JP4985095B2 - Safe driving support device, safe driving support method and program - Google Patents

Description

  The present invention relates to a safe driving support device, a safe driving support method, and a program that can support driving safely at an intersection.

2. Description of the Related Art Conventionally, various proposals have been made regarding devices capable of assisting in safe driving at an intersection.
For example, a place where a stop is necessary at an intersection in front of the traveling direction of the vehicle is detected, and a light source on / off control and an actuator drive control are performed according to the detected place where the pause is necessary and the running state of the vehicle. While changing the optical axis and irradiation range from the headlamp and the vehicle is traveling or stopping near the detected location where the temporary stop is required, the vehicle is closer to the vehicle than at least the headlamp irradiation range during normal driving of the vehicle. There is also a vehicular lighting device configured to project light or project an image at a desired position on the road surface in an intersection (see, for example, Patent Document 1).

This informs pedestrians, bicycles, etc. that the vehicle is approaching, that is, irradiates or projects an image on the road surface prior to the vehicle traveling toward the intersection, and the vehicle travels to other traffic in advance. You can call attention.
JP 2004-306894 A (paragraphs (0012) to (0124), FIGS. 1 to 32)

  However, in the vehicle lighting device described in Patent Document 1 described above, it is possible to notify the existence of the own vehicle to other trafficpers, but it corresponds to the blind spot generated by the own vehicle at the intersection. The vehicle could not be supported.

  Therefore, the present invention has been made to solve the above-described problems, and is a safe driving support device capable of assisting other vehicles around the host vehicle to travel safely at an intersection. An object is to provide a driving support method and program.

In order to achieve the object, the safe driving support apparatus according to claim 1 includes a host vehicle position detection unit (11) for detecting the host vehicle position, and a map information storage unit (12) for storing map information including position information of the intersection. and), the vehicle position and the map information and determines the stop determination unit that determines whether the vehicle is decelerated below stop or a predetermined speed at the intersection based on the (13, 21, and 2 5), the vehicle is Crossing vehicle detection means (51, 53) for detecting a crossing vehicle that crosses the traveling lane of the host vehicle from an oncoming lane when the vehicle stops or decelerates to a predetermined speed or less at an intersection, and an approaching vehicle approaching from behind the host vehicle Based on the approaching vehicle detection means (51, 53) for detecting, the road surface display means (61, 62) for displaying a visible figure or character on the front road surface of the own vehicle, the own vehicle position and the map information From the driving lane of your vehicle And determining lane determining means for determining whether or not there is lane road edge side (13), detecting the crossing vehicle, and, when detecting the approaching vehicle, the driving lane of the host vehicle by the lane determining unit Priority determining means (13) for determining the priority in traveling between the crossing vehicle and the approaching vehicle based on the determination as to whether or not there is a lane on the road edge side from the road, and based on the priority Display control means (13) for controlling to display a stop notification for instructing stop via the road surface display means on the road surface in front of the crossing vehicle or the approaching vehicle in the traveling direction.

Also, the safety driving support apparatus according to claim 2, in the safety driving support apparatus (1) according to claim 1, wherein the priority determination means (13), lane road edge side from the traveling lane of the vehicle In some cases, it is determined that the priority of the approaching vehicle is higher than the priority of the crossing vehicle, and the display control means (13) has the priority of the approaching vehicle higher than the priority of the crossing vehicle. When it is determined that, the road surface display means controls to display the stop notification on the road surface ahead of the crossing vehicle in the traveling direction.

According to a third aspect of the present invention, there is provided the safe driving support apparatus according to the first or second aspect , wherein the priority determining means (13) is configured to detect a road edge from a traveling lane of the own vehicle. When there is no lane on the edge side, it is determined that the priority of the crossing vehicle is higher than the priority of the approaching vehicle, and the display control means (13) gives priority to the approaching vehicle. When it is determined that the vehicle is higher than the degree, the road surface display means controls to display the stop notification on the road surface ahead of the approaching vehicle in the traveling direction.

Furthermore, the safe driving support apparatus according to claim 4 is the safe driving support apparatus (1) according to claim 3 , wherein the display control means (13) sets the priority of the crossing vehicle to the priority of the approaching vehicle. The road surface display means controls to display a caution notice instructing the approaching vehicle to pay attention to the road surface ahead of the crossing vehicle in the traveling direction. .

Further, the safe driving support method according to claim 5 is based on the own vehicle position detecting step (S11) for detecting the own vehicle position, and the own vehicle position and map information detected in the own vehicle position detecting step. When the vehicle is stopped at the intersection or decelerated below the predetermined speed (S12), and when the vehicle is determined to stop at the intersection or decelerate below the predetermined speed A crossing vehicle detection step (S1 6 ) for detecting a crossing vehicle that crosses the traveling lane of the host vehicle from the lane, and an approaching vehicle approaching from the rear of the host vehicle is detected when the crossing vehicle is detected in the crossing vehicle detection step. Lane for determining whether there is a lane on the road edge side from the traveling lane of the own vehicle based on the approaching vehicle detection step (S1 7 ) to be performed and the own vehicle position and map information detected in the own vehicle position detection step Judgment process (S18) And when the approaching vehicle is detected , based on the determination as to whether or not there is a lane on the road edge side from the traveling lane of the host vehicle in the lane determination step , A priority determination step (S1 8 ) for determining the priority of the vehicle, and stop via the road surface display means on the road surface ahead of the crossing vehicle or the approaching vehicle based on the priority determined in the priority determination step a display control step of controlling to display a stop notification for instructing (S 19~S2 2), characterized by comprising a.

Furthermore, the program according to claim 6 is a program that causes the computer to detect the vehicle position based on the vehicle position detection step (S11) for detecting the vehicle position and the vehicle position and map information detected in the vehicle position detection step. When the vehicle is stopped at the intersection or decelerated below the predetermined speed (S12), and when the vehicle is determined to stop at the intersection or decelerate below the predetermined speed A crossing vehicle detection step (S1 6 ) for detecting a crossing vehicle that crosses the traveling lane of the host vehicle from the lane, and an approaching vehicle approaching from the rear of the host vehicle is detected when the crossing vehicle is detected in the crossing vehicle detection step. Lane for determining whether there is a lane on the road edge side from the traveling lane of the own vehicle based on the approaching vehicle detection step (S1 7 ) to be performed and the own vehicle position and map information detected in the own vehicle position detection step Judgment process (S18) and when the approaching vehicle is detected , based on the determination as to whether or not there is a lane on the road edge side from the traveling lane of the host vehicle in the lane determination step, the crossing vehicle and the approaching vehicle A priority level determining step (S1 8 ) for determining the priority in traveling of the vehicle, and road surface display means on the road surface ahead of the crossing vehicle or the approaching vehicle based on the priority level determined in the priority level determining step. through and a program for executing a display control step of controlling to display a stop notification (S 19~S2 2), the instructing stop.

In the safe driving support device according to claim 1 having the above-described configuration, when the own vehicle stops at an intersection or decelerates to a predetermined speed or less, it is determined whether or not there is a lane on the road edge side from the traveling lane of the own vehicle. Based on the above, the priority in traveling between the crossing vehicle from the opposite lane and the approaching vehicle approaching from behind the host vehicle is determined, and a stop notification is displayed on the road surface in front of the crossing vehicle or the approaching vehicle in the traveling direction. Can call attention. Accordingly, it is possible to accurately determine the driving priority between the crossing vehicle from the opposite lane and the approaching vehicle approaching from behind the host vehicle at the intersection, and to safely travel with respect to the crossing vehicle and the approaching vehicle. It will be possible to support.

In the safe driving support device according to claim 2 , when there is a lane on the road edge side from the traveling lane of the own vehicle, the priority of the approaching vehicle approaching from the rear of the own vehicle is higher than the priority of the crossing vehicle. Is also determined to be high, and a stop notification is displayed on the road surface ahead of the crossing vehicle in the traveling direction. For this reason, attention can be urged to surely stop a crossing vehicle having a low priority in traveling, and it is possible to provide assistance for safely traveling a crossing vehicle from an oncoming lane. .

In the safe driving support apparatus according to claim 3 , when there is no lane on the road edge side from the traveling lane of the own vehicle, it is determined that the priority of the crossing vehicle is higher than the priority of the approaching vehicle, A stop notification is displayed on the road surface ahead of the approaching vehicle having the lower priority. For this reason, attention can be urged to stop the approaching vehicle reliably, and it is possible to support the approaching vehicle so that it can travel safely.

Further, in the safe driving support device according to claim 4, when an approaching vehicle approaching from the rear of the lane in which the host vehicle is traveling is detected, attention should be paid to the road surface in the traveling direction of the crossing vehicle having a high traveling priority. Since the notification is displayed, it is possible to surely call attention to the crossing vehicle, and to support the crossing vehicle so that it can travel more safely.

Further, in the safe driving support method according to claim 5 , when the own vehicle stops at the intersection or decelerates to a predetermined speed or less, it is based on the determination as to whether or not there is a lane on the road edge side from the traveling lane of the own vehicle. Te, determines the priority of the running of the approaching vehicles approaching from the rear of the transverse vehicle and the host vehicle from the opposite lane, and displays the stop notification ahead in the traveling direction of the road surface of the transverse vehicle or approaching the vehicle, You can call attention. Accordingly, it is possible to accurately determine the driving priority between the crossing vehicle from the opposite lane and the approaching vehicle approaching from behind the host vehicle at the intersection, and to safely travel with respect to the crossing vehicle and the approaching vehicle. It will be possible to support.

Further, in the program according to claim 6 , when the computer reads the program, the computer moves from the traveling lane of the own vehicle to the road edge side when the own vehicle stops or decelerates to a predetermined speed or less. Based on the determination of whether or not there is a lane , the traveling priority of the crossing vehicle from the oncoming lane and the approaching vehicle approaching from the rear of the host vehicle is determined, and the crossing vehicle or the approaching vehicle is ahead of the traveling direction. You can call attention by displaying a stop notification on the road. Accordingly, it is possible to accurately determine the driving priority between the crossing vehicle from the opposite lane and the approaching vehicle approaching from behind the host vehicle at the intersection, and to safely travel with respect to the crossing vehicle and the approaching vehicle. It will be possible to support.

  Hereinafter, a safe driving support device, a safe driving support method, and a program according to the present invention will be described in detail with reference to the drawings based on an embodiment in which a navigation device is embodied.

  First, a schematic configuration of a vehicle on which a navigation device according to the present embodiment is mounted will be described with reference to FIG. FIG. 1 is a schematic configuration diagram of a vehicle 2 on which a navigation device 1 according to the present embodiment is mounted.

As shown in FIG. 1, a camera ECU (Electronic Control Unit) 51 that drives and controls a CCD camera or the like is electrically connected to the navigation control unit 13 of the navigation device 1 installed on the vehicle 2. In addition, at the front end portion and the rear end portion of the vehicle 2, each vehicle exterior camera 53 configured by a CCD camera or the like is installed.
The navigation control unit 13 is electrically connected to a laser ECU (Electronic Control Unit) 61 that drives and controls a laser device and the like. In addition, a laser device 62 that draws characters and figures by irradiating a visible laser beam on the front road surface is installed at the left end of the front grill of the vehicle 2.

  The navigation device 1 is provided on the center console or the panel surface of the vehicle 2, displays a search route to a map or destination on a liquid crystal display (LCD) 15, and provides voice guidance regarding route guidance by a speaker 16. Output. In addition, the navigation device 1 can transmit a control signal to the camera ECU 51 when a predetermined condition is satisfied, and can detect a vehicle in front of and behind the vehicle 2, a motorcycle, or the like. In addition, when the predetermined condition is satisfied, the navigation device 1 transmits a control signal to the laser ECU 61 and draws characters, figures, and the like with laser light that can be visually recognized on the road surface in front of the left side of the vehicle 2. Can do.

In addition, the camera ECU 51 performs electronic processing on the video signal of each of the outside cameras 53 based on the control signal received from the navigation device 1, and outputs detection signals for vehicles ahead and behind the vehicle 2, motorcycles, and the like. Each vehicle exterior camera 53 is connected to the control unit.
Further, the laser ECU 61 drives and controls the laser device 62 based on the control signal received from the navigation device 1 to change the irradiation direction or irradiation range, the irradiation light amount, the color, or the like of the visible laser beam on the front road surface. The laser device 62 is connected to the electronic control unit that performs irradiation.

Next, the configuration related to the control system of the vehicle 2 according to the present embodiment will be described with reference to FIG. FIG. 2 is a block diagram schematically showing a control system centered on the navigation device 1 mounted on the vehicle 2.
As shown in FIG. 2, the control system of the vehicle 2 is configured based on a navigation device 1 and a camera ECU 51 and a laser ECU 61 that are electrically connected to the navigation device 1. A predetermined peripheral device is connected.

  The navigation device 1 is based on a current position detection unit 11 that detects a current position of the own vehicle (hereinafter referred to as “own vehicle position”), a data recording unit 12 that records various data, and input information. The navigation control unit 13 that performs various arithmetic processes, the operation unit 14 that receives operations from the operator, the liquid crystal display (LCD) 15 that displays information such as a map to the operator, and the voice for route guidance It is composed of a speaker 16 that outputs guidance and warning sounds, and a communication device 17 that communicates with an information center such as a road traffic information center (VICS (registered trademark)) via a mobile phone network or the like. ing. The navigation control unit 13 is connected to a vehicle speed sensor 21 that detects the traveling speed of the vehicle.

Below, each component which comprises the navigation apparatus 1 is demonstrated.
As shown in FIG. 2, the current position detection unit 11 includes a GPS 31, a direction sensor 32, a distance sensor 33, an altimeter (not shown), and the like, up to the current position, direction, and target (for example, an intersection) of the own vehicle. It is possible to detect the distance.

  Specifically, the GPS 31 detects the current location and current time of the vehicle on the earth by receiving radio waves generated by artificial satellites. The azimuth sensor 32 includes a geomagnetic sensor, a gyro sensor, an optical rotation sensor attached to a rotating portion of a steering wheel (not shown), a rotation resistance sensor, an angle sensor attached to a wheel, or the like. Detect the direction of the vehicle. The distance sensor 33 measures, for example, the rotational speed of a wheel (not shown) of the host vehicle, detects the distance based on the measured rotational speed, measures the acceleration, and integrates the measured acceleration twice. Thus, it is composed of a sensor or the like that detects the distance, and detects the moving distance of the vehicle.

  The data recording unit 12 reads an external storage device and a hard disk (not shown) as a recording medium, a map information database (map information DB) 25 stored in the hard disk, a predetermined program, etc. And a recording head (not shown) which is a driver for writing the data. In this embodiment, a hard disk is used as the external storage device and storage medium of the data recording unit 12, but in addition to the hard disk, a magnetic disk such as a flexible disk, memory card, CD, DVD, optical disk, IC A card or the like can also be used as an external storage device.

  The map information DB 25 is composed of various information necessary for route guidance and map display. For example, new road information for specifying each new road, map display data for displaying a map, each intersection Intersection data relating to, node data relating to node points, link data relating to roads (links) as a kind of facility (for example, the number of road lanes, road attributes (such as national roads, prefectural roads, city roads, etc.)), Consists of search data for searching for routes, store data related to POI (Point of Interest) such as stores that are a kind of facility, search data for searching points, feature information about various features such as traffic lights at intersections, etc. Has been. Further, the contents of the map information DB 25 are updated by downloading update information distributed from an information distribution center (not shown) via the communication device 17.

  As shown in FIG. 2, the navigation control unit 13 constituting the navigation device 1 is an arithmetic device that performs overall control of the navigation device 1, a CPU 41 as a control device, and working when the CPU 41 performs various arithmetic processes. In addition to being used as a memory, the RAM 42 for storing route data when a route is searched, a control program, and a display processing program for displaying a stop message, which will be described later, on the front road surface (see FIG. 3) Are stored in the ROM 43, an internal storage device such as a flash memory 44 for storing a program read from the ROM 43, a timer 45 for measuring time, and the like.

  In this embodiment, various programs are stored in the ROM 43, and various data are stored in the data recording unit 12. However, the programs, data, and the like are stored in the same external storage device, memory card, and the like. It is also possible to read out a program, data, etc. from the flash memory 44 and so on. Further, the program, data, etc. can be updated by exchanging a memory card or the like.

  Furthermore, the navigation control unit 13 is electrically connected to peripheral devices (actuators) of the operation unit 14, the liquid crystal display 15, the speaker 16, and the communication device 17.

The operation unit 14 is operated when correcting the current location at the start of travel, inputting a departure point as a guidance start point and a destination as a guidance end point, or searching for information about facilities, and the like. And a plurality of operation switches. The navigation control unit 13 performs control to execute various corresponding operations based on switch signals output by pressing the switches. Note that the operation unit 14 may be configured by a keyboard, a mouse, or the like, or a touch panel provided on the front surface of the liquid crystal display 15.
The liquid crystal display 15 also has operation guidance, operation menus, key guidance, guidance route from the current location to the destination, guidance information along the guidance route, traffic information, news, weather forecast, time, mail, TV program, etc. Is displayed.

Further, the speaker 16 outputs a travel guide along the guidance route based on an instruction from the navigation control unit 13. Here, the voice guidance to be guided is, for example, “200m ahead, right at XX intersection”.
The communication device 17 is a communication means such as a mobile phone network that communicates with the information distribution center and the road traffic information center, and transmits and receives the latest version of updated map information and the like with the information distribution center. In addition to the information distribution center and the like, the communication device 17 is configured to be capable of bidirectional communication with the navigation device 1 mounted on another vehicle.

In addition, the camera ECU 51 includes a data receiving unit 51A that receives the control information transmitted from the navigation control unit 13, and controls each of the outside cameras 53 based on the received control information and performs an image recognition. It has.
Further, the laser ECU 61 includes a data receiving unit 61A that receives control information transmitted from the navigation control unit 13. The laser ECU 61 includes a laser irradiation angle control unit 61B that controls the irradiation angle of the laser light to draw a predetermined irradiation shape based on the laser irradiation angle information transmitted from the navigation control unit 13, and the navigation control unit 13. A laser output control unit 61C that controls the output of the laser beam based on the transmitted drawing data, color data such as characters, and the like is provided.

Next, a display process that is executed by the CPU 41 of the navigation device 1 configured as described above and that displays a stop message or the like on the road surface ahead will be described with reference to FIGS. 3 to 5.
FIG. 3 is a flowchart showing a display process that is executed by the CPU 41 of the navigation device 1 according to the present embodiment and that displays a stop message or the like on the road surface ahead. FIG. 4 is a diagram for explaining an example of drawing a stop message on the road surface ahead of the right turn vehicle in the direction of travel at the intersection. FIG. 5 is a diagram for explaining an example in which a stop message or the like is drawn on the road surface in front of the two-wheeled vehicle approaching from behind at the intersection.
Note that the program shown in the flowchart of FIG. 3 is stored in the ROM 43 provided in the navigation control unit 13 of the navigation device 1 and is executed by the CPU 41. Moreover, the process shown by the flowchart shown in FIG. 3 is performed when a vehicle passes the left lane.

  As shown in FIG. 3, first, in step (hereinafter abbreviated as “S”) 11, the CPU 41 causes the current position detection unit 11 to detect the current position of the own vehicle (hereinafter referred to as “own vehicle position”) and the direction of the own vehicle. Is detected, and coordinate data (for example, latitude and longitude data) indicating the vehicle position and the vehicle direction are stored in the RAM 42. The CPU 41 is within a predetermined distance (for example, within about 100 m to 200 m) from the host vehicle 2 ahead of the traveling direction of the road on which the host vehicle is traveling from the map information stored in the map information DB 25. Map information relating to the intersection existing at the position is acquired and stored in the RAM 42. Specifically, the CPU 41 determines intersection data (for example, intersection coordinate data (for example, latitude and longitude data)) and link data (the number of lanes on the road on which the host vehicle 2 is traveling) regarding the intersection. , The number of lanes of intersecting roads, road attributes (such as national roads, prefectural roads, and city roads) are read out and stored in the RAM 42.

  In S12, the CPU 41 measures the vehicle speed from a predetermined distance before the intersection (for example, approximately 50 meters before) from the coordinate data of the intersection and the coordinate data of the own vehicle position by the vehicle speed sensor 21, and this Check if the vehicle speed before the intersection (for example, about 1 to 3 meters before) is below the predetermined speed (for example, about 5 km / hour or less), that is, before the intersection Or a determination process for determining whether or not the vehicle has stopped or has become a predetermined speed or less because the front lane is crowded.

If the vehicle stops before the intersection or does not fall below the predetermined speed (S12: NO), the CPU 41 proceeds to S13. In S13, the CPU 41 executes a determination process for determining whether or not the laser device 62 is drawing a stop message or the like on the road surface. And when drawing of the stop message etc. on the road surface by the laser apparatus 62 is not performed (S13: NO), CPU41 complete | finishes the said process.
On the other hand, when drawing a stop message or the like on the road surface by the laser device 62 (S13: YES), the CPU 41 proceeds to the process of S14. In S <b> 14, the CPU 41 outputs a control signal for stopping the laser output to the laser ECU 61, and after the drawing of a stop message or the like on the road surface by the laser device 62 is finished, the processing is finished.

  On the other hand, if the safety check or the front lane is crowded at this intersection and the vehicle stops or falls below the predetermined speed (S12: YES), the CPU 41 proceeds to the process of S15. In S <b> 15, the CPU 41 specifies the lane where the host vehicle 2 is located from the host vehicle position and the link data, and stores the lane in the RAM 42.

Subsequently, in S16, the CPU 41 performs image processing on the video signal of the outside camera 53 disposed at the front end of the host vehicle 2 via the camera ECU 51, and determines whether there is a right turn vehicle from the oncoming lane, that is, the host vehicle. A determination process for determining whether there is a right-turn vehicle crossing the lane in which the vehicle 2 travels is executed.
And when there is no right turn vehicle from an oncoming lane (S16: NO), CPU41 transfers to the process of said S13.

On the other hand, when there is a right turn vehicle from the oncoming lane (S16: YES), the CPU 41 proceeds to the process of S17. In S17, the CPU 41 performs image processing on the video signal of the vehicle exterior camera 53 disposed at the rear end portion of the host vehicle 2 via the camera ECU 51, and approaches the vehicle from the left rear (for example, an automobile, a motorcycle, a motor with a motor). A determination process for determining whether or not a bicycle is present is executed.
When there is no approaching vehicle from the left rear (S17: NO), the CPU 41 proceeds to the process of S13.

On the other hand, when there is an approaching vehicle from the left rear (S17: YES), the CPU 41 proceeds to the process of S18. In S <b> 18, the CPU 41 determines whether there is a further lane on the left side of the lane in which the host vehicle 2 is located, that is, on the road edge side from the traveling lane of the host vehicle 2 based on the host vehicle position and link data. Execute the process.
When there is a further lane on the left side of the lane where the host vehicle 2 is located (S18: YES), the CPU 41 determines that the priority of traveling of the approaching vehicle from the left rear is the priority of traveling of the right turn vehicle. It judges that it is higher than the degree, and shifts to the processing of S19.

  In S <b> 19, the CPU 41 performs image processing on the video signal of the vehicle exterior camera 53 disposed at the front end of the host vehicle 2, and the relative positional relationship between the host vehicle 2 and the right turn vehicle from the opposite lane (for example, relative distance, relative Angle, etc.). Then, the CPU 41 calculates the coordinate position data ahead of the vehicle position in the intersection where the right turn vehicle passes based on the vehicle position and the intersection data regarding the intersection, and notifies the right turn vehicle to stop. A predetermined stop message (see FIG. 4) to be drawn is stored in the RAM 42 as coordinate data of the drawing target position for drawing.

  Subsequently, in S20, the CPU 41 reads out the coordinate data of the drawing target position, the own vehicle position, and the own vehicle direction from the RAM 42 again, and irradiates the laser beam to notify the right turn vehicle to stop. The laser irradiation angle for drawing the stop message is calculated and stored in the RAM 42 as laser irradiation angle information. The CPU 41 reads out the laser irradiation angle information from the RAM 42 again, and reads out shape data such as a predetermined stop message and color data (for example, red) drawn on the road surface in front of the intersection from the ROM 43. After the transmission to the laser ECU 61, the process is terminated.

  Thereby, the laser ECU 61 controls the laser beam irradiation angle of the laser device 62 by the laser irradiation angle control unit 61B based on the laser irradiation angle information, and also displays a predetermined stop message or the like to be drawn on the front road surface in the intersection. A laser beam of a predetermined color that can be visually recognized by the laser output control unit 61C based on the shape data, the color data, and the like is applied to the front road surface in the intersection where the right turn vehicle passes and stops with respect to the right turn vehicle. A predetermined stop message to be notified is drawn.

  For example, as shown in FIG. 4, when the host vehicle 2 is stopped in front of the intersection 71 because the front lane is crowded, the right turn vehicle 72 is detected via the outside camera 53 arranged at the front end. In addition, when the approaching vehicle 75 from the left rear is detected, if there is a further lane 74 on the left side of the lane 73 where the host vehicle 2 is located (S11 to S18: YES), the CPU 41 It is determined that the traveling priority of the approaching vehicle 75 is higher than the traveling priority of the right turn vehicle 72. Then, the CPU 41 “stops” with a laser beam of a predetermined color (for example, red) visible by the laser device 62 on the front road surface in the intersection where the right turn vehicle 72 having a low priority in traveling passes. "And a stop message 76 are drawn, and a stop line 77 is drawn below the stop message 76 (S19 to S20).

As a result, the CPU 41 can notify the right turn vehicle 72 having a low driving priority to stop, and the approaching vehicle 75 approaching the intersection 71 from the left rear of the host vehicle 2 and It is possible to support the vehicle to travel safely with respect to the right turn vehicle 72.
In addition, when the own vehicle 2 starts driving | running | working in the intersection 71, drawing by laser lights, such as this "stop", is stopped (S12: NO-S14). Further, even when the approaching vehicle 75 passes the side of the host vehicle 2 and enters the intersection, the drawing by the laser beam such as “stop” is stopped (S17: NO to S14).

  On the other hand, if there is no further lane on the left side of the lane in which the host vehicle 2 is located in S18, that is, on the road edge side from the traveling lane of the host vehicle 2 (S18: NO), the CPU 41 Is determined to be higher than the driving priority of an approaching vehicle from the left rear (for example, a motorcycle or the like), and the process proceeds to S21.

  In S <b> 21, the CPU 41 performs image processing on the video signal of the outside camera 53 arranged at the front end of the host vehicle 2, and the relative positional relationship between the host vehicle 2 and the left end of the intersection entrance of the lane in which the host vehicle 2 travels ( For example, relative distance, relative angle, etc.) are calculated. Then, the CPU 41 calculates the coordinate position data ahead of the vehicle position on the left end side of the intersection entrance where the approaching vehicle from the left rear side travels based on the vehicle position and the intersection data regarding the intersection, and approaches from the left rear side. A predetermined stop message (see FIG. 5) for notifying the vehicle to stop is stored in the RAM 42 as coordinate data of a stop drawing target position for drawing. At the same time, the CPU 41 performs image processing on the video signal of the outside camera 53 disposed at the front end portion of the host vehicle 2, and has a relative positional relationship (for example, relative distance, relative angle, etc.) with the right turn vehicle from the oncoming lane. .) Is calculated. Then, the CPU 41 calculates the coordinate position data ahead of the vehicle position in the intersection where the right turn vehicle passes based on the vehicle position and the intersection data regarding the intersection, and the left side of the vehicle 2 with respect to the right turn vehicle. A predetermined caution message (see FIG. 5) for notifying the presence of an approaching vehicle from behind is stored in the RAM 42 as coordinate data of a caution drawing target position for drawing.

  Subsequently, in S22, the CPU 41 reads out the coordinate data of the stop drawing target position, the own vehicle position, and the own vehicle direction from the RAM 42 again, and irradiates the laser beam to stop the approaching vehicle from the left rear. A laser irradiation angle for drawing a predetermined stop message to be notified is calculated and stored in the RAM 42 as laser irradiation angle information. Then, the CPU 41 again reads out the laser irradiation angle information from the RAM 42, and forms shape data such as a predetermined stop message and color data (for example, red) to be drawn on the road surface ahead on the left end side of the intersection entrance. Read from the ROM 43 and transmit to the laser ECU 61.

  Accordingly, the laser ECU 61 controls the laser beam irradiation angle of the laser device 62 by the laser irradiation angle control unit 61B based on the laser irradiation angle information, and draws a predetermined stop message to be drawn on the front road surface on the left end side of the intersection entrance. A laser beam of a predetermined color that can be visually recognized by the laser output controller 61C based on the shape data, color data, etc. is irradiated on the front road surface on the left end side of the intersection entrance through which an approaching vehicle approaching from the left rear passes. A predetermined stop message for notifying the approaching vehicle from the left rear to stop is drawn.

  In S23, the CPU 41 reads out the coordinate data of the attention drawing target position, the own vehicle position, and the own vehicle direction from the RAM 42 again, and irradiates the laser beam to the right turn vehicle from the left rear side of the own vehicle 2. A laser irradiation angle for drawing a predetermined caution message for notifying the presence of an approaching vehicle is calculated and stored in the RAM 42 as laser irradiation angle information. Then, the CPU 41 reads out the laser irradiation angle information from the RAM 42 again, and reads out shape data such as a predetermined caution message and color data (for example, red) from the ROM 43 and draws it on the road surface in front of the intersection. After the transmission to the laser ECU 61, the process is terminated.

  Thereby, the laser ECU 61 controls the laser beam irradiation angle of the laser device 62 by the laser irradiation angle control unit 61B based on the laser irradiation angle information, and also draws a predetermined caution message or the like to be drawn on the front road surface in the intersection. Based on the shape data, color data, and the like, a laser beam of a predetermined color that can be visually recognized by the laser output control unit 61C is irradiated onto the front road surface in the intersection where the right turn vehicle passes, and the vehicle 2 A predetermined caution message or the like for notifying the presence of an approaching vehicle from the left rear is drawn.

  For example, as shown in FIG. 5, when the host vehicle 2 is stopped in front of the intersection 81 because the front lane is crowded, the right turn vehicle 82 is detected via the outside camera 53 disposed at the front end. At the same time, if there is no further lane on the left side of the lane 83 in which the host vehicle 2 is located (S11 to S18: NO), the CPU 41 automatically sets the priority in traveling of the right turn vehicle 82 from the left rear. It is determined that the priority is higher than the traveling priority of the motorcycle 84. Then, the CPU 41 “stops” with laser light of a predetermined color (for example, red) visible by the laser device 62 on the front road surface on the left end side of the intersection entrance through which the motorcycle 84 approaching from the left rear passes. "And a stop message 86 are drawn, and a stop line 87 is drawn below the stop message 86 (S22). At the same time, the CPU 41 gives a large caution message as “Attention to two wheels” with laser light of a predetermined color (for example, red) visible by the laser device 62 on the front road surface in the intersection where the right turn vehicle 82 passes. 88 is drawn (S23).

As a result, the CPU 41 can notify the motorcycle 84 approaching from the left rear to stop, and the motorcycle 84 approaching from the left rear of the host vehicle 2 to the right turn vehicle 82. It is possible to notify the vehicle 2 so that it can safely support the motorcycle 84 and the right turn vehicle 82 that are approaching in the intersection 81 from the left rear of the host vehicle 2. Become.
When the host vehicle 2 starts traveling in the intersection 81, the drawing by the laser light such as “stop” and “two-wheel attention” is stopped (S12: NO to S14). In addition, even when the motorcycle 84 enters the intersection, the drawing by the laser light such as “stop” and “two-wheel attention” is stopped (S17: NO to S14).

  As described above in detail, in the navigation device 1 according to the present embodiment, when the CPU 41 stops in front of the intersection, the approaching vehicle that travels in the lane on the left side of the lane in which the host vehicle 2 travels and the right-turn vehicle in the oncoming lane Is detected, a stop message for notifying the right turn vehicle to stop is displayed with visible laser light on the road surface in the intersection ahead of the right turn vehicle (S18: YES to S20). . As a result, the CPU 41 can reliably call attention to a right-turn vehicle with a low priority in traveling, and is safe for an approaching vehicle and a right-turn vehicle from the rear traveling in the left lane. It is possible to support the vehicle so that it can run on

  Further, when the CPU 41 stops before the intersection, it detects an approaching vehicle such as a motorcycle approaching from behind the lane in which the host vehicle 2 travels and a right turn vehicle in the opposite lane, and the host vehicle 2 travels. When there is no lane on the left side of the lane, a stop message for notifying the approaching vehicle to stop is displayed with a visible laser beam on the road surface at the left end of the intersection entrance ahead of the approaching vehicle in the traveling direction. Further, the CPU 41 displays a predetermined caution message for notifying the right turn vehicle on the road surface in the intersection ahead of the right turn vehicle in the traveling direction with a visible laser beam (S18: NO to S23). As a result, the CPU 41 can reliably notify an approaching vehicle having a low traveling priority such as a motorcycle approaching from the left rear to stop, and has a high traveling priority. It is possible to notify the right-turn vehicle with caution, and it is possible to safely travel to an approaching vehicle such as a motorcycle approaching the intersection from the left rear of the host vehicle 2 and a right-turn vehicle. It will be possible to support.

  Further, the CPU 41 determines whether or not the right turn vehicle on the opposite lane and the approaching vehicle from the left rear are on the left side from the travel lane of the host vehicle 2 in S18, that is, whether there is a lane on the road edge side. Since the priority is determined, the priority can be determined more accurately.

  In addition, this invention is not limited to the said Example, Of course, various improvement and deformation | transformation are possible within the range which does not deviate from the summary of this invention. For example, the following may be used.

  (A) In the process of step 20, the CPU 41 transmits laser irradiation angle information, shape data such as a predetermined stop message, and color data to the laser ECU 61, and also communicates the opposite lane via the communication device 17. You may make it transmit the predetermined | prescribed stop message which notifies that it stops with respect to the navigation apparatus 1 mounted in the right turn vehicle. In step 23, the CPU 41 transmits laser irradiation angle information, shape data such as a predetermined caution message, and color data to the laser ECU 61, and is mounted on the right turn vehicle in the opposite lane via the communication device 17. A predetermined caution message for notifying the cautioned navigation apparatus 1 may be transmitted.

  Thereby, the navigation apparatus 1 mounted on the right turn vehicle in the oncoming lane can notify the driver of the received stop message and caution message, and the approaching vehicle approaching from the left rear side of the host vehicle 2 It is possible to support the vehicle so that it can travel more safely with respect to the right turn vehicle.

(B) When a vehicle crossing the traveling lane of the host vehicle 2 is detected from the side road when the vehicle stops before the side road, a predetermined stop message or the like is drawn on the road surface ahead in the traveling direction. May be. Here, an example of drawing a predetermined stop message or the like on the road surface ahead in the traveling direction when a vehicle crossing the traveling lane of the host vehicle 2 is detected from the side road when the vehicle stops before the side road is shown in FIG. And it demonstrates based on FIG.
FIG. 6 is a diagram for explaining an example in which a stop message is drawn in front of the vehicle traveling in the right direction from a side road. FIG. 7 is a diagram for explaining an example in which a stop message or the like is drawn ahead in the traveling direction of a motorcycle approaching from behind when the vehicle stops on a side road.

  For example, as shown in FIG. 6, when the host vehicle 2 is stopped in front of the side road 91, a right-turn vehicle 92 that turns right from the side road 91 is detected via the vehicle exterior camera 53 arranged at the front end portion. When there is a further lane 94 on the right side of the lane 93 in which the host vehicle 2 is located, the CPU 41 detects that the approaching vehicle 95 from the right rear detected by the vehicle exterior camera 53 disposed at the rear end is on the running. It is determined that the priority is higher than the priority in traveling of the right turn vehicle 92. Then, the CPU 41 uses a laser beam of a predetermined color (for example, red) that can be visually recognized by the laser device 62 on the front road surface of the host vehicle 2 through which the right turn vehicle 92 having a low driving priority passes. A stop message 96 may be drawn as “stop” and a stop line 97 may be drawn below the stop message 96.

As a result, the CPU 41 can reliably notify the right turn vehicle 92 to stop, and is safe for the approaching vehicle 95 and the right turn vehicle 92 approaching from the right rear of the host vehicle 2. It becomes possible to assist so that it can run.
In addition, when the own vehicle 2 starts traveling, drawing by laser light such as “stop” is stopped. In addition, even when the approaching vehicle 95 passes by the side of the host vehicle 2, the drawing by the laser light such as “stop” is stopped.

  Further, as shown in FIG. 7, when the host vehicle 2 is stopped in front of the side road 101, a left-turn vehicle 102 that turns left from the side road 101 is detected via the outside camera 53 disposed at the front end portion. When there is no further lane on the left side of the lane 103 where the host vehicle 2 is located, the CPU 41 detects the priority in traveling of the left turn vehicle 102 via the outside camera 53 arranged at the rear end. It is determined that the priority is higher than the traveling priority of the motorcycle 104 approaching from the left rear. Then, the CPU 41 has a predetermined color (for example, red) that can be visually recognized by the laser device 62 on the front road surface just before the entrance of the side road 101 through which the motorcycle 104 approaching from the left rear having a low driving priority passes. The stop message 106 is drawn as “stop” with the laser light of.), And the stop line 107 is drawn below the stop message 106. At the same time, the CPU 41 uses a laser beam of a predetermined color (for example, red) that can be visually recognized by the laser device 62 on the front road surface of the host vehicle 2 through which the left turn vehicle 102 having high traveling priority passes. A warning message 108 may be drawn as “two-wheel attention”.

As a result, the CPU 41 can reliably notify the motorcycle 104 approaching from the left rear, which has a low driving priority, to stop, and the left-turn vehicle 102 having a high driving priority. It is possible to provide a notice so as to be careful, and to support the motorcycle 104 that is approaching in front of the side road 101 from the left rear of the host vehicle 2 so that it can safely travel. It becomes possible.
When the host vehicle 2 starts running, drawing with laser light such as “stop” and “two-wheel attention” is stopped. In addition, even when the motorcycle 104 passes by the side of the host vehicle 2, the drawing by laser light such as “stop” and “two-wheel attention” is stopped.

It is a schematic block diagram of the vehicle by which the navigation apparatus concerning a present Example is mounted. It is a block diagram which shows typically the control system centering on the navigation apparatus mounted in a vehicle. It is a process which CPU which the navigation apparatus based on a present Example performs, Comprising: It is a flowchart which shows the display process which displays a stop message etc. on the front road surface. It is a figure explaining an example which draws a stop message on the road surface ahead of the direction of travel of a right turn vehicle at an intersection. It is a figure explaining an example which draws a stop message etc. on the road surface ahead of the direction of movement of a two-wheeled vehicle approaching from behind at an intersection. It is a figure explaining an example which draws a stop message ahead of the advancing direction of vehicles which turn right from a side road. It is a figure explaining an example which draws a stop message etc. ahead of the direction of movement of a motorcycle approaching from back when it stops on a side road.

Explanation of symbols

1 Navigation device 2 Vehicle (own vehicle)
11 current location detection unit 13 navigation control unit 21 vehicle speed sensor 25 map information DB
41 CPU
42 RAM
43 ROM
51 Camera ECU
53 Outside camera 61 Laser ECU
62 Laser device 71, 81 Intersection 72, 82 Right turn vehicle 73, 74, 83 Lane 75 Approaching vehicle 76, 86 Stop message 77, 87 Stop line 84 Motorcycle 88 Caution message

Claims (6)

Own vehicle position detecting means for detecting the own vehicle position;
Map information storage means for storing map information including position information of intersections;
Stop determining means for determining whether the host vehicle stops at an intersection or decelerates to a predetermined speed or less based on the host vehicle position and the map information;
Crossing vehicle detection means for detecting a crossing vehicle that crosses the traveling lane of the host vehicle from the oncoming lane when the host vehicle stops at an intersection or decelerates to a predetermined speed or less;
An approaching vehicle detection means for detecting an approaching vehicle approaching from behind the host vehicle;
Road surface display means for displaying visible figures or characters on the front road surface of the host vehicle;
Lane determining means for determining whether or not there is a lane on the road edge side from the traveling lane of the own vehicle based on the own vehicle position and the map information;
When the crossing vehicle is detected and the approaching vehicle is detected , the crossing vehicle is determined based on the determination by the lane determination means whether there is a lane on the road edge side from the traveling lane of the own vehicle. Priority determination means for determining a priority in traveling with the approaching vehicle;
Display control means for controlling to display a stop notification instructing stop via the road surface display means on the road surface in the traveling direction of the crossing vehicle or the approaching vehicle based on the priority;
A safe driving support device characterized by comprising: The priority determination means determines that the priority of the approaching vehicle is higher than the priority of the crossing vehicle when there is a lane on the road edge side from the traveling lane of the own vehicle,
When it is determined that the priority of the approaching vehicle is higher than the priority of the crossing vehicle, the display control means displays the stop notification on the road surface ahead of the crossing vehicle in the traveling direction. safe driving support system according to claim 1, wherein the controller controls so as to. The priority determination means determines that the priority of the crossing vehicle is higher than the priority of the approaching vehicle when there is no lane on the road edge side from the traveling lane of the own vehicle,
When it is determined that the priority of the crossing vehicle is higher than the priority of the approaching vehicle, the display control means displays the stop notification on the road surface ahead of the approaching vehicle in the traveling direction. safe driving support system according to claim 1 or claim 2, wherein the controller controls so as to. When it is determined that the priority of the crossing vehicle is higher than the priority of the approaching vehicle, the display control means pays attention to the approaching vehicle on the road surface ahead of the crossing vehicle in the traveling direction. 4. The safe driving support apparatus according to claim 3 , wherein control is performed so as to display a caution notice instructing to do so. A vehicle position detection step for detecting the vehicle position;
A stop determination step of determining whether or not the own vehicle is stopped at an intersection or decelerated to a predetermined speed or less based on the own vehicle position and map information detected in the own vehicle position detection step ;
A crossing vehicle detection step of detecting a crossing vehicle that crosses the traveling lane of the host vehicle from the oncoming lane when it is determined that the own vehicle has stopped at the intersection or decelerated to a predetermined speed or less in the stop determination step ;
When a crossing vehicle is detected in the crossing vehicle detection step, an approaching vehicle detection step of detecting an approaching vehicle approaching from behind the host vehicle;
A lane determination step of determining whether or not there is a lane on the road edge side from the traveling lane of the own vehicle based on the own vehicle position and map information detected in the own vehicle position detection step;
When an approaching vehicle is detected in the approaching vehicle detection step, the crossing vehicle and the approaching vehicle are determined based on the determination as to whether or not there is a lane on the road edge side from the traveling lane of the host vehicle in the lane determination step. A priority determination step of determining the priority on the running of the vehicle,
A display control step for controlling to display a stop notification for instructing a stop via a road surface display means on the road surface ahead of the crossing vehicle or the approaching vehicle in the traveling direction based on the priority determined in the priority determination step; ,
A safe driving support method characterized by comprising: On the computer,
A vehicle position detection step for detecting the vehicle position;
A stop determination step of determining whether or not the own vehicle is stopped at an intersection or decelerated to a predetermined speed or less based on the own vehicle position and map information detected in the own vehicle position detection step ;
A crossing vehicle detection step of detecting a crossing vehicle that crosses the traveling lane of the host vehicle from the oncoming lane when it is determined that the own vehicle has stopped at the intersection or decelerated to a predetermined speed or less in the stop determination step ;
When a crossing vehicle is detected in the crossing vehicle detection step, an approaching vehicle detection step of detecting an approaching vehicle approaching from behind the host vehicle;
A lane determination step of determining whether or not there is a lane on the road edge side from the traveling lane of the own vehicle based on the own vehicle position and map information detected in the own vehicle position detection step;
When an approaching vehicle is detected in the approaching vehicle detection step, the crossing vehicle and the approaching vehicle are determined based on the determination as to whether or not there is a lane on the road edge side from the traveling lane of the host vehicle in the lane determination step. A priority determination step of determining the priority on the running of the vehicle,
A display control step for controlling to display a stop notification for instructing a stop via a road surface display means on the road surface ahead of the crossing vehicle or the approaching vehicle in the traveling direction based on the priority determined in the priority determination step; ,
A program for running

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