JP5804676B2 - Driving assistance device - Google Patents

Description

  The present invention relates to a technique for providing driving assistance between a host vehicle and another vehicle by transmitting and receiving at least position information of the host vehicle and the other vehicle to each other.

  A plurality of road stations installed on the road transmit code data signals that are different from each other in synchronization with each other periodically, and are mounted on vehicles that move within the communication area of these road stations. In the station, the data signals of the respective code sequences transmitted from the road stations are obtained, and on which driving lane the vehicle travels based on the arrival time difference of the data signals of these code sequences from the road stations to the mobile station Techniques for identifying whether or not the Then, the information on the acquired travel lane and the like are transmitted and received with each other by inter-vehicle communication, so that the possibility of collision between vehicles traveling on the same travel lane is determined (for example, see Patent Document 1).

Japanese Unexamined Patent Publication No. 2000-76599 (paragraphs 0027 to 0038, 0064 to 0071, FIGS. 1, 20, 22 and abstracts, etc.)

  By the way, in general, in addition to the information on the travel lane described above, the position information of each vehicle, the information on the right / left turn of the vehicle based on the operation of the blinker, and the like are mutually transmitted and received by inter-vehicle communication, and the possibility of collision between vehicles Etc. are judged. However, for example, an operation by the driver is necessary to turn on the blinker, and information on the right / left turn of the vehicle is not transmitted / received between the vehicles when the driver forgets to turn on the blinker. Therefore, when a necessary operation is not performed by the driver, information based on the driver's operation is not transmitted / received between the vehicles, and thus there is a possibility that the determination regarding the possibility of collision between the vehicles cannot be performed accurately.

  The present invention has been made in view of the above-described problems, and an object of the present invention is to provide a technique capable of accurately determining the possibility of collision between vehicles.

In order to achieve the above-described object, the driving support device of the present invention provides driving support that performs driving support by transmitting and receiving at least position information of the host vehicle and the other vehicle between the host vehicle and the other vehicle. The determination means for determining the content of the road marking formed on the travel lane of the host vehicle, the acquisition means for acquiring the content of the road marking formed on the travel lane of the other vehicle, and the determination means Predicting the course of each of the own vehicle and the other vehicle based on the content of the road surface sign, the content of the road surface sign obtained by the obtaining means, and the position information of the own vehicle and the other vehicle. The determination means for determining the possibility of a collision between the host vehicle and the other vehicle, and the driver is warned of the presence of the other vehicle with the possibility of a collision when the determination means determines that there is a possibility of a collision. Please note Warning means for starting, and priority road recognition means for recognizing whether the road on which the vehicle is traveling is a priority road based on the content of the road marking determined by the determination means, Even if it is determined that there is a possibility of a collision by the determination unit, the alerting unit is recognized by the priority road recognition unit that the vehicle is traveling on the priority road. In order to prevent the driver from becoming accustomed to the driver's attention because the driver's attention on the priority road is frequently performed, the driver's attention is prevented from being reduced. Although not performed , the position of the other vehicle having a possibility of collision is superimposed and displayed on the map for car navigation being displayed on the travel monitor.

According to the present invention, the road surface formed on the traveling lane of the own vehicle determined by the determining means without transmitting and receiving information based on the driver's operation such as the turn-on operation of the blinker between the own vehicle and the other vehicle. Based on the content of the sign, the content of the road marking formed in the travel lane of the other vehicle acquired by the acquisition means, and the position information of the own vehicle and the other vehicle transmitted and received between the own vehicle and the other vehicle Thus, since the courses of the own vehicle and the other vehicle can be predicted, the possibility of collision between the own vehicle and the other vehicle can be accurately determined by the determining means.

Further , when the determination means determines that there is a possibility of a collision, the attention calling means performs alerting. Even when the determination means determines that there is a possibility of a collision, the determination means determines the possibility of collision. Caution should be taken if the vehicle is recognized as traveling on the priority road by the priority road recognition means for recognizing whether the road on which the vehicle is traveling is a priority road based on the contents of the road marking. Since alerting by the alerting means is not performed, appropriate alerting as necessary can be performed by the alerting means.

  In this way, when it is determined that there is a possibility of collision by the discriminating means, if the own vehicle is traveling on the priority road, the alerting means is not alerted and the own vehicle is traveling on the non-priority road. If there is a warning, the driver is accustomed to the driver who is driving on the priority road, and the driver gets used to the driver's attention. Can be prevented.

It is a schematic diagram which shows an example of the vehicle running state of one Embodiment of this invention. It is a block diagram of the vehicle provided with the driving assistance device. It is a flowchart which shows a road marking content discrimination | determination process. It is a flowchart which shows a driving assistance process. It is a schematic diagram which shows the other example of a vehicle running state.

  An embodiment of the present invention will be described with reference to FIGS. FIG. 1 is a schematic diagram showing an example of a vehicle running state according to an embodiment of the present invention. FIG. 2 is a block diagram of a vehicle equipped with a driving support device. FIG. 3 is a flowchart showing a road marking content determination process. FIG. 4 is a flowchart showing the driving support process.

  In this embodiment, an automobile, a truck, and a motor including the driving support device of the present invention that performs driving support by transmitting and receiving at least position information of the own vehicle and the other vehicle to each other by inter-vehicle communication between the own vehicle and the other vehicle. It is assumed that a vehicle such as a motorcycle is traveling vertically and horizontally on a road having a crossing intersection, for example.

  FIG. 1 schematically shows the above-described traveling state. Reference numeral 1 denotes a road in which a north-south road 1a in the vertical direction of the paper and an east-west road 1b in the horizontal direction of the paper cross at a crossing point 1c. Each travel lane 1d forming the road 1 is formed with various road markings such as various regulation signs and instruction signs, 1e is an arrow indicating that the travel lane 1d is a left turn lane, and 1f is a travel lane 1d. Is an arrow indicating that the vehicle is a straight lane, 1g is an arrow indicating that the travel lane 1d is a right turn lane, and 1h is an arrow indicating that the travel lane 1d is a straight / left turn lane. Further, 1i indicates a lane boundary line indicating the boundary of the traveling lane 1d, 1j indicates a vehicle stop line, and 1k indicates a pedestrian crossing.

  In FIG. 1, 21 and 22 are vehicles that travel east on the east-west road 1b toward the intersection 1c, and 23 is a motorbike that travels east on the same lane 1d as the vehicle 22 toward the intersection 1c. , 24 is a vehicle traveling east and west across the intersection 1c. Reference numeral 25 denotes a truck that moves west on the east-west road 1b toward the intersection 1c, and 26 denotes a vehicle that moves west on the east-west road 1b toward the intersection 1c. Further, the vehicle 21 and the truck 25 are traveling in the right turn lane, the vehicle 22 and the motorbike 23 are respectively traveling in the left turn lane, and the vehicles 24 and 26 are traveling in the straight lane.

  The vehicles 21, 22, 24, 26, the motorbike 23, and the truck 25 are each provided with the driving support device of the present invention. Hereinafter, the driving support device provided in the vehicle 21 will be described as an example.

  FIG. 2 shows an example of the configuration of the driving support device for the vehicle 21. Reference numeral 10 denotes a host vehicle information management unit (corresponding to “discrimination means” and “priority road recognition means” of the present invention), for example, for autonomous navigation. The vehicle position composed of the latitude and longitude of the vehicle by the navigation system 11 in which map matching based on the detection information of the autonomous sensor is performed, the GPS positioning information of the vehicle position received by the GPS (Global Positioning System) receiving unit 12, and CAN (Controller Area Network) Collects detection information of various autonomous sensors related to traveling in the vehicle such as a speed sensor, a rudder angle sensor, and a yaw rate sensor received by the communication unit 13, and manages them as vehicle information of the vehicle Estimate the position of the vehicle.

  In addition, the own vehicle information management unit 10 collects shooting data of a monocular in-vehicle camera 14 as a front recognition device that images the front of the own vehicle, and the vehicle information management unit 10 stores the shooting data in the traveling lane 1d of the own vehicle included in the captured image of the in-vehicle camera 14. The content of the formed road marking is determined by pattern recognition. That is, the vehicle information management unit 10 includes arrows 1e, 1f, 1g, and 1h, a lane boundary line 1i represented by a dotted line or a straight line, a vehicle stop line 1j, a pedestrian crossing 1k, a character “stop”, and a front crossing. Diamond markings indicating the presence of sidewalks and bicycle traffic zones, prohibition of deployment, parking prohibition, roadside zones, indications of exclusive traffic zones, indications of priority traffic zones, indications of traffic categories, indications of parking zones, speed indications Various patterns of road markings such as markings indicating the front priority roads are stored in advance.

  And as shown in FIG. 3, the own vehicle information management part 10 acquires the picked-up image by the vehicle-mounted camera 14 (step S1), and recognizes the road marking contained in the acquired picked-up image by pattern recognition, and recognition. The content of the road marking that has been made is determined (step S2). Next, based on the contents of the road marking, whether the vehicle is driving in the right turn lane or the left turn lane, the lane in which the roadside belt is formed on the left side of the vehicle, that is, the leftmost side Information on the traveling lane, such as whether the vehicle is traveling on the lane or the priority road (step S3).

  Reference numeral 15 denotes a transmitter (vehicle-to-vehicle transmitter) for vehicle-to-vehicle communication means. The vehicle information of the vehicle, such as the position of the vehicle every moment, managed by the vehicle information management unit 10, Information on the traveling lane of the own vehicle acquired based on the vehicle is wirelessly transmitted outside the vehicle.

  Reference numeral 16 denotes a receiver for vehicle-to-vehicle communication means (vehicle-to-vehicle receiver). Other vehicles such as vehicles 22, 24, 26, motorbikes 23, trucks 25, etc., within the transmittable / receivable distance equipped with similar vehicle-to-vehicle communication means. The inter-vehicle communication information from the inter-vehicle transmitter 15 is received. In this embodiment, the inter-vehicle receiver 16 receives vehicle information of other vehicles such as the position of other vehicles transmitted from other vehicles and information related to the traveling lanes of other vehicles.

  Reference numeral 17 denotes an other vehicle information management unit (corresponding to the “acquisition means” of the present invention), which is formed in the vehicle information such as the position of the other vehicle from moment to moment via the inter-vehicle receiver 16 and the travel lane of the other vehicle. The information on the travel lanes of other vehicles based on the contents of the road marking is acquired and managed as other vehicle information.

  The own vehicle information management unit 10, the other vehicle information management unit 17 and the like have a rewritable solid-state information storage element such as a flash memory or a storage unit formed of an HDD, and the own vehicle information management unit 10, Various information for the latest fixed time managed by the other vehicle information management unit 17 is stored in a rewritable manner.

  Reference numeral 18 denotes information related to the traveling lane of the own vehicle based on the contents of the road marking of the traveling lane of the own vehicle and the position information of the own vehicle managed by the own vehicle information management unit 10, and other information managed by the other vehicle information management unit 17. Based on the information about the traveling lane of the other vehicle based on the contents of the road marking of the traveling lane of the vehicle and the position information of the other vehicle, the navigation system 11 predicts the course of each of the own vehicle and the other vehicle on the map. It is a collision prediction unit (corresponding to the “determination means” of the present invention) that determines the possibility of collision between a vehicle and another vehicle.

  Reference numeral 19 denotes a notification unit (corresponding to the “attention calling means” of the present invention) that notifies the driver based on the prediction result by the collision prediction unit 18, and when the collision prediction unit 18 determines that there is a possibility of collision. For example, a warning display is superimposed on a car navigation map currently displayed on the travel monitor, and the driver is alerted by visually informing the driver of the presence of another vehicle that may have a collision. . Further, a warning message is generated from a speaker (not shown) to alert the driver of the presence of another vehicle that may possibly collide by generating a voice message and a warning sound as a prediction result. The driver assists the driver by notifying the visual or audible driver by the notification unit 19. Note that the notification may be a tactile sensation by vibrating a portion such as a seat belt, a handle, or a seat that contacts the driver.

  Further, even when the notification unit 19 determines that there is a possibility of collision by the collision prediction unit 18, the notification unit 19 is traveling on a priority road that is prioritized over other vehicles that may have a collision. When it is recognized by the own vehicle information management unit 10, no alert is issued. At this time, the driver is not alerted, but the position of the other vehicle is superimposed on the car navigation map currently displayed on the travel monitor, for example, and there is another vehicle that can collide. The notification unit 19 visually notifies the driver.

  And the own vehicle information management part 10, the other vehicle information management part 17, the collision prediction part 18, and the alerting | reporting part 19 are formed by the software process of a microcomputer.

  In this embodiment, the vehicles 22, 24, 26, the motorbike 23, and the truck 25 are provided with a driving support device similar to the driving support device described with reference to FIG.

  Next, an example of processing by the driving support device will be described with reference to FIG.

  FIG. 4 shows an example of the driving support process, in which information related to the vehicle position managed by the vehicle information management unit 10 is acquired (step S11), and information related to the traveling lane of the vehicle is acquired (step S12). And the information regarding the other vehicle position transmitted by the other vehicle and the traveling lane is received via the inter-vehicle receiver 16, so that the other vehicle position managed by the other vehicle information management unit 17 and the traveling lane of the other vehicle are related. Information is acquired (step S13), and the courses of the own vehicle and the other vehicle are predicted based on the information on the own vehicle position and the traveling lane of the own vehicle and the information on the other vehicle position and the traveling lane of the other vehicle. Thus, the collision prediction unit 18 determines the possibility of collision between the own vehicle and the other vehicle (step S14).

(A) First Judgment Example For example, when the host vehicle is the vehicle 21, the collision prediction unit 18 moves east on the east-west road 1b toward the intersection 1c, but based on the content of the arrow 1g. The vehicle is predicted to turn right at the intersection 1c as the course of the vehicle. On the other hand, the collision predicting unit 18 determines that the other vehicle, the truck 25, travels west on the east-west road 1b toward the intersection 1c, but turns right at the intersection 1c as the course of the truck 25 based on the content of the arrow 1g. Predict. Further, the collision prediction unit 18 indicates that the vehicle 26 as another vehicle travels west on the east-west road 1b toward the intersection 1c, but goes straight on the intersection 1c as the course of the vehicle 26 based on the content of the arrow 1f. Predict.

  Therefore, the collision prediction unit 18 determines that there is no possibility of collision (NO in step S15) because the own vehicle and the truck 25 face each other from the front but are in a relationship of turning right at the intersection 1c. Although the vehicle 26 does not face from the front, it is determined that there is a possibility of a collision because it has a relationship of turning right and going straight at the intersection (YES in step S15). And it is judged by the alerting | reporting part 19 whether the runway of the own vehicle is a priority side or a non-priority side, but since the vehicle 26 which goes straight on the intersection 1c is a priority side vehicle in this case (NO in step S16), The alerting | reporting part 19 alert | reports presence of a straight vehicle (vehicle 26) (step S17).

(B) Second determination example For example, when the host vehicle is the vehicle 22, the collision prediction unit 18 moves east on the east-west road 1b toward the intersection 1c, but based on the content of the arrow 1e. The vehicle is predicted to turn left at the intersection 1c as the course of the vehicle. On the other hand, in the collision prediction unit 18, the motorbike 23, which is another vehicle, travels east and west on the east-west road 1b toward the intersection 1c. Therefore, the motorbike 23 is traveling in the leftmost lane, and the motorbike 23 is predicted to have a high probability of turning left at the intersection 1c as the course of the motorbike 23.

  In addition, the collision prediction unit 18 determines that the other vehicle, the truck 25, travels west on the east-west road 1b toward the intersection 1c, but turns right at the intersection 1c as the course of the truck 25 based on the content of the arrow 1g. Predict. Further, the collision prediction unit 18 indicates that the vehicle 26 as another vehicle travels west on the east-west road 1b toward the intersection 1c, but goes straight on the intersection 1c as the course of the vehicle 26 based on the content of the arrow 1f. Predict.

  Therefore, the collision prediction unit 18 determines that the own vehicle and the motorbike 23 are in a relationship of turning left at the intersection 1c, and that the own vehicle and the motorbike 23 may collide when the motorbike 23 is involved when turning left. (YES in step S15). And it is judged by the information part 19 whether the runway of the own vehicle is a priority side or a non-priority side, but in this case, since there is a duty of caution to perform so-called entrainment confirmation on the own vehicle turning left at the intersection 1c, The alerting | reporting part 19 alert | reports presence of a following vehicle (motorbike 23) is performed (step S17).

  The collision prediction unit 18 determines that the vehicle and the truck 25 are in a relationship of turning left and right at the intersection 1c and there is no possibility of collision (NO in step S15), and the vehicle and the vehicle 26 turn left at the intersection and It is determined that the vehicle is traveling straight and there is no possibility of collision (NO in step S15).

(C) Third Judgment Example For example, when the host vehicle is the vehicle 24, the collision prediction unit 18 moves east on the east-west road 1b beyond the intersection 1c. Two-lane road acquired based on the contents of road markings such as the roadside zone on the left side of the own vehicle included in the photographed image, the contents of the lane boundary line 1i on the right side of the own vehicle, and the contents of map information stored in the navigation system 11 Based on information such as that, the vehicle is predicted to travel in the left lane of the two lanes as the course of the vehicle.

  On the other hand, the collision prediction unit 18 uses the own vehicle (as the course of the other vehicle based on the contents of the roadside belt and the lane boundary line 1i included in the captured image of the other vehicle traveling in front of the vehicle 24 (not shown). Predict whether or not the vehicle will travel in the same lane as the vehicle 24). Then, when the course of the host vehicle and the other vehicle in front of the host vehicle is predicted to travel in the same direction in the same lane 1d, the collision prediction unit 18 may, for example, For example, if your vehicle and other vehicles in front of your vehicle are approaching at an unusually fast rate due to stopping for some reason, it is determined that your vehicle may collide with other vehicles in front of your vehicle. (YES in step S15). Then, the notifying unit 19 determines whether the own vehicle is a priority side or a non-priority side. In this case, since the own vehicle has a duty of attention to the front, the presence of other vehicles stopped ahead is notified. Alerting is performed by the notification unit 19 (step S17).

(D) Fourth determination example For example, when the own vehicle is the truck 25, the collision prediction unit 18 moves west on the east-west road 1b toward the intersection 1c, but based on the content of the arrow 1g. The vehicle is predicted to turn right at the intersection 1c as the course of the vehicle. On the other hand, the collision prediction unit 18 predicts that the vehicle 21 as another vehicle is going east on the east-west road 1b toward the intersection 1c, but turns right at the intersection 1c as the course of the vehicle 21 based on the content of the arrow 1g. To do. In addition, the collision prediction unit 18 determines that the other vehicle 22 is traveling eastward on the east-west road 1b toward the intersection 1c, and turns left at the intersection 1c as the course of the vehicle 22 based on the content of the arrow 1e. Predict.

  Therefore, the collision prediction unit 18 determines that the own vehicle and the vehicle 21 face each other from the front but are in a right-turning relationship with each other at the intersection 1c (NO in step S15). Is not opposed from the front, but has a relationship of turning right and left at the intersection, and determines that there is no possibility of collision (NO in step S15).

(E) Fifth Determination Example For example, when the host vehicle is the vehicle 26, the collision prediction unit 18 moves west on the east-west road 1b toward the intersection 1c, but based on the content of the arrow 1f. It is predicted that the vehicle will go straight on at intersection 1c as the course of the vehicle. On the other hand, the collision prediction unit 18 determines that the other vehicle 22 is traveling east on the east-west road 1b toward the intersection 1c, and turns left at the intersection 1c as the course of the vehicle 22 based on the content of the arrow 1e. Predict. In addition, the collision prediction unit 18 indicates that the other vehicle 21 is moving east on the east-west road 1b toward the intersection 1c, and turns right at the intersection 1c as the course of the vehicle 21 based on the content of the arrow 1g. Predict.

  Therefore, the collision prediction unit 18 determines that the vehicle and the vehicle 22 have a relationship of going straight and turn left at the intersection 1c (NO in step S15), and the vehicle and the vehicle 21 do not face each other from the front. However, it is determined that there is a possibility of a collision because the vehicle travels straight and turns right at the intersection 1c (YES in step S15). And it is judged by the alerting | reporting part 19 whether the runway of the own vehicle is a priority side or a non-priority side, but in this case, since the own vehicle which goes straight through the intersection 1c is a priority side vehicle (YES in step S16), Only the presence of the right turn vehicle (vehicle 21) is simply notified by the notification unit 19 (step S18).

(Other examples of vehicle running conditions)
Next, another example of the vehicle running state will be described with reference to FIG. FIG. 5 is a schematic diagram showing another example of the vehicle running state. This example is different from the above example in that the configuration of the intersection is different, and the other configurations and operations are the same as those in the above example. Description of the configuration and operation is omitted. The following description will be made with reference to FIGS. 2 and 4 with a focus on differences from the above example.

  In this example, a vehicle such as an automobile provided with the driving assistance device of the present invention that performs driving assistance by transmitting and receiving at least position information of the own vehicle and the other vehicle to each other by inter-vehicle communication between the own vehicle and the other vehicle, For example, it is assumed that the vehicle travels vertically and horizontally on a road having a T-shaped intersection.

  FIG. 5 schematically shows the above-described traveling state. Reference numeral 100 denotes a road in which the north-south road 100a in the vertical direction on the paper and the east-west road 100b in the horizontal direction on the paper intersect at a crossing point 100c in a T-shaped manner. Is formed as a priority road with priority over the north-south road 100a. Each road lane 1d forming the road 100 is formed with various road markings such as various regulatory markings and instruction markings. In the example shown in FIG. 5, in addition to the road marking described with reference to FIG. , “Stop” sign 11 indicating a temporary stop is formed at a point connecting to the east-west road 100b of the north-south road 100a.

  In FIG. 5, reference numeral 27 denotes a vehicle traveling east on the east-west road 100b toward the intersection 100c, and reference numeral 28 denotes a vehicle traveling west on the east-west road 100b toward the intersection 100c. Reference numeral 29 denotes a vehicle traveling north on the north-south road 100a toward the intersection 100c.

  Each of the vehicles 27, 28, and 29 includes the driving support device of the present invention. In addition, as shown in FIG. 5, the building 200 is built in the right corner of the intersection 100c which forms a T-junction, and the vehicle 28 and the vehicle 29 cannot visually recognize each other's vehicles. A sidewalk 201 is provided on the east-west road 100b.

  In each of the vehicles 27, 28, and 29 traveling on the road 100 configured as described above, the driving support process described with reference to FIG. In the following, among the driving support processes shown in FIG. 4, the processes after step S15 will be described, and the processes from step S11 to step S14 are the same as those described above, and thus the description of the processes will be omitted.

(F) Sixth Determination Example For example, when the host vehicle is the vehicle 27, the collision prediction unit 18 moves eastward on the east-west road 100b toward the intersection 100c. Based on the contents of road markings such as the left side road belt and the right lane boundary line 1i included in the photographed image, the vehicle is predicted to travel on the left side of the two-lane road as the course of the own vehicle. On the other hand, the collision prediction unit 18 determines that the other vehicle 28 is traveling west on the east-west road 100b toward the intersection 100c, but the roadside belt on the left side of the vehicle 28 included in the captured image of the vehicle-mounted camera 14 of the vehicle 28 Based on the contents of road markings such as the right lane boundary line 1i, it is predicted that the vehicle 28 will travel in the lane on the opposite side of the vehicle on the two-lane road. In addition, the collision prediction unit 18 determines that the vehicle 29, which is another vehicle, travels north on the north-south road 100a toward the intersection 100c, but based on the content of the “stop” sign 1l, Predicts that there is a high probability of a pause before this.

  Accordingly, the collision prediction unit 18 determines that the own vehicle and the vehicle 28 are traveling in opposite lanes of the east-west road 100b, and that there is no possibility of a collision (NO in step S15). For example, even if the vehicle 29 ignores the temporary stop, the vehicle 29 and the vehicle 29 do not collide unless the vehicle 29 jumps to the east-west road 100b beyond the vehicle stop line 1j by a distance of one lane. Then, it is determined that there is no possibility of collision between the own vehicle and the vehicle 29 at the time of encounter (NO in step S15).

(G) Seventh Judgment Example For example, when the host vehicle is the vehicle 28, the collision prediction unit 18 moves west on the east-west road 100b toward the intersection 100c. It is predicted that the vehicle 28 will travel on the left side of the two-lane road as the course of the vehicle 28 based on the contents of road markings such as the left side road belt and the right lane boundary line 1i included in the captured image. On the other hand, the collision prediction unit 18 determines that the other vehicle 27 is traveling east on the east-west road 100b toward the intersection 100c, and the roadside belt on the left side of the vehicle 27 included in the photographed image of the vehicle-mounted camera 14 of the vehicle 27 Based on the contents of road markings such as the right lane boundary line 1i, it is predicted that the vehicle 27 will travel in the lane on the opposite side of the vehicle on the two-lane road. In addition, the collision prediction unit 18 determines that the vehicle 29, which is another vehicle, travels north on the north-south road 100a toward the intersection 100c, but based on the content of the “stop” sign 1l, Predicts that there is a high probability of a pause before this.

  Therefore, the collision predicting unit 18 determines that the own vehicle and the vehicle 27 are traveling in the opposite lanes of the east-west road 100b and there is no possibility of a collision (NO in step S15), and the own vehicle and the vehicle 29 are determined. Means that, for example, when the vehicle 29 ignores the temporary stop and jumps over the vehicle stop line 1j and jumps to the east-west road 100b, there is a possibility of a collision at the head of the vehicle, so it is determined that there is a possibility of a collision (in step S15). YES). And it is judged by the alerting | reporting part 19 whether the driving | running route of the own vehicle is a priority side or a non-priority side, but in this case, since the own vehicle which goes west at the intersection 100c is a priority side vehicle (YES in step S16), Only the presence of the vehicle 29 is simply notified by the notification unit 19 (step S18).

(H) Eighth Determination Example For example, when the host vehicle is the vehicle 29, the collision prediction unit 18 moves north on the north-south road 100a toward the intersection 100c. Based on the contents, it is predicted that there is a high probability that the vehicle 29 will stop temporarily before the intersection 100c as the course of the vehicle 29. On the other hand, the collision prediction unit 18 determines that the other vehicle 27 is traveling east on the east-west road 100b toward the intersection 100c, and the roadside belt on the left side of the vehicle 27 included in the photographed image of the vehicle-mounted camera 14 of the vehicle 27 Based on the contents of the road marking such as the right lane boundary line 1i, it is predicted that the vehicle 27 travels on the left side of the two-lane road, that is, on the back lane when viewed from the own vehicle. In addition, the collision prediction unit 18 determines that the vehicle 28, which is another vehicle, travels westward on the east-west road 100 b toward the intersection 100 c, but the roadside zone on the left side of the vehicle 28 included in the captured image of the vehicle 28 on the vehicle 28 Based on the contents of the road marking such as the right lane boundary line 1i, the vehicle 28 travels in the lane on the opposite side of the vehicle 27 on the two-lane road, that is, the lane on the near side as viewed from the own vehicle. Predict.

  Therefore, for example, even if the collision prediction unit 18 ignores the sign 11 indicating that the host vehicle is “stopped” and jumps over the vehicle stop line 1j to the east-west road 100b, the vehicle 27 is not Since the vehicle is traveling in the back lane, the vehicle and the vehicle 27 do not collide unless the vehicle has jumped to the east-west road 100b for a distance of one lane. It is determined that there is no possibility of doing this (NO in step S15). On the other hand, for example, if the collision prediction unit 18 ignores the sign 11 indicating that the own vehicle is “stopped” and jumps over the vehicle stop line 1j to the east-west road 100b, there is a possibility that the own vehicle and the vehicle 28 collide with each other. Therefore, it is determined that the vehicle and the vehicle 28 may collide (YES in step S15), and the notification unit 19 determines whether the traveling path of the vehicle is a priority side or a non-priority side. In this case, since the vehicle 28 traveling west on the intersection 100c is a priority-side vehicle (NO in step S16), the alerting unit 19 alerts the presence of the vehicle 28 (step S17).

  As described above, according to this embodiment, the vehicle information management unit 10 manages the information based on the driver's operation such as the blinker lighting operation without transmitting / receiving the information between the vehicle and the other vehicle. Information on road marking contents and own vehicle position formed in the traveling lane of the own vehicle, information on road marking contents and other vehicle position formed in the traveling lane of the other vehicle managed by the other vehicle information management unit 17 Based on the above, it is possible to predict the courses of the own vehicle and the other vehicle, so the collision predicting unit 18 can accurately determine the possibility of collision between the own vehicle and the other vehicle.

  In addition, when the collision prediction unit 18 determines that there is a possibility of a collision, the notification unit 19 alerts the user, but even when the collision prediction unit 18 determines that there is a possibility of a collision, Necessary because the alerting unit 19 does not alert when the road on which the vehicle is traveling is recognized as a priority road based on the contents of the road markings managed by the vehicle information management unit 10 Appropriate alerting can be performed by the notification unit 19.

  In this way, when the collision prediction unit 18 determines that there is a possibility of collision, if the vehicle is traveling on the priority road, the alerting unit 19 does not alert and the vehicle travels on the non-priority road. Since the alerting unit 19 alerts the driver when the vehicle is in the middle, the driver is accustomed to the alert by frequently performing the alerting to the driver traveling on the priority road. Can be prevented from fading.

  Further, since the above-described various information regarding the traveling lane of the own vehicle can be recognized based on the content of the road marking included in the captured image of the in-vehicle camera 14, the traveling lane of the own vehicle is recognized as in the past. Therefore, it is possible to reduce the cost without requiring a large-scale facility.

  The present invention is not limited to the above-described embodiment, and various modifications other than those described above can be made without departing from the spirit of the present invention. For example, the own vehicle can collide with another vehicle. If the vehicle is traveling on a priority road, the notification by the notification unit 19 may not be performed at all.

  Moreover, you may make it acquire the content of the road marking formed in the driving lane of the own vehicle from the optical beacon etc. which were installed in the road. Further, the road markings managed by the own vehicle information management unit 10 and the other vehicle information management unit 17 are not limited to the above-described examples, and any road markings that are usually formed on the traveling road as road markings. Such road markings may be recognized by pattern recognition.

  Needless to say, the driving support apparatus is not limited to the configuration shown in FIG.

  Further, the present invention can be applied to driving assistance such as collision prevention assistance for various vehicles performing inter-vehicle communication.

  In addition, the possibility of collision is determined by detecting the distance between the host vehicle and the other vehicle and dividing the distance by the relative speed of the host vehicle with respect to the other vehicle, including a collision allowance time (TTC; Time To Collation). May be. In this case, the distance may be detected not only by the in-vehicle camera but also by a distance measuring means such as a laser radar provided separately.

1e, 1f, 1g, 1h Arrow (road marking)
1i Lane boundary (road marking)
1j Vehicle stop line (road marking)
1k pedestrian crossing (road marking)
1l "Stop" sign (road surface display)
10 Own vehicle information management part (discriminating means, priority road recognizing means)
17 Other Vehicle Information Management Department (Acquisition means)
18 Collision prediction unit (judgment means)
19 Notification Department (attention alerting means)

Claims (1)

In a driving support device that performs driving support by transmitting and receiving at least position information of the host vehicle and the other vehicle between the host vehicle and the other vehicle,
A discriminating means for discriminating the content of the road marking formed in the traveling lane of the own vehicle;
Obtaining means for obtaining the content of the road marking formed in the travel lane of the other vehicle;
Based on the content of the road marking determined by the determining means, the content of the road marking acquired by the acquiring means, and the position information of the own vehicle and the other vehicle, the own vehicle and the other vehicle, respectively. Judging means for judging the possibility of collision between the host vehicle and the other vehicle by predicting the course of
A warning means that warns the driver of the presence of the other vehicle with the possibility of a collision when the determination means determines that there is a possibility of a collision;
Priority road recognition means for recognizing whether or not the road on which the vehicle is traveling is a priority road based on the content of the road marking determined by the determination means,
The alerting means is:
Even when it is determined by the determination means that there is a possibility of a collision, if the vehicle is recognized as traveling on a priority road by the priority road recognition means, the vehicle is traveling on a priority road. In order to prevent the driver from becoming accustomed to the alert due to the frequent alerts to the driver, the alert is not performed in order to prevent the attention effect due to the alert to the driver from diminishing. A driving assistance apparatus, characterized in that the position of the other vehicle having a possibility of a collision is superimposed and displayed on a map for car navigation being displayed on a monitor.

Images