship between the traveling distance Lo of the own vehicle MM and the speed Vo, the vehicle 205 is located at a position where the vehicle 205 can be avoided with a sufficient margin. Information on the stopped vehicle is presented using the display 14 and the sound generator 15.
[0023]
That is, the traveling state of the own vehicle MM is compared with the road information input from the road-to-vehicle communication device 11 to determine whether the position or state of an obstacle or a sharp curve is an object related to the traveling of the own vehicle MM, If necessary, the information is presented to the occupant using the information presentation display 14 and the sound generator 15. In addition, when it is determined that appropriate avoidance measures have not been taken despite the information presentation, an alarm is issued by the alarm 13, and if further emergency avoidance action is required, A command is issued to the brake actuator 16 and the engine throttle control device 17 to stop at a deceleration required for avoidance.
[0024]
Here, there is the following road information that is transmitted through the second roadside transmitting device 18B and is driving support information.
-As the road shape information, the range of the section where the road condition is valid (hereinafter referred to as the information provision section), the number of lanes in the information provision section, and the road alignment
-As information on the road surface, information on the lane in which the vehicle MM is traveling and the ease of slipping on the road surface (wet, dry, frozen, snow, etc.)
-As obstacle information, the type (object, vehicle, etc.), size, and position of the obstacle existing in the traveling direction
-Information on the intersection includes the distance to the center of the target intersection, the number of lanes on the intersection, the position of the intersection and oncoming vehicles, the speed, the position of the pedestrian crossing, and the position of the pedestrian on the pedestrian crossing.
Among them, all of the information relating to the position and the distance uses the reference position in the information providing section (usually, the base point of the information providing section) as the reference point. This position corresponds to the reference position of the road information reference point wireless area 202 in FIG.
[0025]
Next, the processing of the control unit main body 1A including the above-described units will be described.
In this process, a process as shown in FIGS. 4 and 5 is performed at every predetermined sampling time.
First, in step S301, the inter-vehicle communication device 9 for the preceding vehicle determines whether or not the preceding vehicle communication flag indicating that communication with the preceding vehicle MS has been established is on. In step S304, the process proceeds to step S304. If communication with the preceding vehicle MS has not been established, that is, if the preceding vehicle communication flag is off, the process proceeds to step S302.
[0026]
In step S302, scanning of the inter-vehicle communication device 9 for the preceding vehicle is started. Subsequently, in step S303, a communication establishment request is received from the preceding vehicle MS, and it is determined whether or not the link is established, and the link is established. In this case, in step S305, the preceding vehicle communication flag indicating that the inter-vehicle communication with the preceding vehicle MS is being performed is turned on. If the link has not been established, the process proceeds to step S307.
[0027]
Further, when the process proceeds to step S304, it is determined whether or not the time count of the time during which the communication with the preceding vehicle MS is interrupted has exceeded a predetermined time, and if it has elapsed, it is determined that the inter-vehicle communication has not been established. Then, after turning off the preceding vehicle communication flag in step S306, the process proceeds to step S307.
Subsequent steps S307 to S312 are on / off processing of a subsequent vehicle communication flag indicating whether or not the inter-vehicle communication is being performed on the following vehicle MF. This is exactly the same process in which the vehicle MF is replaced.
[0028]
That is, in step S307, the inter-vehicle communicator 10 for the following vehicle determines whether or not the following vehicle communication flag indicating that communication with the following vehicle MF has been established is on, and the following vehicle communication flag is already on. In step S310, if the communication with the following vehicle MF is not established, that is, if the following vehicle communication flag is off, the process proceeds to step S308.
[0029]
In step S308, scanning of the inter-vehicle communication device 10 for the following vehicle is started, and subsequently, in step S309, a communication establishment request is received from the following vehicle MF, and it is determined whether or not link establishment is established, and the link is established. In this case, in step S311, the subsequent vehicle communication flag indicating that the inter-vehicle communication with the following vehicle MF is being performed is turned on. If the link has not been established, the process proceeds directly to step S313.
[0030]
When the process proceeds to step S310, it is determined whether or not the time count of the time during which the communication with the preceding vehicle MS has been interrupted has exceeded a predetermined time, and if it has elapsed, it is determined that the inter-vehicle communication has not been established. Then, the preceding vehicle communication flag is turned off in step S312, and the process proceeds to step S313.
Here, the processing of steps S301 to S306 constitutes an inter-vehicle communication link means for the preceding vehicle MS, and steps S307 to S312 constitute a vehicle communication link means 1B for the following vehicle MF. In the present embodiment, although described as a series of processes, the inter-vehicle communication link means for the preceding vehicle MS and the vehicle communication link means 1B for the following vehicle MF are independent processing routines, and the individual processing is executed in parallel. It may be constituted so that it does.
[0031]
Next, in step S313, it is determined whether or not a road information target section flag indicating whether or not the vehicle is traveling in a section targeted for road information as shown in FIG. 2 is ON. If it is off, the process moves to step S317.
In step S314, based on the road information (communication reference information) obtained by the communication reference information obtaining unit 1G or the inter-vehicle reference information obtaining unit 1C, the length of the road information target section from the reference point position and the integration from the reference point position are calculated. The traveling distance of the own vehicle MM is compared with the traveling distance of the own vehicle MM to determine whether the traveling distance of the own vehicle MM exceeds the section length. If so, the process proceeds to step S316; otherwise, the process proceeds to step S315.
[0032]
In step S315, it is determined whether a predetermined time has elapsed after passing through the reference point position of the road information target section and the road information reception flag indicating that the road information has been received is off. If the above determination is satisfied, the process proceeds to step S316; otherwise, the process proceeds to step S325.
In step S316, it is determined that the road information target section has ended, the road information target section flag is turned off, all the flags used in the driving support controller 1 are turned off, and the state is returned to the initial state. I do.
[0033]
On the other hand, in step S317, it is determined whether or not the preceding vehicle communication flag is on. If it is on, the process proceeds to step S318, and if it is off, the process proceeds to step S320.
In step S318, the inter-vehicle reference information acquiring means 1C determines whether or not communication reference information has been received from the preceding vehicle MS. If communication reference information has been received, the flow proceeds to step S319, where the communication reference information exists. If not, the process proceeds to step S320.
[0034]
Here, the contents of the communication reference information include at least a reference frequency at which the second roadside transmission device 18B installed in the road information target section receives the support information, and an installation position of the transmission device. Including.
In step S319, the estimated position of the road information reference point wireless area estimated by the road information reference point estimation means 1J is stored in the information storage unit 20.
[0035]
In step S320, the communication reference information acquiring unit 1G determines whether the frequency and the installation position of the road-to-vehicle communication device 11 have been received as communication reference information of the road information to come next in the road information reference point wireless area. If it has been received, the process proceeds to step S324 after setting the reference point and the reference frequency in the road-to-vehicle communication device 11 based on the communication reference information, and if it is determined that it has not been received, it proceeds to step S321. Proceed to.
[0036]
In step S321, it is determined whether or not the communication reference information from the preceding vehicle MS is stored. If the communication reference information is stored, the process proceeds to step S322; otherwise, the process ends and returns. I do.
In step S322, it is determined based on the estimated position of the road information reference point wireless area stored in step S319 whether or not the own vehicle MM has passed the road information reference point wireless prediction area. Then, if it has not passed, the process is stopped and the process returns.
[0037]
In step S323, it is determined that the communication reference information could not be obtained from the road side, the start point of the stored road information reference point wireless prediction area is set as the reference point, and the communication reference information obtained from the preceding vehicle MS is set. , A reference frequency for receiving a radio wave from the second roadside transmitting device 18B for receiving road information is set in the road-to-vehicle communication device 11, and the process proceeds to step S324. Step S323 constitutes a part of the road condition receiving means 1H.
[0038]
Here, the processing of steps S321 to S323 is performed by first setting the reference point of the road information target section, although it is previously determined that the vehicle enters the road information target section by the inter-vehicle communication by the processing of steps S317 to S319. This processing is performed when the communication reference information cannot be received by the road-to-vehicle communication device 11 of the own vehicle MM even if the vehicle has passed. Even if the reception of the information reference point radio has failed, the radio wave from the second roadside transmission device 18B that provides the road information to come can be received.
[0039]
Next, in step S324, by outputting an operation command to the road condition receiving means 1H, scanning of radio waves is started to enable reception of support information. Further, after turning on a road information target section flag indicating that the vehicle is traveling in a target section in which road information related to the travel plan can be received, the process proceeds to step S325.
In step S325, it is determined whether or not the following vehicle communication flag is on. If the following vehicle communication flag is on, the process proceeds to step S326, and the communication reference information transmitting unit 1D is operated to acquire the subsequent vehicle communication flag. The communication reference information is transmitted to the following vehicle MF. If the following vehicle communication flag is not on, the process proceeds directly to step S327.
[0040]
In step S327, it is determined whether or not the road condition receiving means 1H has received road information (driving support information) from the second road-side transmitting device 18B in the communicable area 203 of FIG. If so, the process proceeds to step S328; otherwise, the process proceeds to step S329. Here, the processing after step S327 mainly constitutes the information providing means 1L.
[0041]
In step S328, road information related to the traveling of the vehicle MM, such as an obstacle or a curve, is extracted from the received road information.
In step S329, it is determined whether or not obstacle information exists in the road information extracted in step S328. If there is, the flow proceeds to step S330 to turn on the road-to-vehicle obstacle information flag. The process moves to step S331 without doing anything.
[0042]
In step S331, it is determined whether or not the following vehicle communication flag is on. If the following vehicle communication flag is on, the process proceeds to step S332, and if the following vehicle communication flag is off, the process proceeds to step S334.
In step S332, it is determined whether or not there is obstacle data in the road information from the following vehicle MF acquired by the inter-vehicle support information acquisition means 1F, and if there is obstacle data, the flow proceeds to step S333, If there is no object data, the process moves to step S334.
[0043]
In step S333, it is determined whether or not the road-to-vehicle obstacle information flag is on. If the road-to-vehicle obstacle information flag is on, the process proceeds to step S335. If the road-to-vehicle obstacle information flag is off, step S336 is performed. Move to.
Also in step S334, it is determined whether or not the road-to-vehicle obstacle information flag is on. If the road-to-vehicle obstacle information flag is on, the process proceeds to step S337, and if the road-to-vehicle obstacle information flag is off, Shifts to step S342.
[0044]
In steps S335 to 337, the data newly received this time as the obstacle information is compared with the previously stored obstacle information, and the latest information with the latest information detection time is used as the latest obstacle information at that time. Remember. Among them, in step S335, road-vehicle obstacle data and vehicle-to-vehicle obstacle data are compared, in step S3336, vehicle-to-vehicle obstacle data is compared, and in step S337, road-to-vehicle obstacle data is compared with previously stored obstacle data. I do.
[0045]
In step S338, it is determined whether or not the preceding vehicle communication flag is ON. If the preceding vehicle communication flag is ON, the process proceeds to step S339, where the latest vehicle information stored by the inter-vehicle support information transmitting unit 1E is stored. After transmitting the obstacle data to the preceding vehicle MS, the process proceeds to step S340. If the preceding vehicle communication flag is off, the process proceeds to step S340 without doing anything.
[0046]
In step S340, an operation mode determination unit 1K, which will be described later, is activated to determine an operation mode according to the obstacle information, and then proceeds to step S341.
In S341, based on each operation mode determined in step S340, an image and a sound corresponding to the target road condition are output to the display 14 and the sound generator 15, respectively, to provide the driver with the road information, When it is determined that the control is necessary, a command corresponding to the operation mode is output to each actuator and the operation returns.
[0047]
In step S342, there is no information that has an effect on the traveling of the vehicle MM, but the information presentation screen (for example, “caution for sharp curve driving”) that prompts the driver to drive with caution is present in the road information provision section. After issuing the command to output to the information presentation display 14, the process ends.
Next, the specific processing content of the operation mode determination according to the obstacle information in step S340 will be described with reference to the flowchart shown in FIG.
[0048]
Here, three types of modes, an information providing mode, an alarm mode, and a control mode, are set as the operation modes. Among them, the information providing mode is a mode in which an image and a sound corresponding to a target road condition are output to the display 14 and the sound generator 15, respectively. The alarm mode is a mode in which an alarm buzzer is output from the alarm alarm 13 while the operation in the information providing mode is continued. The control mode is a mode in which an automatic braking command value is output to the brake actuator 16 and the engine throttle control device 17 while the display and the alarm are continued.
[0049]
First, in step S401, in the obstacle information updated in steps S335 to S337, the required deceleration Greq for stopping the running state of the host vehicle MM is set at the obstacle position Xstop. It is calculated by the following equation.
Gref = Vo2 / (2 · Xstop)
In step S402, it is determined whether or not Greq is larger than a predetermined value Ginfo. If it is larger, the process proceeds to step S403. If smaller, the process ends without setting the operation mode and returns.
[0050]
In step S403, it is determined whether or not Greq is greater than a predetermined value Gwarn. If it is larger, the process proceeds to step S404. If smaller, the process proceeds to step S405. In step S405, the operation mode is set to the information providing mode. Later, it returns.
In step S404, it is determined whether or not Greq is greater than a predetermined value Gcont. If it is smaller, the process proceeds to step S406, and if it is larger, the process proceeds to step S407.
[0051]
In step S406, the process returns after setting the operation mode to the alarm mode. In step S407, the process returns after setting the operation mode to the control mode.
Here, the default values Ginfo, Gwarn, and Gcont satisfy Ginfo <Gwarn <Gcont, and Ginfo is a deceleration (eg, 2 m / s) when a general driver stops with a margin during normal driving. ² ), Gwarn is a deceleration (eg, 4 m / s) in situations where relatively sudden stops are required. ² ), Gcont is the deceleration (for example, 6 m / s) when a general driver stops at the maximum force. ² ).
[0052]
Next, an operation, an operation, an effect, and the like of the driving support providing device will be described with reference to a sequence of FIG.
FIG. 7 shows an operation of each vehicle when two vehicles A and B continuously enter the target section of the road information, as indicated by 201A and 201B in FIG.
First, the vehicle B travels following the vehicle A before entering the road information target section, and a link for inter-vehicle communication is established with the vehicle A, which is the preceding vehicle MS. Due to the link establishment, the vehicle A has the following vehicle communication flag turned on, and the vehicle B has the preceding vehicle communication flag turned on.
[0053]
When the vehicle A first enters the information target section after passing through the road information reference point wireless area 202, the vehicle A acquires the communication reference information of the road information, and obtains the frequency of the road-vehicle communication device 11 of the own vehicle MM. Is set, and the communication reference information of the road information is transmitted to the following vehicle MFB.
The vehicle B receives the communication reference information from the preceding vehicle A and stores the communication reference information. The vehicle A obtained from the distance between the vehicle A and the vehicle B at the moment when the communication reference information is received. Is calculated as the reference point of the road information section, and the position of the reference point wireless area is stored.
[0054]
Then, after the vehicle B has passed the reference point wireless area, if the reception of the communication reference information from the road surface side has failed, the road-to-vehicle communication device 11 is obtained based on the communication reference information acquired and stored from the vehicle A. Set the frequency of When the communication reference information is received from the road surface when passing through the reference point wireless area, the frequency of the road-vehicle communication device 11 is set based on the communication reference information acquired from the road surface.
[0055]
Further, when the vehicle A passes through the road information receiving area 203, the road information is received, and the stopped vehicle data as an obstacle is transmitted to the vehicle A from the second roadside transmission device 18B.
Although not described in the above processing, the road information received by the vehicle A is transmitted to the vehicle B by the inter-vehicle communication even if the vehicle B does not reach the road information receiving area 203, so that the following vehicle Even if the MF cannot receive the road information from the road side, the MF may be able to provide the road information.
[0056]
Further, when the vehicle B passes through the road information receiving area 203, even if the vehicle B fails to receive the communication reference information from the road side, the road information is transmitted through the inter-vehicle communication with the vehicle A. Can be received, the obstacle information can be obtained from the second roadside transmission device 18B with the position information of the stopped vehicle 205.
Here, the vehicle B stops its own vehicle MM by comparing the position information of the stopped vehicle already received from the vehicle A with the position information of the stopped vehicle received by the road-to-vehicle communication device 11 of the own vehicle MM. It is also possible to predict how the stopped vehicle position will change when reaching the position of the vehicle.
In addition, since the vehicle A-vehicle B has already established the inter-vehicle communication, the vehicle B transmits the obstacle information received from the road side to the vehicle A.
[0057]
The vehicle A can improve the prediction accuracy of the stop vehicle position from the change in the stop vehicle position information received by the road-to-vehicle communication device 11 of the own vehicle MM in the same manner as the vehicle B based on the information from the vehicle B. It is possible to present the information of the stopped vehicle to the driver at a given timing.
Further, by receiving the road information from the vehicle B, the vehicle A can also obtain information on an obstacle that has occurred after the vehicle A has passed through the road information receiving area 203.
[0058]
Next, a second embodiment will be described with reference to the drawings. Note that parts and the like that are the same as those in the above embodiment are described with the same reference numerals.
The basic configuration is the same as that of the first embodiment, but is an example where the target scene is different.
That is, the present embodiment is an example at an intersection as shown in FIG. 8. In FIG. 8, the road on which the vehicle A 601 </ b> A and the vehicle B 601 </ b> B are running is the priority road, and the stop line 604. This is an example of the case where there is an obligation to suspend. As the road information, first, after passing through the road information reference point wireless area 602, the information of the temporary stop line position is received in the first road information wireless area 603a. Next, near the intersection including the stop line, vehicle information (for example, the speed and position of the approaching vehicle 605) traveling on the priority road and the like are transmitted by the road information wireless area 603b.
[0059]
Here, it is assumed that the inter-vehicle support information transmitting means 1E in the present embodiment also provides road information to the following vehicle MF.
Next, processing in the driving support controller 1 in the present embodiment will be described.
In this process, a process as shown in FIGS. 9 and 10 is performed at every predetermined sampling time.
[0060]
Here, the processing of steps S701 to S726 establishes a communication link for vehicle-to-vehicle communication, turns on the road information target section flag, and transmits the communication reference information to the subsequent vehicle MF when the subsequent vehicle communication flag is on. Since this process is exactly the same as steps S301 to S326 in the process of the first embodiment, that is, a common process, the description is omitted.
[0061]
Here, only one of the process of the driving support controller 1 in the first embodiment and the process with the driving support controller 1 of the second embodiment may be mounted, or both processes may be mounted. Is also good. When both processes are installed, for example, based on the received communication reference information, the reference road environment is determined and a flow to be processed is selected, and the process proceeds to the above-described steps S327 to S342. Alternatively, it is determined whether to proceed to the processing of steps S727 to S741 described below, and appropriate driving support is provided.
[0062]
Returning to the description of the processing of the driving support controller 1 of the second embodiment.
In step S727, it is determined whether or not it is within the reception area of the road information, and in the case of the reception area, the process proceeds to step S728 to extract information on the intersection from the road information received by the road condition receiving unit 1H. Then, control goes to a step S729. The process after step S728 is a process of the information providing unit 1L except for a process of transmitting and receiving information to and from another vehicle.
[0063]
In step S729, it is determined whether or not the extracted information includes one-stop line information. If there is, the process proceeds to step S730 to turn on the temporary stop line flag and set the position of the temporary stop line to the reference point of the road information. After storing as the distance from, the process shifts to step S731.
In step S731, it is determined whether or not the own vehicle MM speed Vcar has decelerated to the vehicle speed Vstop (for example, 5 km / h) that can be regarded as a stop state when the vehicle travels to a position within a predetermined distance (for example, 5 m) from the pause line. If the determination satisfies the condition, the flow shifts to step S732; otherwise, the flow shifts to step S739.
[0064]
In step S732, it is determined whether or not the information of the approaching vehicle 605 exists in the extracted information, and if there is, the process proceeds to step S735; otherwise, the process proceeds to step S733.
In step S733, it is determined whether or not the preceding vehicle communication flag is on. If it is on, the process proceeds to step S734, and if it is off, the process proceeds to step S736.
[0065]
In step S734, the inter-vehicle support information acquiring unit 1F determines whether or not the approaching vehicle information is present in the inter-vehicle communication data acquired from the preceding vehicle MS, and if it is present, the process proceeds to step S735. If not, the process moves to step S736.
In step S735, information on a vehicle whose own vehicle MM cannot enter the intersection based on the speed and position of the vehicle is presented to the driver by display display and voice as approaching vehicle information.
[0066]
In step S736, although there is no approaching vehicle, alert information that promotes left and right confirmation, for example, a phrase such as "Left and right attention!"
In step S737, it is determined whether or not the following vehicle communication flag is on. If the flag is on, the process shifts to step S738 to transmit the approaching vehicle information to the following vehicle MF by the inter-vehicle support information transmitting unit 1E, and then perform processing. To end.
[0067]
In step S739, it is determined whether or not the suspension line flag is on. If the suspension line flag is on, the process proceeds to step S740. If not, the process ends and returns.
In step S740, a deceleration Gstop (= Vcar2 / (2 · Lstop)) necessary to stop on the stop line is calculated from the current vehicle MM speed and the distance Lstop to the stop line, and Gstop is calculated. Default value Gstop0 (for example, 3.0 m / s ² It is determined whether or not it is larger, and in the case of being larger, the process proceeds to step S741 and the stop line information is presented by a display and a voice, and the driver is informed that the traveling road of the own vehicle MM is given priority. introduce. On the other hand, Gstop is a default value Gstop0 (for example, 3.0 m / s). ² In the following cases, the processing is terminated and the process returns.
[0068]
Next, the operation, operation, effects, and the like of the driving support device of the present embodiment will be described with reference to the sequence of FIG.
This embodiment is a case where the vehicle A 601A and the vehicle B 601B enter the intersection of the road conditions in FIG.
A link is established between vehicle A and vehicle B by inter-vehicle communication. In the same manner as in the first embodiment, even when the vehicle B cannot receive the communication reference information of the road information, the information of the stop line and the information of the approaching vehicle can be obtained based on the road information acquired from the vehicle A. It can be received by the MM.
[0069]
Therefore, even when the preceding vehicle MS transmits first at the intersection and the inter-vehicle communication is canceled, the approaching vehicle information can be acquired by the road-to-vehicle communication device 11 of the own vehicle MM.
Further, when the vehicle-to-vehicle communication is established, the approaching vehicle information can be obtained from the preceding vehicle MS even if the own vehicle MM has not yet reached the road information receiving area. In addition, it is possible to acquire information on the approaching vehicle in a range wider than the road information receiving range of only the road-to-vehicle communication device 11 of the own vehicle MM.
[0070]
Here, as can be understood from the description of the first embodiment and the second embodiment, when a communication link of inter-vehicle communication is established with vehicles around the own vehicle MM and the subsequent vehicle communication flag is on, The process of transmitting the communication reference information to the following vehicle MF is common regardless of the road environment, but the transfer of the road information between the vehicles and the content of the road information provided to the driver are based on the communication reference information and the like. Appropriate processing is performed depending on the road environment to be determined (e.g., whether the vehicle is in a curve lane or near an intersection). That is, the first embodiment and the second embodiment show an example of the road environment.
[0071]
Next, a third embodiment will be described with reference to the drawings. Note that the same components as those in the above embodiment are denoted by the same reference numerals, and description thereof is omitted.
The road condition (road environment) assumed in the third embodiment is the same as that of the first embodiment, as shown in FIG. 12, but the first road side transmission that provides the communication reference information of the road information. The difference is that the device 18A is a road reference point marker (1002 in FIG. 12) installed on the road.
[0072]
The third embodiment is different from the first embodiment in that a road marker detector for receiving communication reference information transmitted from a road reference point marker 1002 on a road is provided. That is, this is an example in which a device that receives a signal from the first roadside transmitting device 18A and a device that receives a signal from the second roadside transmitting device 18B are configured separately.
[0073]
When detecting the road reference point marker 20, the road marker detector outputs a detection signal (communication reference information) to the driving support controller 1.
Other configurations are the same as those of the first embodiment. That is, the road information reference point radio in the description of the process of the driving support controller 1 is merely changed to the road reference point marker.
[0074]
That is, the operation, operation, and effect of this embodiment are the same as those of the first embodiment.
Here, in the embodiment described above, an example of obstacle information (particularly, a stopped vehicle), a stop line at an intersection, and approaching vehicle information has been described as the road information, but the road information is not limited thereto. Not done. The road information may be, for example, information on a straight-ahead vehicle to a vehicle waiting for a right turn at an intersection, information on a pedestrian on a pedestrian crossing, or information on a friction coefficient of a road surface, and similar effects can be expected. Needless to say.
[Brief description of the drawings]
FIG. 1 is a diagram illustrating a basic configuration of a driving support information providing device according to a first embodiment of the present invention.
FIG. 2 is an explanatory schematic diagram showing operating conditions of road-to-vehicle communication according to the first embodiment based on the present invention.
FIG. 3 is a diagram showing a configuration of a driving support controller according to the first embodiment based on the present invention.
FIG. 4 is a first diagram illustrating a process of the driving support controller according to the first embodiment based on the present invention.
FIG. 5 is a second diagram illustrating a process of the driving support controller according to the first embodiment based on the present invention.
FIG. 6 is a diagram for explaining an operation mode determining unit according to the first embodiment based on the present invention.
FIG. 7 is a diagram illustrating an operation according to the first embodiment based on the present invention.
FIG. 8 is an explanatory schematic diagram showing operating conditions of road-to-vehicle communication according to a second embodiment of the present invention.
FIG. 9 is a first diagram illustrating processing of a driving support controller according to a second embodiment based on the present invention.
FIG. 10 is a second diagram illustrating a process of the driving support controller according to the second embodiment based on the present invention.
FIG. 11 is a diagram illustrating an operation according to a second embodiment based on the present invention.
FIG. 12 is an explanatory schematic diagram showing operating conditions of road-to-vehicle communication according to a third embodiment of the present invention.
[Explanation of symbols]
1 Driving support controller
1A control unit body
1B Vehicle communication link means
1C Inter-vehicle reference information acquisition means (inter-vehicle support information transfer means)
1D communication reference information transmission means (inter-vehicle support information transfer means)
1E Inter-vehicle support information transmission means (inter-vehicle support information transfer means)
1F Inter-vehicle support information acquisition means (inter-vehicle support information transfer means)
1G communication reference information acquisition means
1H Road condition receiving means
1J Road information reference point estimating means
1K operation mode determination means
1L information provision means
2 Brake switch
3 accelerator pedal switch
4 direction indicators
5 Steering angle sensor
6 Yaw rate sensor
7 Vehicle acceleration sensor
8 Wheel speed sensor
9 Inter-vehicle communication device
10 Inter-vehicle communication device
11 Road-to-vehicle communication equipment
12 Inter-vehicle distance radar
13 Warning alarm
14 Display
15 sound generator
16 Brake actuator
17 Engine throttle control device
18 Roadside transmitter
18A first roadside transmitter
18B Second Roadside Transmitter
19 Road information detector
20 Information storage unit
30A Vehicle running state detecting means
MM own vehicle
MS preceding vehicle
MF Subsequent vehicle

Claims (10)

A driving support information providing method for receiving driving support information from a roadside transmission device installed on the roadside and providing the driver with road information that supports driving of the own vehicle based on the received driving support information,
It transmits and receives driving support information to and from vehicles around the host vehicle via communication means, and based on the driving support information received from the roadside transmission device and the driving support information received from vehicles surrounding the host vehicle, A driving support information providing method, which provides a driver with road information that supports driving of a vehicle. The driving support information providing method according to claim 1, wherein a part of the driving support information is communication reference information serving as a reference when receiving the support information. An information receiving unit that receives driving support information from a roadside transmitting device installed on the roadside, and provides the driver with road information that supports driving of the vehicle based on the driving support information received by the information receiving unit. A driving support information providing device comprising:
Inter-vehicle support information exchange means capable of exchanging travel assistance information with vehicles around the own vehicle via communication means, wherein the information providing means receives the information received by the information reception means and the inter-vehicle assistance information exchange means A driving support information providing device, which provides a driver with road information for supporting driving of the own vehicle based on the driving support information. Communication reference information serving as a reference when receiving driving support information can be obtained from the own vehicle running state detecting means for detecting the running state of the own vehicle and the first roadside transmitting device installed on the roadside. Communication reference information acquisition means;
Road condition receiving means capable of receiving driving support information based on the communication reference information from a second roadside transmitting device installed on the roadside;
A driving support information providing apparatus including at least the driving state of the host vehicle and the received driving support information, and an information providing unit that provides a driver with road information that supports driving of the host vehicle,
An inter-vehicle reference information acquisition unit capable of acquiring the communication reference information from a vehicle around the own vehicle via an inter-vehicle communication unit that communicates with a vehicle around the own vehicle; Alternatively, a driving assistance information providing device receives driving assistance information based on communication reference information acquired by the inter-vehicle reference information acquiring means. The driving support according to claim 4, further comprising communication reference information transmitting means for transmitting the communication reference information obtained by the communication reference information obtaining means to vehicles around the own vehicle via the inter-vehicle communication means. Information provision device The driving support information providing apparatus according to claim 5, wherein the communication reference information transmitting means transmits the communication reference information to a following vehicle. The communication reference information storage means for storing and holding the communication reference information acquired by the inter-vehicle reference information acquisition means,
When the road condition receiving means determines that the communication reference information obtaining means has failed to obtain the communication reference information, the road condition receiving means receives driving support information based on the communication reference information stored in the communication reference information storage means. The driving support information providing device according to any one of claims 4 to 6. 8. The communication reference information according to claim 4, wherein the communication reference information includes at least a frequency of a radio wave serving as a reference when receiving driving assistance information from the second roadside transmission device. 9. Driving support information providing device. An inter-vehicle distance detecting means for detecting a distance from a preceding vehicle or an obstacle ahead of the host vehicle, including reference point information serving as a reference for position information in support information as the communication reference information; The driving support information providing device according to any one of claims 4 to 8, wherein the communication reference information obtained by the inter-vehicle reference information obtaining means is capable of obtaining communication reference information from a vehicle ahead of the own vehicle. A driving support information providing apparatus, comprising: road information reference point estimating means for estimating a reference point of the road information based on information and an inter-vehicle distance from a preceding vehicle detected by the inter-vehicle distance detecting means. The driving support information provision according to any one of claims 4 to 9, further comprising an inter-vehicle support information obtaining means for obtaining driving support information from vehicles around the host vehicle via the inter-vehicle communication means. apparatus.

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