JP3899515B2 - Vehicle control device - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to information on other vehicles that travel on the opposite lane provided from outside for vehicles that are waiting for a right turn in an intersection, etc., and vehicles that are waiting for entry before the intersection to go straight or turn right or left at the intersection The present invention relates to a vehicle control device that assists visual confirmation of other vehicles when traveling at an intersection by presenting information to the driver such as information on other vehicles traveling in an intersection lane provided from the outside.
[0002]
[Prior art]
In recent years, in the situation of waiting for a right turn in an intersection or when trying to get the front end of the host vehicle to the oncoming lane in order to check the oncoming vehicle (cue-up), in a predetermined information transmission section in the intersection and in front of the intersection Right turn support system that supports driver's forward confirmation by providing information on other vehicles in the opposite lane from the outside when the host vehicle enters, and intersections without traffic lights where priority and non-priority roads intersect Cueing support to find the intersection at the intersection by providing information on other vehicles traveling on the priority road to the own vehicle that enters the intersection from the non-priority road to turn straight or turn left and right Development of systems is progressing toward practical use.
[0003]
Each of these systems is opposed to a communication device such as an information antenna installed in this section when the information providing vehicle (own vehicle) passes through a base point set in advance before the intersection and enters an information transmission section. Information on other vehicles existing in the lane is given, and the information provided in the vehicle is presented to the driver, thereby facilitating confirmation of other vehicles in the right turn waiting state of the intersection or waiting to enter the intersection. .
[0004]
[Problems to be solved by the invention]
By the way, in the above-mentioned right turn support system and cueing support system, even if the host vehicle is waiting for a right turn in an intersection or waiting to enter before the intersection, it is not necessary to present information if it is not the head of the train line. The driver may feel annoying due to unnecessary information presentation.
[0005]
The present invention has been made in view of the above problems, and its purpose is to reduce the annoyance felt by the driver by suppressing information presentation in unnecessary situations, and to provide convenience by performing necessary information presentation in an appropriate situation. It is providing the control apparatus of the vehicle which can improve performance.
[0006]
[Means for Solving the Problems]
  In order to achieve the above object, a control apparatus for a vehicle according to the present invention comprises: a receiving means for receiving information on another vehicle existing in a lane facing or intersecting with a traveling path of the own vehicle; and the own vehicle Presenting means for presenting information on the other vehicle in at least a right turn waiting state and an intersection waiting state within the intersection, and the vehicle at the beginning in a right turn waiting state and an intersection waiting state within the intersection Determining means for determining whether the vehicle is a vehicle, and regulating means for regulating information presentation by the presenting means when the host vehicle is not the leading vehicleThe determining means determines whether the own vehicle has stopped once in the intersection or in the information providing section before the intersection, and the restricting means determines whether the own vehicle is in the intersection or before the intersection by the determining means. If it is determined that the vehicle has never stopped within the information providing section, the restriction of information presentation by the presenting means is prohibited even if the host vehicle is not the leading vehicle..
  The vehicle control device according to the present invention includes a receiving means for receiving information on the other vehicle existing in a lane facing or intersecting with the traveling path of the own vehicle, and the own vehicle is at least in the intersection. Presenting means for presenting the information of the other vehicle in the right turn waiting state and the waiting state for entering the intersection, and determining whether the host vehicle is the leading vehicle in the right turn waiting state and the waiting state for entering the intersection at least in the intersection And determining means for restricting information presentation by the presenting means when the host vehicle is not the leading vehicle, wherein the determining means determines whether the vehicle speed of the own vehicle is greater than a predetermined value. Determining, and if the determining means determines that the vehicle speed is greater than a predetermined value, the presenting means determines that the presenting means is not the leading vehicle. If the vehicle speed is not determined to be greater than the predetermined value, the information presentation restriction by the presenting means is continued even if the host vehicle is not the leading vehicle. .
The vehicle control device according to the present invention includes a receiving means for receiving information on the other vehicle existing in a lane facing or intersecting with the traveling path of the own vehicle, and the own vehicle is at least in the intersection. Presenting means for presenting the information of the other vehicle in the right turn waiting state and the waiting state for entering the intersection, and determining whether the host vehicle is the leading vehicle in the right turn waiting state and the waiting state for entering the intersection at least in the intersection And determining means for restricting information presentation by the presenting means when the own vehicle is not the leading vehicle, the determining means determines whether or not the own vehicle is accelerating, If the determining means determines that the vehicle is accelerating by the determining means, the restricting means prohibits the presentation of information by the presenting means even if the host vehicle is not the leading vehicle. Make.
[0007]
Preferably, the restricting means restricts information presentation by voice and maintains information presentation by display.
[0008]
Preferably, the means for detecting the distance to the preceding vehicle, the means for detecting the position information of the own vehicle, the means for acquiring the position information of other vehicles existing in the traveling lane of the own vehicle from the outside, and the running from the reference position At least one means for detecting a distance is provided, and the determination means determines whether or not the host vehicle is the leading vehicle from at least one of the means.
[0012]
【The invention's effect】
  As explained above, claim 1Thru 3According to the invention, information on other vehicles existing in a lane facing or intersecting with the traveling path of the own vehicle is received from the outside, and the own vehicle is waiting for a right turn at least in the intersection and waiting for entering the intersection. When presenting information on other vehicles in the vehicle, if the host vehicle is not the leading vehicle at least in the right turn waiting state and the waiting state for entering the intersection, Convenience can be improved by suppressing the presentation of information in a necessary situation to reduce the annoyance felt by the driver and performing the necessary information presentation in an appropriate situation.
  In particular, according to the first aspect of the present invention, even when the host vehicle is not the leading vehicle at least in the right turn waiting state and the waiting state for entering the intersection in the intersection, the own vehicle is in the intersection or before the intersection. If it is determined that the vehicle has never stopped within the information provision section of the vehicle, it is prohibited to restrict the presentation of information by the presentation means. The situation inside can be recognized accurately.
According to the invention of claim 2, if the vehicle speed of the host vehicle is greater than a predetermined value when the host vehicle is not a leading vehicle at least in a right turn waiting state and an entrance waiting state in the intersection, If it is determined, the restriction of information presentation by the presentation means is prohibited, and if the vehicle speed is not determined to be greater than the predetermined value, the restriction of information presentation by the presentation means is determined even if the vehicle is not the leading vehicle. By continuing the above, in a situation where the host vehicle is traveling and information needs to be provided, the situation in the intersection ahead of the host vehicle can be accurately recognized.
According to the invention of claim 3, even if the host vehicle is not the leading vehicle at least in the right turn waiting state in the intersection and in the waiting state for entering the intersection, the host vehicle is being accelerated. If it is determined, by prohibiting the restriction of information presentation by the presenting means, it is possible to accurately recognize the situation in the intersection in front of the own vehicle when the own vehicle is accelerating and information provision is required.
[0013]
  Claim4According to the invention, the regulating means regulates the information presentation by voice and maintains the information presentation by display, thereby regulating the voice information presentation and reducing the annoyance felt by the driver. Presentations can be made in appropriate situations.
[0014]
  Claim5According to the invention, the means for detecting the distance to the preceding vehicle, the means for detecting the position information of the own vehicle, the means for acquiring the position information of other vehicles existing in the traveling lane of the own vehicle from the outside, It is provided with at least one of means for detecting a travel distance, and the judging means judges whether or not the own vehicle is the leading vehicle from at least one of these means, thereby providing information provided from the outside. It is possible to easily determine whether the vehicle is the leading vehicle.
[0018]
DETAILED DESCRIPTION OF THE INVENTION
Embodiments according to the present invention will be described below in detail with reference to the accompanying drawings.
[0019]
The embodiment described below is an example as means for realizing the present invention, and the present invention can be applied to a modified or modified embodiment described below without departing from the spirit of the present invention.
[Right turn support system and crossing pedestrian information provision system]
First, the overall configuration of the right turn support system and the crossing pedestrian information providing system that are the premise of the present embodiment will be described.
[0020]
As shown in FIG. 1, the right turn support system and the crossing pedestrian information providing system applied to the present embodiment include at least one lane road R1 on which a traffic light is installed and at least one lane crossing the road R1. At the intersection with the road R2 and near the intersection, a base point 11 installed on the roadside of the own vehicle V1 on the road R1 before the intersection (for example, 30 m) and a driving lane of the own vehicle V1 on the road R1 The vehicle detection sensor 12 installed on the road side of the opposite lane of the other vehicle V2 and two diagonally installed on the road lane side of the host vehicle V1 and the opposite lane side of the road R1 near the intersection. An information antenna 13 and two pedestrian detection sensors 14 installed near the pedestrian crossing on the road side before the intersection of the road R2 are provided.
[0021]
The base point 11 is, for example, a magnetic nail embedded in the road surface, and identifies unique identification information (hereinafter referred to as a base point ID) and provision information associated with the base point ID as shown in FIG. The provision ID (to be described later) is held so that it can be detected by a base point detector 71 (see FIG. 3A) mounted on the host vehicle V1, and the host vehicle V1 has passed the base point 11 While detecting by the detector 71, the base point ID and the provision ID are acquired from the base point 11 when passing through the base point. Further, the base point 11 is a reference position for measuring the travel distance of the host vehicle V1 from the base point 11 to the intersection. The travel distance from the base point 11 to the intersection is a reference for specifying the information provision section A1 by the information antenna 13.
[0022]
The vehicle detection sensor 12 detects the other vehicle V2 existing in the oncoming lane of the host vehicle V1 in the predetermined detection range B1 before the intersection from the vicinity of the intermediate point in the intersection, and positional information of the other vehicle V2 in the predetermined detection range B1, Vehicle speed information or vehicle type information is detected and transmitted to the system base station 41.
[0023]
As shown in FIG. 3 (b), the information antenna 13 has unique identification information (hereinafter referred to as a provision ID) and a base point ID associated with the provision ID similarly to the base point 11, and together with the provision ID. , Base point ID, position information of other vehicle V2, vehicle speed information, vehicle type information, information on road shape (distance to intersection, lane width, etc.), and pedestrian information are transmitted (provided) to host vehicle V1 in information providing section A1. To do.
[0024]
The pedestrian detection sensor 14 detects a pedestrian on a pedestrian crossing and transmits it to the system base station 41.
[0025]
In addition, the host vehicle V1 has a base point ID, a provision ID, position information of other vehicles V2, vehicle speed information, vehicle type information, information on road shape, pedestrian information (hereinafter referred to as these information) via the information antenna 13 in the information providing section A1. Are collectively referred to as provision information), and presentation control for presenting the provision information on a display or the like within the host vehicle V1 is performed.
[0026]
This presentation includes an output of a voice message or a warning sound from a speaker in addition to an image or character display on the display.
[0027]
In the above system, in contrast to FIG. 1, the other vehicle V <b> 2 is also an information provided vehicle similar to the own vehicle V <b> 1, and the other vehicle V <b> 2 receives the information provided by the own vehicle V <b> 1 traveling in the oncoming lane from the information antenna 13. It will be.
[Cueing support system]
Next, the configuration of the cueing support system that is a premise of the present embodiment will be described.
[0028]
As shown in FIG. 2, the cueing support system applied to the present embodiment is located at an intersection where there is no traffic signal where the priority road S1 and the non-priority road S2 of at least two lanes cross each other and in the vicinity of this intersection ( For example, a vehicle installed on the roadside of the lane to which the base point 21 installed on the roadside of the own vehicle V1 in the road S2 near 30m) and the own vehicle V1 in the vicinity of the intersection on the priority road S1 is to be headed. The detection sensor 24, the first information antenna 23A installed on the roadside of the non-priority road S2 ahead of the base point 21 by a predetermined distance, and the second information antenna 23B installed near the temporary stop line before the intersection of the non-priority road S2 With.
[0029]
The base point 21 is, for example, a magnetic nail embedded in the road surface, as in the case of the base point 11, and as shown in FIG. 3B, a unique base point ID and a provision ID associated with the base point ID are provided. The base point detector 71 (see FIG. 3 (a)) mounted on the host vehicle V1 is detected and held by the base point detector 71 to detect that the host vehicle V1 has passed the base point 21, and the base point is passed. Sometimes the base point ID and the provision ID are acquired from the base point 11. Further, the base point 21 is a reference position for measuring the travel distance of the host vehicle V1 from the base point 21. The travel distance from the base point 21 to the intersection is a reference for specifying the information providing sections A2 and A3 by the first and second information antennas 23A and 23B.
[0030]
The vehicle detection sensor 24 detects an intersection vehicle V2 existing in a predetermined detection range B2 (for example, 30 m) before the intersection on the priority road S1, and position information, vehicle speed information, vehicle type information, etc. of the intersection vehicle V2 in the predetermined detection range B2. Is detected.
[0031]
A unique provision ID is assigned to the first information antenna 23A in the same manner as the base point 21, and information on the road shape (distance to the intersection, position of the stop line, etc.) is provided along with the base point ID and provision ID in the information provision section. It transmits to the own vehicle V1 in A2. A unique provision ID is assigned to the second information antenna 23B as well as the base point 21, and information regarding the position information, vehicle speed information, vehicle type information, road shape (distance to the intersection, lane width, etc.) of the intersecting vehicle V2 is provided. The information is transmitted to the host vehicle V1 in the information provision section A3 (for example, 5 m before the temporary stop line and 3 m ahead from the intersection connection point).
[Function block]
FIG. 3A is a block diagram showing functions installed in the vehicle in order to receive information from each of the above systems. The system controller 31 indicates the vehicle speed signal detected by the vehicle speed sensor 32 and the distance from the preceding vehicle. From the distance signal detected by the distance sensor 51 to be detected, the operation signal of the brake switch 52 that is turned on / off by the operation of the brake pedal, the stroke signal of the accelerator pedal stroke sensor 53 that detects the depression amount of the accelerator pedal, and the GPS antenna 54 GPS signal, map information from the map database 55, and an acceleration signal detected by the acceleration sensor 57 are input.
[0032]
The system controller 31 receives the base point ID and the provision ID from the base point detector 71 when passing through the base points 11 and 12, and receives the information antenna 13, the first and second information antennas 23A and 23B from the system base station 41. The base point ID, provision ID, position information of other vehicles, vehicle speed information, vehicle type information, information on the road shape, and pedestrian information transmitted from the road-to-vehicle communication device 36 are input via the in-vehicle antenna 35. The base point detector 71 is, for example, a magnetic nail sensor that detects a magnetic nail.
[0033]
The system controller 31 first determines whether or not the provided ID is an ID corresponding to the base point ID, and displays the provided information from the information antenna having the provided ID corresponding to the base point ID on a display device 37 such as a car navigation display. To do.
[0034]
Further, the system controller 31 detects the travel distance of the host vehicle V1 after receiving the base point ID, and determines whether or not the host vehicle V1 enters the intersection from the detected travel distance.
[0035]
Further, the system controller 31 outputs a display control signal for displaying the provided information to the display device 37 and outputs an audio output signal to the speaker 38.
[0036]
As will be described later, the display device 37 and the speaker 38 are provided in order to alert the driver by displaying provided information on a car navigation display or by issuing an alarm sound or a voice message.
[0037]
Below, presentation control of the provision information received from each said system is demonstrated.
[First Embodiment]
FIG. 4 is a flowchart illustrating presentation control according to the first embodiment.
[0038]
In FIG. 4, in step S <b> 1, the information provided from the information antenna is received when the host vehicle passes through the base point and enters the information providing section (YES in step S <b> 1).
[0039]
In step S2, position information of other vehicles is acquired from the provided information.
[0040]
In step S3, it is determined whether the host vehicle is the leading vehicle in a state of waiting for a right turn or entering an intersection at the intersection. This determination is executed according to the flow of FIG.
[0041]
If the host vehicle is the leading vehicle in step S3 (YES in step S3), display and presentation of information by voice are executed in step S4.
[0042]
Also, if the host vehicle is not the leading vehicle in step S3 (NO in step S3), only the presentation of information by display is performed by restricting the presentation of information by voice, for example, gradually in step S5.
[0043]
According to the above-described embodiment, when receiving information on the other vehicle existing in the lane facing the traveling path of the own vehicle from the outside and presenting the information on the other vehicle when the own vehicle is waiting for a right turn in the intersection. In addition, if the vehicle is not the leading vehicle in the right turn waiting state or entering the intersection in the intersection, the information presentation by voice is restricted and the information presentation by voice is maintained. By restricting the presentation, the troublesomeness felt by the driver can be reduced, and necessary information can be presented in an appropriate situation.
<Determining whether the host vehicle is the first vehicle>
FIG. 5 is a flowchart for explaining processing for determining whether the host vehicle is the leading vehicle in step S3 of FIG.
[0044]
In FIG. 5, the position information of the host vehicle is acquired in step S11. The position information of the own vehicle is detected using the position information received from the GPS antenna and the map database possessed by the own vehicle, the integrated value of the detection signal of the vehicle speed sensor after passing through the base point, and the road shape It is calculated | required by either of the methods detected using data.
[0045]
In step S12, it is determined that the host vehicle is in the intersection or near the center of the intersection.
[0046]
If the vehicle in step S12 is in the intersection or near the center of the intersection (YES in step S12), it is in an area where there is a possibility that a vehicle waiting for a right turn in the opposite lane may be erroneously detected as a preceding vehicle. In step S14, it is determined that the host vehicle is the leading vehicle.
[0047]
Also, if the vehicle is not in the intersection or near the center of the intersection in step S12 (NO in step S12), the vehicle is in a region where there is no possibility of erroneously detecting a right turn waiting vehicle or the like existing in the oncoming lane as a preceding vehicle. Therefore, it is determined whether there is a preceding vehicle in step S13. This determination is made using at least one of the distance to the preceding vehicle, the position information of the own vehicle, the position information of the other vehicle in the travel lane of the own vehicle acquired from the outside, and the travel distance from the base point.
[0048]
If there is no preceding vehicle in step S13 (NO in step S13), it is determined in step S14 that the host vehicle is the leading vehicle.
[0049]
If there is a preceding vehicle in step S13 (YES in step S13), it is determined in step S15 that the host vehicle is not the leading vehicle.
[0050]
As a modification of the first embodiment, provided information (ie, information received by the vehicle in the oncoming lane at the intersection where information is provided to the oncoming vehicle in the oncoming lane as well as the traveling lane of the host vehicle (ie, , The position information of the vehicle including the own vehicle traveling on the traveling path of the own vehicle is also received by the own vehicle, and whether or not a preceding vehicle exists in front of the own vehicle using the received provided information is determined. It may be detected.
[0051]
Here, the identification of which of the received information is the own vehicle is the method of detecting using the positional information received from the GPS antenna and the map database possessed by the own vehicle, and after passing through the base point It is calculated | required by either of the methods of detecting using the integrated value of the detection signal of a vehicle speed sensor, and road shape data (distance from a base point to an intersection, the magnitude | size of an intersection, etc.).
[0052]
By using the above determination method, it is possible to easily determine whether or not the vehicle is the leading vehicle using information or the like provided from the outside.
[Second Embodiment]
FIG. 6 is a flowchart illustrating presentation control according to the second embodiment.
[0053]
In FIG. 6, in step S21, the information provided from the information antenna is received when the host vehicle passes through the base point and enters the information providing section (YES in step S21).
[0054]
In step S22, the position information of the other vehicle is acquired from the provided information.
[0055]
In step S23, it is determined whether or not the host vehicle is in the state of waiting for a right turn or waiting for entry at the intersection in the intersection. This determination is executed according to the flow of FIG.
[0056]
If the host vehicle is the leading vehicle in step S23 (YES in step S23), display and presentation of information by voice are executed in step S25.
[0057]
If it is determined in step S23 that the host vehicle is not the leading vehicle (NO in step S23), it is determined in step S24 whether the host vehicle has stopped once in the information provision section. This determination can be made using a vehicle speed signal.
[0058]
If the vehicle has not stopped once in the information providing section in step S24 (NO in step S24), display and presentation of information by voice are executed in step S25.
[0059]
On the other hand, if the host vehicle stops once in the information providing section in step S24 (YES in step S24), only the presentation of information by display is restricted by gradually reducing the presentation of information by voice in step S26. Execute.
[0060]
According to the above-described embodiment, information on other vehicles existing in the lane facing the traveling path of the host vehicle is received from the outside, and the host vehicle is in a state of waiting for a right turn in an intersection or waiting to enter an intersection. When presenting vehicle information, if the host vehicle is not the first vehicle, the information presentation by voice is restricted and the information presentation by display is maintained until it stops for the first time in the information provision section. Thus, in a situation where the host vehicle is traveling and information needs to be provided, the situation in the intersection ahead of the host vehicle can be accurately recognized.
[Third Embodiment]
FIG. 7 is a flowchart illustrating presentation control according to the third embodiment.
[0061]
In FIG. 7, in step S31, the information provided from the information antenna is received when the host vehicle passes through the base point and enters the information providing section (YES in step S31).
[0062]
In step S32, the position information of the other vehicle is acquired from the provided information.
[0063]
In step S33, it is determined whether or not the host vehicle is in the state of waiting for a right turn in the intersection or waiting for entry at the intersection. This determination is executed according to the flow of FIG.
[0064]
If the host vehicle is the lead vehicle in step S33 (YES in step S33), display and presentation of information by voice are executed in step S35.
[0065]
If the host vehicle is not the lead vehicle in step S33 (NO in step S33), it is determined in step S34 whether the vehicle speed of the host vehicle is greater than a predetermined value.
[0066]
If the vehicle speed of the host vehicle is greater than the predetermined value in step S34 (YES in step S34), display and presentation of information by voice are executed in step S35.
[0067]
On the other hand, if the vehicle speed of the host vehicle is lower than the predetermined value in step S34 (NO in step S34), only the presentation of information by display is performed by regulating the presentation of information by voice gradually in step S36. To do.
[0068]
According to the above-described embodiment, information on other vehicles existing in the lane facing the traveling path of the host vehicle is received from the outside, and the host vehicle is in a state of waiting for a right turn in an intersection or waiting to enter an intersection. When presenting vehicle information, if the host vehicle is not the leading vehicle and the vehicle speed is not exceeding the predetermined vehicle speed, the information presentation by voice is restricted and the information presentation by display is maintained. Thus, in a situation where the host vehicle is traveling and information needs to be provided, the situation in the intersection in front of the host vehicle can be accurately recognized.
[Fourth Embodiment]
FIG. 8 is a flowchart illustrating presentation control according to the fourth embodiment.
[0069]
In FIG. 8, in step S41, the information provided from the information antenna is received when the host vehicle passes through the base point and enters the information providing section (YES in step S41).
[0070]
In step S42, the position information of the other vehicle is acquired from the provided information.
[0071]
In step S43, it is determined whether the host vehicle is a leading vehicle while waiting for a right turn or entering an intersection at the intersection. This determination is executed according to the flow of FIG.
[0072]
If the host vehicle is the leading vehicle in step S43 (YES in step S43), display and presentation of information by voice are executed in step S45.
[0073]
If it is determined in step S43 that the host vehicle is not the lead vehicle (NO in step S43), it is determined in step S44 whether the host vehicle is accelerating. This determination is made using the acceleration signal detected by the acceleration sensor, the vehicle speed signal detected by the vehicle speed sensor, or the accelerator pedal depression amount detected by the accelerator pedal stroke sensor.
[0074]
If the host vehicle is accelerating in step S44 (YES in step S44), display and presentation of information by voice are executed in step S45.
[0075]
On the other hand, if the host vehicle is not accelerating in step S44 (NO in step S44), in step S46, the presentation of information by voice is regulated to be gradually reduced or the like, and only the presentation of information by display is executed.
[0076]
According to the above-described embodiment, information on other vehicles existing in the lane facing the traveling path of the host vehicle is received from the outside, and the host vehicle is in a state of waiting for a right turn in an intersection or waiting to enter an intersection. When presenting vehicle information, if the own vehicle is not the leading vehicle, the vehicle accelerates by restricting information presentation by voice and maintaining the information presentation by display when the vehicle is not accelerating. In situations where information needs to be provided, it is possible to accurately recognize the situation in the intersection in front of the host vehicle.
[Brief description of the drawings]
FIG. 1 is a diagram showing an overall configuration of a right turn support system and a crossing pedestrian information providing system of an embodiment.
FIG. 2 is a diagram showing an overall configuration of a cueing support system of the present embodiment.
FIG. 3A is a block diagram showing functions mounted on a vehicle for receiving information from a right turn support system, a crossing pedestrian information providing system, and a cueing support system, and FIG. 3B is a base point and information. It is a figure which shows the data structure of the information transmitted from an antenna.
FIG. 4 is a flowchart illustrating information presentation control according to the first embodiment.
FIG. 5 is a flowchart for describing processing for determining whether or not the host vehicle is the leading vehicle in step S3 of FIG.
FIG. 6 is a flowchart illustrating information presentation control according to the second embodiment.
FIG. 7 is a flowchart illustrating information presentation control according to the third embodiment.
FIG. 8 is a flowchart illustrating information presentation control according to the fourth embodiment.
[Explanation of symbols]
11 base point
12 Vehicle detection sensor
13, 23, A23B Information antenna
14, 24 Pedestrian detection sensor
31 System controller
32 Vehicle speed sensor
35 Onboard antenna
36 Road-to-vehicle communication machine
37 Display device
38 Speaker
41 System base station

Claims (5)

Receiving means for receiving information on other vehicles existing in a lane facing or intersecting with the traveling path of the own vehicle from the outside;
Presenting means for presenting information of the other vehicle in a state where the host vehicle is waiting for a right turn in an intersection and waiting to enter an intersection;
A determination means for determining whether the host vehicle is at least a leading vehicle in a right turn waiting state and an entrance waiting state in an intersection;
When the host vehicle is not the leading vehicle, the vehicle includes a regulation unit that regulates information presentation by the presentation unit ,
The determination means determines whether the host vehicle has stopped once in an intersection or in an information provision section before the intersection,
The restricting means is a case where the own vehicle is not a leading vehicle if it is determined by the determining means that the own vehicle has never stopped within an intersection or an information providing section before the intersection. However, the vehicle control apparatus is characterized by prohibiting restriction of information presentation by the presenting means . Receiving means for receiving information on other vehicles existing in a lane facing or intersecting with the traveling path of the own vehicle from the outside;
Presenting means for presenting information of the other vehicle in a state where the host vehicle is waiting for a right turn in an intersection and waiting to enter an intersection;
A determination means for determining whether the host vehicle is at least a leading vehicle in a right turn waiting state and an entrance waiting state in an intersection;
When the host vehicle is not the leading vehicle, the vehicle includes a regulation unit that regulates information presentation by the presentation unit ,
The determination means determines whether the vehicle speed of the host vehicle is greater than a predetermined value,
If the determining means determines that the vehicle speed is greater than a predetermined value, the restricting means prohibits the restriction of information presentation by the presenting means when the host vehicle is not the leading vehicle. If the vehicle is not determined to be larger than a predetermined value , the vehicle control device continues to restrict the information presentation by the presenting means even when the host vehicle is not the leading vehicle . Receiving means for receiving information on other vehicles existing in a lane facing or intersecting with the traveling path of the own vehicle from the outside;
Presenting means for presenting information of the other vehicle in a state where the host vehicle is waiting for a right turn in an intersection and waiting to enter an intersection;
A determination means for determining whether the host vehicle is at least a leading vehicle in a right turn waiting state and an entrance waiting state in an intersection;
When the host vehicle is not the leading vehicle, the vehicle includes a regulation unit that regulates information presentation by the presentation unit ,
The determination means determines whether the host vehicle is accelerating,
If the determining means determines that the vehicle is accelerating by the determining means, the restricting means prohibits the restriction of information presentation by the presenting means even if the host vehicle is not the leading vehicle. A vehicle control device. The restricting means is configured to restrict the information audio presentation, the vehicle control apparatus according to any one of claims 1 to 3, characterized in that to maintain the information presentation by the display. Means for detecting the distance to the preceding vehicle, means for detecting the position information of the own vehicle, means for acquiring the position information of other vehicles existing in the travel lane of the own vehicle from the outside, means for detecting the travel distance from the reference position at least one comprises of, said determining means, said any one of claims 1 to 4, characterized in that at least one from the host vehicle to determine whether a lead vehicle of each section The vehicle control device described.

Images