JP5267444B2 - Driving assistance device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To properly perform a driving support such as a driving support to prevent an accident occurring in turning right. <P>SOLUTION: A driving support device includes: a reception means that receives detecting area information that shows an existence situation of oncoming vehicles in a detecting area A1 that is set before an intersection in an oncoming lane 820 and traffic light cycle information of a traffic light 400 that is provided in the intersection from a road side transmitter 220; a decision means that determines whether a vehicle out of the detecting area, the vehicle being the oncoming vehicle stopped on the side closer to the intersection than the detecting area in the oncoming lane, exists based on the information in detecting area and the traffic light cycle information; and an executing means that continues to execute driving support for a prescribed period of time when an own vehicle entering the intersection if the decision means determines that the vehicle out of the detecting area exists. <P>COPYRIGHT: (C)2011,JPO&amp;INPIT

Description

  The present invention relates to a technical field of a driving support device that supports driving of a vehicle.

  As this type of driving support device, there is a device that performs driving support based on information such as signal information of traffic lights or traveling information of other vehicles received by road-to-vehicle communication when the host vehicle enters an intersection (for example, Patent Document 1). As a driving support device that supports driving when the host vehicle enters the intersection, when the host vehicle turns right at the intersection, it tries to make a right turn based on the information on the presence of the oncoming vehicle received by road-to-vehicle communication. In some cases, driving assistance for preventing a collision accident between the host vehicle and the oncoming vehicle (hereinafter referred to as “right-turn accident prevention driving assistance” as appropriate) is performed. Here, the presence of the oncoming vehicle is typically detected by an infrastructure sensor (that is, a roadside detector) including, for example, a camera.

JP 2009-123007 A

  However, since the detection area on the road that the infrastructure sensor can detect is limited to a certain range, the infrastructure sensor may not be able to detect the oncoming vehicle depending on the position of the oncoming vehicle. For example, when the detection area of the infrastructure sensor is set in front of the stop line at the intersection in the oncoming lane, if the oncoming vehicle stops beyond the stop line, the oncoming vehicle is outside the detection area of the infrastructure sensor. Therefore, the oncoming vehicle cannot be detected by the infrastructure sensor.

  Therefore, according to the conventional driving support device that performs driving support for preventing right turn accidents, it is possible to appropriately perform driving support for preventing collision accidents between the host vehicle that is about to turn right and an oncoming vehicle that is not detected by the infrastructure sensor. There is a technical problem that it is difficult.

  The present invention has been made in view of the above-described problems, for example, and an object of the present invention is to provide a driving support device that can appropriately perform driving support such as right-turn accident prevention driving support.

  In order to solve the above-mentioned problem, the driving support device of the present invention is mounted on the host vehicle and performs driving support for suppressing the approach between the host vehicle and the oncoming vehicle when the host vehicle enters the intersection. A support device that receives from the roadside transmitter information in the detection area indicating the presence of the oncoming vehicle in the detection area set before the intersection in the opposite lane and signal cycle information of the traffic signal installed at the intersection. Information in the detection area and the signal cycle information indicating whether there is a vehicle outside the detection area that is the oncoming vehicle that is stopped on the intersection side with respect to the detection area in the opposite lane. And when the determination means determines that a vehicle outside the detection area exists, the own vehicle enters the intersection. The driving support to and a means for executing continuously for a predetermined time.

  According to the driving support device of the present invention, when the host vehicle enters the intersection during the operation, the host vehicle and the oncoming vehicle (that is, the lane in which the host vehicle travels) based on the detection area information and the signal cycle information. Driving assistance (for example, right-turn accident prevention driving assistance) for suppressing the approach of a vehicle traveling in an opposite oncoming lane in the opposite direction to the own vehicle and a vehicle entering the intersection from the opposite direction to the own vehicle) To be implemented.

  In the present invention, in particular, the receiving means includes information in the detection area indicating the oncoming vehicle presence status (for example, vehicle speed, vehicle position, etc.) in the detection area set before the intersection in the opposite lane, and a traffic light installed at the intersection. Signal cycle information (for example, the current signal lamp color and the timing at which the signal lamp color is changed) is received from the roadside transmitter. Here, the presence state of the oncoming vehicle in the detection area is typically detected by a roadside detector such as a camera installed at an intersection. That is, the detection area is typically a predetermined area (that is, a predetermined area) in the oncoming lane where the presence state of the oncoming vehicle can be detected by the roadside detector. The detection area is set as an area between the stop line of the oncoming lane and a position away from the stop line by a predetermined distance before the intersection in the oncoming lane.

  The determination means determines whether or not there is a vehicle outside the detection area, which is an oncoming vehicle stopped on the intersection side of the detection area in the oncoming lane, based on the information in the detection area and the signal cycle information. More specifically, for example, the determination means, based on the vehicle speed of the oncoming vehicle included in the detection area information, the vehicle position where the vehicle speed is detected, and the signal cycle information, Is the product of the time from when the vehicle speed of the oncoming vehicle is detected until the traffic light turns red is greater than the distance from the vehicle position where the vehicle speed of the oncoming vehicle is detected to the end of the intersection? By determining whether or not, it is determined whether or not there is a vehicle outside the detection area. Here, the vehicle outside the detection area is an oncoming vehicle that is stopped closer to the intersection than the detection area in the oncoming lane. Typically, the vehicle is outside the detection area according to the light color of the traffic light being red. It is an oncoming vehicle that is stopped closer to the intersection than a stop line of a certain oncoming lane. That is, the vehicle outside the detection area is an oncoming vehicle that is not detected by the roadside detector and is stopped at the intersection (that is, waiting for the light color of the traffic light to change from red to blue).

  When it is determined by the determination means that a vehicle outside the detection area exists, the execution means notifies the driver of the own vehicle that an oncoming vehicle exists, for example, when the own vehicle enters the intersection. Driving assistance for suppressing the approach between the host vehicle and the oncoming vehicle, such as limiting the driving force of the engine of the host vehicle and the accelerator opening, is continuously performed for a predetermined time. For example, when the determination unit determines that there is a vehicle outside the detection area, the execution unit suppresses the host vehicle and the vehicle outside the detection area from approaching when the vehicle enters an intersection to turn right. For example, the driving support for the vehicle is continuously performed for a predetermined time from the time when the host vehicle enters the intersection (for example, when the traffic light changes from red to blue). Therefore, it is possible to reliably suppress the approach of the host vehicle and the vehicle outside the detection area (for example, the approach between the host vehicle that is going to turn right at the intersection and the vehicle outside the detection area that is going straight ahead at the intersection).

  If no measures are taken here and driving assistance such as right turn accident prevention driving assistance is performed based on information indicating whether there is an oncoming vehicle in the detection area, If there is no oncoming vehicle, even if a vehicle outside the detection area exists, a situation in which driving assistance is not performed may occur. For this reason, there is a possibility that the approach between the own vehicle and the vehicle outside the detection area cannot be suppressed.

  However, according to the present invention, it is determined by the determination means whether or not a vehicle outside the detection area exists, and when it is determined that a vehicle outside the detection area exists, driving support is continuously performed by the execution means for a predetermined time. Therefore, the approach of the own vehicle and the vehicle outside the detection area can be reliably suppressed.

  As described above, according to the driving assistance device of the present invention, when the own vehicle enters the intersection, driving assistance for suppressing the approach between the own vehicle and the oncoming vehicle (including vehicles outside the detection area) is provided. Can be implemented appropriately.

  In one aspect of the driving support device of the present invention, the information in the detection area includes the vehicle speed of the oncoming vehicle in the detection area as the presence status, and the determination means includes the vehicle speed of the oncoming vehicle and Based on the signal cycle information, it is determined whether or not there is a vehicle outside the detection area.

  According to this aspect, the vehicle speed of the oncoming vehicle in the detection area (that is, the traveling speed at which the oncoming vehicle travels in the detection area, in other words, the vehicle speed of the oncoming vehicle detected by the roadside detector) and the signal cycle information are included. Based on this, it is possible to accurately determine whether or not there is a vehicle outside the detection area by the determining means.

  In the aspect in which the determination unit determines whether there is a vehicle outside the detection area based on the vehicle speed of the oncoming vehicle and the signal cycle information, the determination unit includes the vehicle speed of the oncoming vehicle, The product of the time from when the vehicle speed of the oncoming vehicle is detected to the time when the traffic light turns red is the distance from the vehicle position at which the vehicle speed of the oncoming vehicle is detected to the end of the intersection. It may be determined whether or not there is a vehicle outside the detection area by determining whether or not the vehicle is larger.

  According to this aspect, the determination means determines that the product of the vehicle speed of the oncoming vehicle and the time from when the vehicle speed of the oncoming vehicle is detected until the light color of the traffic light turns red is the vehicle speed of the oncoming vehicle. If it is greater than the distance from the detected vehicle position to the end of the intersection, it is determined that there is no vehicle outside the detection area. Further, the determination means is a vehicle in which the vehicle speed of the oncoming vehicle is detected by the product of the vehicle speed of the oncoming vehicle and the time from when the vehicle speed of the oncoming vehicle is detected until the light color of the traffic light turns red. When it is below the distance from the position to the end of the intersection, it is determined that a vehicle outside the detection area exists. However, when it is determined that the oncoming vehicle exists in the detection area based on the information in the detection area, the determination unit does not determine that the oncoming vehicle is a vehicle outside the detection area.

  Therefore, the determination means can determine more accurately whether or not there is a vehicle outside the detection area.

  In another aspect of the driving assistance apparatus of the present invention, the detection area is changed according to a signal cycle of the traffic light.

  According to this aspect, since the detection area is dynamically changed in accordance with the signal cycle, the presence state of the oncoming vehicle is compared with, for example, a case where the detection area is fixed, that is, a wide area in the oncoming lane (that is, , A wide area) can be detected (in other words, the detection area can be substantially expanded as compared with a case where the detection area is fixed, for example). Therefore, it becomes possible to more appropriately implement driving support based on the presence status of the oncoming vehicle detected in the detection area.

  In the above-described aspect in which the detection area is changed according to the signal cycle of the traffic light, the detection area is located on the farther side from the intersection when the light color of the traffic light is blue than when the light color of the traffic light is red. It may be changed.

  According to this aspect, when the light color of the traffic light is red, the detection area is located between the stop line of the opposite lane and the position away from the stop line by a predetermined distance before the intersection. When the light color of the traffic light is blue, the detection area is set to be farther from the intersection than the detection area when the light color of the traffic light is red. Therefore, when the light color of the traffic light is red, for example, an oncoming vehicle stopped at the stop line of the oncoming lane can be detected by, for example, a roadside detector, and when the light color of the traffic light is blue, An oncoming vehicle traveling toward an intersection from a relatively long distance can be detected by, for example, a roadside detector. Therefore, for example, compared with the case where the detection area is fixedly set as an area between the stop line of the oncoming lane and the position away from the stop line by a predetermined distance before the intersection in the oncoming lane Thus, it is possible to appropriately perform driving support in a state where the oncoming vehicle is further away from the intersection.

  When the light color of the traffic light is yellow, the detection area may be set to be farther from the intersection than the detection area when the light color of the traffic light is red. When the traffic light is yellow, the detection area may be set to be closer to the intersection than the detection area when the traffic light is blue. Also, the detection area when the traffic light is red, the detection area when the traffic light is yellow, and the detection area when the traffic light is blue are set to partially overlap each other. Also good.

  In the aspect in which the detection area is changed according to the signal cycle of the traffic light described above, the presence state of the oncoming vehicle is detected by a roadside detector including a camera installed at the intersection, and the detection area is the camera. It may be changed by changing the shooting angle.

  According to this aspect, the detection area can be easily and reliably changed according to the signal cycle of the traffic light. Therefore, the detection area can be substantially expanded easily and reliably. Here, in particular, according to this aspect, the presence state of the oncoming vehicle by the roadside detector without increasing the shooting performance of the camera itself of the roadside detector (that is, without expanding the detection area determined by the shooting performance of the camera itself). Can be detected in a relatively wide area in the oncoming lane, which is very advantageous in practice. Note that the shooting angle of the camera is typically an angle formed by the shooting direction of the camera and the direction perpendicular to the road surface of the road on which the oncoming vehicle travels.

  The effect | action and other gain of this invention are clarified from the form for implementing invention demonstrated below.

It is a block diagram which shows the structure of the driving assistance device which concerns on 1st Embodiment. It is a schematic diagram which shows a mode when the own vehicle carrying the driving assistance device which concerns on 1st Embodiment approachs an intersection. It is a schematic diagram which shows an example of the vehicle outside a detection area in the intersection where the own vehicle carrying the driving assistance device which concerns on 1st Embodiment approaches. It is a block diagram which shows the structure of the roadside infrastructure which concerns on 1st Embodiment. It is a flowchart which shows the flow of the process which concerns on the right turn accident prevention driving assistance of the driving assistance device which concerns on 1st Embodiment. It is a schematic diagram which shows the distance L to the intersection end of an oncoming vehicle. It is a schematic diagram which shows the mode of the own vehicle which is going to turn right at an intersection, and the vehicle outside a detection area which is going to go straight at the intersection when the light color of a traffic light changes from red to blue. It is a schematic diagram for demonstrating the structure of the vehicle detection sensor in 2nd Embodiment. It is a schematic diagram for demonstrating the structure of the vehicle detection sensor in 2nd Embodiment. It is a flowchart which shows the flow of a change according to the signal cycle of the detection area of the vehicle detection sensor which concerns on 2nd Embodiment.

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

<First Embodiment>
The driving support apparatus according to the first embodiment will be described with reference to FIGS.

  First, the configuration of the driving support apparatus according to the present embodiment will be described with reference to FIGS. 1 and 2.

  FIG. 1 is a block diagram illustrating a configuration of the driving support apparatus according to the present embodiment. FIG. 2 is a schematic diagram illustrating a situation when the host vehicle on which the driving support device according to the present embodiment is mounted enters an intersection.

  1 and 2, the driving support device 1 (see FIG. 1) according to the present embodiment is mounted on the host vehicle C1 (see FIG. 2), and when the host vehicle C1 enters an intersection, driving assistance for preventing a right turn accident is performed. It is an apparatus which implements. Here, the right turn accident prevention driving support is an example of “driving support for suppressing the approach between the host vehicle and the oncoming vehicle” according to the present invention. When the host vehicle C1 makes a right turn at an intersection, the driver tries to make a right turn. This is driving assistance for preventing a collision accident between the host vehicle C1 and the oncoming vehicle C2 traveling on the oncoming lane 820. As the right turn accident prevention driving support, for example, notification that informs the driver of the host vehicle C1 that the oncoming vehicle C2 exists, control for limiting the driving force of the engine of the host vehicle C1 and the accelerator opening, etc. are implemented. Is done.

  In FIG. 1, the driving support device 1 according to the present embodiment includes an autonomous sensor 10, a road-vehicle communication device 20, a vehicle-vehicle communication device 30, a notification device 40, and an ECU 100.

  Specifically, the autonomous sensor 10 is a millimeter wave radar sensor, a camera sensor, or the like, and is configured to be able to detect other vehicles traveling in front of the host vehicle.

  The road-to-vehicle communication device 20 is a communication device for communicating with the road-side infrastructure installed on the road on which the host vehicle C1 travels, and communicates with the road-side infrastructure via the road-to-vehicle communication antenna 21. More specifically, the road-to-vehicle communication device 20 communicates with a roadside device 220 (see FIG. 2) that forms part of the roadside infrastructure. The road-to-vehicle communication device 20 receives from the roadside device 220 signal cycle information of a traffic signal installed at an intersection and in-detection area information indicating the presence of an oncoming vehicle in a detection area A1 described later with reference to FIG. . The signal cycle information includes the current lamp color of the traffic light and the time until the current lamp color changes (for example, when the current lamp color is blue or yellow, the lamp color is red. Time). In addition, the information in the detection area includes, for example, information indicating the vehicle speed, the vehicle position, the number of vehicles, and the like of the oncoming vehicle as the oncoming vehicle presence state in the detection area A1. The road-to-vehicle communication device 20 is an example of the “reception unit” according to the present invention.

  The inter-vehicle communication device 30 is a communication device for communicating with other vehicles existing around the host vehicle C1, and communicates with other vehicles via the inter-vehicle communication antenna 31. The inter-vehicle communication device 30 receives information such as the position and speed of another vehicle traveling in front of the host vehicle C1 from the other vehicle, for example.

  The notification device 40 is specifically a display, a speaker, or the like, and is a notification device for notifying the driver of the host vehicle C1 of various information. The notification device 40 includes, for example, an oncoming vehicle that goes straight through an intersection with respect to the driver of the host vehicle C1 that is about to turn right under the control of the ECU 100 (more specifically, the driving support execution unit 120) described later. Notify that it should be decelerated or stop or stop.

  The ECU 100 is configured as a computer including, for example, a CPU (Central Processing Unit), a ROM (Read Only Memory), a RAM (Random Access Memory), and the like. The ECU 100 includes a vehicle detection unit 110 outside the detection area and a driving support execution unit 120. I have.

  The vehicle detection unit 110 outside the detection area is an example of the “determination unit” according to the present invention, and is outside the detection area that is an oncoming vehicle that is stopped on the intersection side of the detection area A1 in the oncoming lane 820 (see FIG. 2). Information in the detection area and the signal cycle indicating whether or not a vehicle exists (in other words, whether or not there is an oncoming vehicle stopped on the intersection side from the detection area A1). Determine based on information.

  Here, the vehicle outside the detection area will be described with reference to FIG.

  FIG. 3 is a schematic diagram illustrating an example of a vehicle outside the detection area at the intersection where the host vehicle on which the driving support device according to the present embodiment is mounted enters. 3, illustration of the vehicle detection sensor 210 and the roadside apparatus 220 shown in FIG. 2 is omitted for convenience of explanation. Further, in FIG. 3, the traffic light 410 of the lane 810 in which the host vehicle C1 travels and the traffic light 420 of the oncoming lane 820 in which the oncoming vehicle C2 travels are red and intersect the road on which the host vehicle C1 travels. The color of each of the traffic lights 430 and 440 installed on the road is blue.

  As shown in FIG. 3, the out-of-detection-area vehicle Cout means an oncoming vehicle C <b> 2 that is stopped closer to the intersection than the detection area A <b> 1 in the oncoming lane 820. The vehicle Cout outside the detection area is typically an oncoming vehicle C2 that stops on the intersection side of the stop line 520 when the light color of the traffic light 420 changes to red (in other words, the vehicle exceeds the stop line 520, but the intersection Is an oncoming vehicle C2) not passing through. In FIG. 3, the host vehicle C <b> 1 is stopped before the stop line 510 in response to the light color of the traffic light 410 being red.

  The determination as to whether or not there is a vehicle outside the detection area by the vehicle outside detection area determination unit 110 will be described in detail later with reference to FIGS.

  In FIG. 1, the driving support execution unit 120 is an example of the “implementing means” according to the present invention, and based on the signal cycle information and the detection area information received by the road-to-vehicle communication device 20, the right-turn accident prevention driving support. To implement. Although described in detail later with reference to FIGS. 4 to 7, in the present embodiment, particularly when the driving support execution unit 120 determines that the vehicle outside the detection area exists by the vehicle detection outside the detection area 110. When the host vehicle C1 enters the intersection, the right turn accident prevention driving support is continuously performed for a predetermined time.

  Next, the configuration of the roadside infrastructure according to the present embodiment will be described with reference to FIG. 4 in addition to FIG.

  FIG. 4 is a block diagram showing the configuration of the roadside infrastructure according to the present embodiment.

  2 and 4, the roadside infrastructure 200 (see FIG. 4) according to the present embodiment includes a vehicle detection sensor 210 and a roadside device 220.

  Specifically, the vehicle detection sensor 210 is a camera sensor or the like installed at an intersection, and is located in front of the stop line 520 of the oncoming lane 820 (that is, on the direction of travel of the oncoming vehicle C2 with respect to the stop line 520). It is configured to be able to detect the presence of the oncoming vehicle C2 in the detection area A1 located on the opposite side. The vehicle detection sensor 210 is an example of the “roadside detector” according to the present invention. The vehicle detection sensor 210 is configured to be able to detect the vehicle speed, the vehicle position, the number of vehicles, and the like of the oncoming vehicle as the presence status of the oncoming vehicle. When there are a plurality of oncoming vehicles in the detection area A1, the vehicle detection sensor 210 detects the vehicle position of each of the plurality of oncoming vehicles and the vehicle speed at the vehicle position as the oncoming vehicle presence status. Is configured to be possible.

  The roadside device 220 includes signal cycle information of the traffic lights 400 (that is, traffic lights 410, 420, 430, and 440) installed at intersections, and information in the detection area that indicates the presence state of the oncoming vehicle C2 detected by the vehicle detection sensor 210. Is an information transmission device that transmits to the road-vehicle communication device 20 (see FIG. 1) via the road-vehicle communication antenna 221.

  Next, processing related to right turn accident prevention driving support of the driving support apparatus according to the present embodiment will be described with reference to FIGS. 5 to 7 in addition to FIG.

  FIG. 5 is a flowchart showing a flow of processing related to right turn accident prevention driving support of the driving support device according to the present embodiment.

  In the following, in FIG. 2, the host vehicle C <b> 1 stops at the intersection stop line 510 in accordance with the change of the light color of the traffic light 410 installed at the intersection from yellow to red while the host vehicle C <b> 1 is traveling toward the intersection. The driving assistance device according to the present embodiment prevents the vehicle from turning right when the vehicle C1 is about to turn right at the intersection as the traffic light 410 changes its color from red to blue. Will be explained. In FIG. 2, the traffic light 410 of the lane 810 in which the host vehicle C1 travels and the traffic light 420 of the oncoming lane 820 in which the oncoming vehicle C2 travels are yellow, and intersect the road on which the host vehicle C1 travels. The color of each of the traffic lights 430 and 440 installed on the road is red.

  2 and 5, while the host vehicle C1 is traveling toward the intersection, the road-to-vehicle communication device 20 (see FIG. 1) obtains the signal cycle information and the information in the detection area from the roadside infrastructure (specifically, the roadside device 220). ) (Step S10).

  Here, as described above, the signal cycle information includes a time until the current lamp color changes (for example, when the current lamp color is blue or yellow, the time until the lamp color is red). Tr) is included. In the example shown in FIG. 2, the current lamp color of traffic lights 410 and 420 at the intersection to which the host vehicle C1 heads is yellow, and the host vehicle C1 uses the roadside device to calculate the time Tr until the lamp color becomes red. 220.

  Further, as described above, the information in the detection area includes information indicating the presence state of the oncoming vehicle C2 in the detection area A1 (for example, the vehicle speed V and the vehicle position P of the oncoming vehicle C2).

  The host vehicle C1 temporarily stops near the stop line 510 in response to the current lamp color of the traffic light 410 changing from yellow to red.

  Next, the vehicle speed V of the oncoming vehicle C2 (hereinafter referred to as “oncoming vehicle speed V” as appropriate) and the time Tr until the light color of the traffic lights 410 and 420 turns red (hereinafter “time Tr until red”). The vehicle outside detection area determination unit 110 determines whether or not the product of the vehicle is less than the distance L to the intersection end of the oncoming vehicle C2 (step S20). That is, the vehicle outside detection area determination unit 110 determines whether or not the following expression (1) is satisfied based on the signal cycle information and the detection area information.

(Opposite vehicle speed V) × (time Tr until red) ≦ (distance L to the end of the intersection of the oncoming vehicle) Equation (1)
FIG. 6 is a schematic diagram showing the distance L to the intersection end of the oncoming vehicle C2. In FIG. 6, the traffic light 410 of the lane 810 in which the host vehicle C1 travels and the traffic light 420 of the oncoming lane 820 in which the oncoming vehicle C2 travels are yellow, and intersect the road on which the host vehicle C1 travels. The color of each of the traffic lights 430 and 440 installed on the road is red.

  As shown in FIG. 6, the distance L to the intersection end of the oncoming vehicle C2 is the distance from the vehicle position P of the oncoming vehicle C2 to the intersection end Q when the oncoming vehicle speed V is detected.

  That is, in the process according to step S20, the vehicle detection unit 110 outside the detection area determines the vehicle speed V of the oncoming vehicle C2 and the time Tr from when the vehicle speed V is detected until the light color of the traffic light 420 becomes red. Whether or not the vehicle speed V is equal to or smaller than the distance L from the vehicle position P where the vehicle speed V is detected to the intersection end Q is determined. The distance L can be calculated based on the position of the stop line 520 and the vehicle position P received from the roadside device 220.

  The product of the oncoming vehicle speed V and the time Tr until red is not less than the distance L to the intersection end (that is, the product of the oncoming vehicle speed V and the time Tr until red becomes from the distance L to the intersection end. Is also larger (step S20: No), it is determined by the out-of-detection-area vehicle determination unit 110 that the oncoming vehicle C2 has passed the intersection (step S30). That is, in this case (step S20: No), the detection area outside vehicle determination unit 110 determines that the oncoming vehicle C2 passes through the intersection and there is no vehicle outside the detection area. In other words, the vehicle detection unit 110 outside the detection area determines that the oncoming vehicle C2 has exceeded the intersection end Q when the traffic light 420 has turned red and has passed through the intersection.

  In this way, when the out-of-detection-area vehicle determination unit 110 determines that the oncoming vehicle C2 has passed the intersection, the host vehicle C1 turns right as the light color of the traffic lights 410 and 420 changes from red to blue. The right turn accident prevention driving support for the oncoming vehicle C2 is not performed. In other words, in this case, there is little or no possibility of the oncoming vehicle C2 going straight through the intersection, so there is no need to implement right-turn accident prevention driving assistance, and right-turn accident prevention driving assistance is wasted. You can avoid that.

  On the other hand, if it is determined that the product of the oncoming vehicle speed V and the time Tr until red is equal to or less than the distance L to the intersection end (step S20: Yes), the oncoming vehicle C2 has passed the intersection. Otherwise, it is determined by the vehicle detection unit 110 outside the detection area (step S40). In other words, the vehicle detection unit 110 outside the detection area determines that the oncoming vehicle C2 does not exceed the intersection end Q at the time when the light color of the traffic light 420 turns red and exists on the near side of the intersection end Q.

  Subsequently, the vehicle detection unit 110 outside the detection area determines whether or not there is a notification of the presence of the oncoming vehicle C2 from the roadside infrastructure (step S50). That is, the vehicle outside detection area determination unit 110 determines whether or not the oncoming vehicle C2 exists in the detection area A1 based on the information in the detection area received from the roadside device 220. That is, when the vehicle detection unit 110 outside the detection area determines that the oncoming vehicle C2 exists in the detection area A1, the oncoming vehicle C2 determined to exist on the near side of the intersection end Q in the process according to step S40 is When it is determined that the vehicle is stopped in the detection area A1, and it is determined that the oncoming vehicle C2 is not present in the detection area A1, it is determined that the vehicle is present on the front side of the intersection end Q in the process according to step S40. It is determined that the oncoming vehicle C2 is stopped as the vehicle Cout outside the detection area (see FIG. 3) on the intersection side of the detection area A1.

  When it is determined that there is no notification of the presence of the oncoming vehicle C2 from the roadside infrastructure (step S50: Yes), the right turn accident prevention driving support is provided for the predetermined time after the lights of the traffic lights 410 and 420 turn blue. Implemented by the implementation unit 120 (step S60). In other words, the driving support execution unit 120 determines that the oncoming vehicle C2 that has been stopped as the vehicle Cout outside the detection area, for example, travels straight on the intersection as the right turn accident prevention driving support for a predetermined time or the oncoming vehicle C2 (that is, the detection area). The driver of the host vehicle C1 is notified that the vehicle should be decelerated or stopped in order to avoid a collision with the outer vehicle Cout). As a result, it is possible to suppress the approach of the host vehicle C1 that is about to turn right and the oncoming vehicle C2 that has been stopped as the vehicle Cout outside the detection area, and to prevent a collision between the host vehicle C1 and the oncoming vehicle C2. be able to. Note that the predetermined time corresponds to the time that is assumed as the time from when the traffic light 420 changes from red to blue until the oncoming vehicle C2 that has stopped as the vehicle outside the detection area passes the intersection. For example, it may be set to about 5 seconds.

  FIG. 7 is a schematic diagram showing the state of the host vehicle that is going to turn right at the intersection and the vehicle outside the detection area that is going straight ahead at the intersection when the color of the traffic light changes from red to blue.

  As shown in FIG. 7, when the lights of the traffic lights 410 and 420 change from red to blue, the own vehicle C1 trying to turn right at the intersection and the vehicle Cout outside the detection area trying to go straight through the intersection approach each other, In some cases, the host vehicle C1 and the vehicle Cout outside the detection area may collide. Here, if no countermeasures are taken and normal right turn accident prevention driving support is performed based on information indicating whether or not the oncoming vehicle C2 exists in the detection area A1, the detection area A1 If the oncoming vehicle C2 does not exist, even if the vehicle Cout outside the detection area exists, a situation in which driving assistance is not performed may occur. For this reason, there exists a possibility that the approach with the own vehicle C1 and the vehicle Cout outside a detection area cannot be suppressed.

  However, according to the driving support apparatus 1 according to the present embodiment, whether or not the vehicle Cout outside the detection area exists is determined by the vehicle determination unit 110 outside the detection area, and when it is determined that the vehicle Cout outside the detection area exists. (Step S50: Yes, see FIG. 5), the driving assistance execution unit 120 continuously performs right turn accident prevention driving support for a predetermined time (step S60, see FIG. 5), so that the host vehicle C1 and the vehicle outside the detection area Approach to Cout can be reliably suppressed.

  In FIG. 5, when it is determined that there is a notification of the presence of the oncoming vehicle C2 from the roadside infrastructure (step S50: No), after the lights of the traffic lights 410 and 420 turn blue, normal right-turn accident prevention driving support Is implemented by the driving support execution unit 120 (step S70). That is, the driving support execution unit 120 decelerates or stops as a normal right turn accident prevention driving support in order to avoid the oncoming vehicle C2 that has stopped in the detection area A1 going straight on the intersection or to collide with the oncoming vehicle C2. The driver of the own vehicle C1 is notified that it should be done.

  As described above, according to the driving assistance apparatus according to the present embodiment, right-turn accident prevention driving assistance can be appropriately implemented. Here, in particular, according to the driving support apparatus according to the present embodiment, it is possible to prevent a collision between the host vehicle C1 that is about to turn right and the oncoming vehicle C2 that has stopped as the vehicle Cout outside the detection area.

Second Embodiment
Next, a driving support apparatus according to a second embodiment will be described with reference to FIGS.

  8 and 9 are schematic diagrams for explaining the configuration of the vehicle detection sensor in the second embodiment. 8 and 9, the same reference numerals are given to the same components as those according to the first embodiment described above with reference to FIGS. 1 to 7, and description thereof will be omitted as appropriate. Moreover, in FIG.8 and FIG.9, illustration of the roadside apparatus 220 mentioned above with reference to FIG.2 and FIG.4 is abbreviate | omitted for convenience of explanation.

  The second embodiment is different from the first embodiment described above in that the detection area A1 of the vehicle detection sensor 210 is changed according to the signal cycle of the traffic light 400, and other points are the same as those in the first embodiment described above. It is almost the same. In the following description, differences between the second embodiment and the first embodiment will be mainly described.

  FIG. 8 shows the camera angle θr and the detection area A1r of the vehicle detection sensor 210 when the traffic light 420 of the oncoming lane 820 on which the oncoming vehicle C2 travels is red, and FIG. The camera angle θb and the detection area A1b of the vehicle detection sensor 210 in the case where the traffic light 420 of the oncoming lane 820 that travels is blue are shown.

  As shown in FIGS. 8 and 9, in the present embodiment, the detection area A <b> 1 of the vehicle detection sensor 210 is changed according to the signal cycle of the traffic light 420. Specifically, the vehicle detection sensor 210 changes the detection area A <b> 1 by changing the camera angle θ based on the signal cycle information of the traffic light 420. Here, the camera angle θ is an example of the “camera shooting angle” according to the present invention, and is an angle formed by the camera shooting direction of the vehicle detection sensor 210 and the direction perpendicular to the road surface. As shown in FIGS. 8 and 9, the camera angle θb (see FIG. 9) when the light color of the traffic light 420 is blue is the camera angle θr when the light color of the traffic light 420 is red (see FIG. 8). Is greater than (θr <θb), and the detection area A1b (see FIG. 9) when the traffic light 420 is blue is more than the detection area A1r (see FIG. 8) when the traffic light 420 is red. Is located far from the intersection.

  FIG. 10 is a flowchart showing the flow of change according to the signal cycle of the detection area of the vehicle detection sensor according to the present embodiment.

  In FIG. 10, first, the vehicle detection sensor 210 grasps the signal cycle of the traffic light 420 (step S110). That is, the vehicle detection sensor 210 acquires the signal cycle information of the traffic light 420 from the roadside device 220.

  Next, it is determined by the vehicle detection sensor 210 whether or not the current lamp color of the traffic light 420 is red (step S120). That is, the vehicle detection sensor 210 determines whether or not the current lamp color of the traffic light 410 is red based on the signal cycle information of the traffic light 420.

  If it is determined that the current lamp color of the traffic light 420 is red (step S120: Yes), the camera angle θ of the vehicle detection sensor 210 is changed so that the tip of the detection area is near the stop line 520. (Step S130). That is, in this case (step S120: Yes), the vehicle detection sensor 210 changes or sets the camera angle θ to be the camera angle θr described above with reference to FIG. Thereby, the detection area A1 of the vehicle detection sensor 210 is changed or set to the detection area A1r described above with reference to FIG. As shown in FIG. 8, the tip of the detection area A1r is located near the stop line 520.

  On the other hand, when it is determined that the current light color of the traffic light 420 is not red (that is, the current light color of the traffic light 420 is blue or yellow) (step S120: No), the tip of the detection area is a stop line. The camera angle θ of the vehicle detection sensor 210 is changed so as to be on the rear side by a predetermined distance from 520 (step S140). That is, when it is determined that the current light color of the traffic light 420 is blue or yellow, the vehicle detection sensor 210 changes the camera angle θ to the camera angle θb described above with reference to FIG. Or set. Accordingly, the detection area A1 of the vehicle detection sensor 210 is changed or set to the detection area A1b described above with reference to FIG. As shown in FIGS. 8 and 9, the detection area A1b has a tip located behind the detection line A1r by a predetermined distance from the stop line 520. The camera angle θ may be changed so that the detection area when the current light color of the traffic light 420 is blue and the detection area when the current light color of the traffic light 420 is yellow are different from each other. . For example, the detection area when the current lamp color of the traffic light 420 is blue is positioned so that the tip thereof is located behind the stop line 520 relative to the detection area when the current lamp color of the traffic light 420 is yellow. The camera angle θ may be changed.

  According to this embodiment, since the detection area A1 of the vehicle detection sensor 210 is dynamically changed according to the signal cycle of the traffic light 420 as described above, when the light color of the traffic light 420 is red, for example, When the oncoming vehicle C2 stopped at the stop line 520 of the oncoming lane 820 can be detected by the vehicle detection sensor 210, and the light color of the traffic light 420 is blue, the vehicle travels from a relatively long distance toward the intersection. The oncoming vehicle C <b> 2 can be detected by the vehicle detection sensor 210. Therefore, for example, as compared to the case where the detection area A1 of the vehicle detection sensor 210 is fixedly set, it is possible to appropriately perform driving support in a state where the oncoming vehicle C2 is further away from the intersection. Become.

  In FIG. 10, after the process related to step S130 or S140, the vehicle detection sensor 210 recognizes a change in the current lamp color of the traffic light 420 (step S150), and the process related to step S120 described above is performed again.

  As described above, according to the present embodiment, since the detection area A1 of the vehicle detection sensor 210 is dynamically changed according to the signal cycle of the traffic light 420, the presence state of the oncoming vehicle C2 is determined, for example, as the detection area A1. Can be detected in a wider area in the oncoming lane 820 (in other words, the detection area is substantially compared to the case where the detection area A1 is fixed, for example). Can be expanded). Therefore, it becomes possible to more appropriately implement driving support based on the presence state of the oncoming vehicle C2 detected by the vehicle detection sensor 210.

  Particularly in the present embodiment, as described above, the detection area A1 of the vehicle detection sensor 210 is changed by changing the camera angle θ of the vehicle detection sensor 210. Therefore, the detection area A1 can be easily and reliably changed according to the signal cycle of the traffic light 420. Therefore, the detection area A1 can be substantially expanded easily and reliably. Here, in particular, according to the present embodiment, the vehicle detection sensor 210 faces the vehicle detection sensor 210 without increasing the shooting performance of the camera itself (that is, without expanding the detection area A1 determined by the shooting performance of the camera itself). Since the presence state of the vehicle C2 can be detected in a relatively wide area in the oncoming lane 820, it is very advantageous in practice.

  The present invention is not limited to the above-described embodiments, and can be appropriately changed without departing from the spirit or idea of the invention that can be read from the claims and the entire specification. Moreover, it is included in the technical scope of the present invention.

  DESCRIPTION OF SYMBOLS 1 ... Driving assistance device, 10 ... Autonomous sensor, 20 ... Road-to-vehicle communication device, 21 ... Road-to-vehicle communication antenna, 30 ... Vehicle-to-vehicle communication device, 31 ... Vehicle-to-vehicle communication antenna, 40 ... Notification device, 100 ... ECU, DESCRIPTION OF SYMBOLS 110 ... Out-of-detection-area vehicle determination part, 120 ... Driving assistance execution part, 200 ... Road side infrastructure, 210 ... Vehicle detection sensor, 220 ... Road side device, 400, 410, 420, 430, 440 ... Traffic light, 510, 520 ... Stop line , A1 ... Detection area

Claims (6)

A driving support device that is mounted on a host vehicle and performs driving support for suppressing the approach between the host vehicle and an oncoming vehicle when the host vehicle enters an intersection,
Receiving means for receiving from the roadside transmitter information in the detection area indicating the presence state of the oncoming vehicle in the detection area set before the intersection in the oncoming lane and signal cycle information of the traffic signal installed at the intersection;
Determination based on the information in the detection area and the signal cycle information whether there is a vehicle outside the detection area that is the oncoming vehicle that is stopped on the intersection side of the detection area in the oncoming lane Means,
When the determination means determines that there is a vehicle outside the detection area, the driving support is continuously provided for a predetermined time when the host vehicle enters the intersection. Driving assistance device. The information in the detection area includes the vehicle speed of the oncoming vehicle in the detection area as the presence status,
The driving support device according to claim 1, wherein the determination unit determines whether or not there is a vehicle outside the detection area based on a vehicle speed of the oncoming vehicle and the signal cycle information.   The determination means detects the vehicle speed of the oncoming vehicle as the product of the vehicle speed of the oncoming vehicle and the time from when the vehicle speed of the oncoming vehicle is detected until the light color of the traffic light turns red. The driving support device according to claim 2, wherein it is determined whether or not there is a vehicle outside the detection area by determining whether or not the distance from the determined vehicle position to an end of the intersection is greater.   The driving support device according to any one of claims 1 to 3, wherein the detection area is changed according to a signal cycle of the traffic light.   The driving support device according to claim 4, wherein the detection area is changed so that a blue color is farther from the intersection than a red color of the traffic light. The oncoming vehicle presence status is detected by a roadside detector including a camera installed at the intersection,
The driving support device according to claim 4 or 5, wherein the detection area is changed by changing a shooting angle of the camera.

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