JP4789945B2 - Driving support device, driving support method, driving support program, and recording medium - Google Patents

Description

【Technical field】
[0001]
The present invention relates to a driving support device, a driving support method, a driving support program, and a recording medium that support driving of a moving object. However, the use of the present invention is not limited to the above-described driving support device, driving support method, driving support program, and recording medium.
[Background]
[0002]
2. Description of the Related Art Conventionally, a technique has been devised that provides information to a driver to prevent an accident at and near an intersection.
[0003]
In such a conventional technique, an in-vehicle device provided in an automobile that travels in the receiving zone by transmitting signal information data indicating a change in signal toward the receiving zone from an external transmitter provided in the traffic signal at the intersection. However, the signal information data is received and a corresponding warning message is output by voice and text to notify the driver. As a result, the driver knows what action he should take and can prevent accidents near the intersection due to carelessness (for example, see Patent Document 1 below).
[0004]
[Patent Document 1]
JP 2003-077093 A
DISCLOSURE OF THE INVENTION
[Problems to be solved by the invention]
[0005]
However, according to the above-described prior art, there is an example of a problem that it is not possible to know what kind of driving should be performed in relation to other vehicles passing through an intersection. In such a case, even if the driver of one vehicle observes the signal, if the driver of the other vehicle ignores the signal, it cannot cope with the actual traffic condition and prevents an accident at the intersection. The problem of being unable to do so is an example.
[0006]
There are also places where accidents occur frequently because there are no traffic lights, such as intersections with poor visibility and roads with continuous curves. However, a traffic signal is not always installed just because it is a point where accidents occur frequently. Moreover, even if it is installed, it takes time until it can be actually used, and therefore, a problem that the occurrence of a traffic accident cannot be suppressed at the point is given as an example.
[0007]
Another example is the problem that traffic lights cannot be installed at the junction of expressways and the driver's driving skills must be relied upon. The driving technique of the driver varies greatly depending on driving experience, and there is a problem that a traffic accident is likely to occur when a driver unfamiliar with driving travels at a junction of an expressway.
Means for solving the problem
[0008]
In order to solve the above-described problems and achieve the object, the driving support apparatus according to the first aspect of the present invention is detected by a detecting unit that detects whether or not the moving body reaches a predetermined merging point, and is detected by the detecting unit. Based on the detected result, an acquisition means for acquiring a time for a mobile body other than the mobile body to reach the junction, a time for the mobile body to reach the junction, and acquired by the acquisition means Based on the determined time, determination means for determining the possibility of collision between the moving body and the other moving body, and notification means for notifying the other moving body of the determination result determined by the determining means And detecting means for detecting a change in speed of the moving body after notification of the determination result by the notification means, and the determination means after determining that there is a possibility of collision at the time of previous determination According When a change in speed is detected, the possibility of collision between the moving body and the other moving body is again determined based on the time when the moving body reaches the joining point and the time acquired by the acquiring means. When the determination means determines that there is no possibility of collision based on the detection result by the detection means, the notification means notifies the other mobile body of the determination result.
[0009]
Further, the driving support method according to the invention of claim 7 is a driving support method in the driving support device for supporting driving of the moving body, wherein the detecting step detects whether or not the moving body reaches a predetermined joining point; Based on the detection result detected by the detection step, an acquisition step of acquiring a time when a moving body other than the moving body reaches the joining point; a time when the moving body reaches the joining point; Based on the time acquired in the acquisition step, a determination step for determining the possibility of collision between the moving body and the other moving body, and the determination result determined in the determination step as the other moving body. And a detection step of detecting a change in speed of the moving body after notification of the determination result by the notification step, wherein the determination step determines that there is a possibility of collision at the time of the previous determination Shi When a speed change due to the detection step is detected later, based on the time when the moving body reaches the joining point and the time acquired by the acquiring step, the moving body and the other moving body The collision possibility is determined again, and the notification step notifies the other mobile body of the determination result when the determination step determines that there is no collision possibility based on the detection result of the detection step. And
[0010]
A driving support program according to an eighth aspect of the invention causes a computer to execute the driving support method according to the seventh aspect.
[0011]
A recording medium according to a ninth aspect of the present invention is readable by a computer that records the driving support program according to the eighth aspect.
[0012]
[0013]
[0014]
[0015]
[0016]
[0017]
[Brief description of the drawings]
[0018]
FIG. 1 is an explanatory diagram showing a traffic situation to which a driving support apparatus according to an embodiment is applied.
[FIG. 2] FIG. 2 is a block diagram showing a functional configuration of a driving support apparatus mounted on the own vehicle.
FIG. 3 is a block diagram showing a functional configuration of a driving support apparatus mounted on another vehicle.
FIG. 4 is a block diagram of a hardware configuration of the navigation device according to the embodiment.
[FIG. 5] FIG. 5 is a flowchart showing a procedure of a driving support process performed by a navigation device mounted on the own vehicle.
FIG. 6 is a diagram illustrating an example of a notification screen when there is a possibility of collision.
FIG. 7 is an explanatory diagram showing an example of a base station table.
FIG. 8 is an explanatory diagram showing an example of a broadcast address.
[FIG. 9] FIG. 9 is a flowchart showing the procedure of driving support processing after notification of the possibility of collision.
[FIG. 10] FIG. 10 is a flowchart showing a procedure of a driving support process of a driving support unit of a navigation device mounted on another vehicle.
FIG. 11 is a diagram illustrating an example of a notification screen when notification information about a collision possibility is received.
[Explanation of symbols]
[0019]
121x Driving support device
201 detector
202 Acquisition unit
202a transmitter
202b receiver
202c determination unit
202d time calculation unit
203 Judgment part
204 Risk level calculator
205 Notification unit
206 Detector
207 Time calculator
BEST MODE FOR CARRYING OUT THE INVENTION
[0020]
Exemplary embodiments of a driving support device, a driving support method, a driving support program, and a recording medium according to the present invention will be explained below in detail with reference to the accompanying drawings.
[0021]
(Embodiment)
First, the traffic situation to which the driving support device 121 (121a to 121j, 121x) according to the embodiment is applied will be described. The driving support device 121 according to the embodiment determines whether or not there is a possibility of collision with another moving body at a junction such as an intersection, and notifies the driver (user) of the possibility of collision. Drawing 1 is an explanatory view showing the traffic situation to which the driving support device concerning an embodiment is applied. In FIG. 1, an intersection 101 where two roads L1 and L2 intersect is shown as an example of a meeting point. In the vicinity of the intersection 101, vehicles 110 and 120 (120a to 120j) are traveling as an example of a moving body.
[0022]
Hereinafter, the vehicle 110 will be referred to as an attention vehicle (own vehicle), and will be described separately from the other vehicles 120 (120a to 120j). For the sake of convenience of explanation, the driving support device 121x mounted on the vehicle 110 and the driving support device 121 (121a to 121j) mounted on the other vehicle 120 will be described separately. Have.
[0023]
In addition, although the traffic signal is not provided in the illustrated intersection 101, the intersection using the driving support device 121 may be an intersection provided with a traffic signal. Even at intersections where traffic lights are provided, it is necessary to determine the possibility of collision with other vehicles 120 in the case of blinking traffic lights at night or when there are other vehicles 120 traveling with neglected signals This is because. Further, not only a four-way as shown, but also a three-way or a five-way. Furthermore, it may be a merging point from the acceleration lane to the main highway. This is because it is necessary to determine the possibility of a collision with another vehicle 120 even at these meeting points.
[0024]
Driving assistance devices 121x and 121 (121a to 121j) are mounted on the vehicles 110 and 120, respectively, and the driver of the vehicles 110 and 120 drives the vehicles 110 and 120 while receiving the assistance of the driving assistance device 121. I'm doing it. Each of the driving support devices 121 includes a communication module, and acquires information necessary for driving support by communicating with a base station whose destination is a communication area.
[0025]
Information necessary for driving support includes not only communication with a base station but also information obtained from a sensor or the like provided in the own vehicle. For example, the traveling speed of the own vehicle or position information acquired from a GPS satellite. Hereinafter, the vehicle (own vehicle) that the driver drives is referred to as the vehicle 110, and the other vehicles are referred to as the vehicle 120.
[0026]
Here, FIG. 1 shows a base station 130 having a communication area around the intersection 101. The communication area of the base station 130 is an area A indicated by a dotted line. The driving support devices 121 located in the area A are connected to the network via the base station 130 and communicate with each other. In addition, the driving support device 121 mounted on the vehicles 120g to 120j located outside the area A communicates with another base station (for example, the base station 140) whose current position is a communication area.
[0027]
Here, FIG. 1 shows a base station 140 that does not use the intersection 101 as a communication area. The communication area of the base station 140 is an area B indicated by a dotted line. The driving support device 121d mounted on the other vehicle 120d is located at the overlapping point between the area A and the area B, which is the communication area of the base station 130. When the driving support device 121 is located at an overlapping point in the communication area, the driving support device 121 may communicate with both base stations, or may switch the base station with which to communicate depending on the reception status of radio waves.
[0028]
The base station 130 is, for example, a relay base station of a mobile phone (mobile phone), but may be a roadside device for narrow area communication such as DSRC (Dedicated Short Range Communication). In addition, the base station 130 may be dedicated to driving support at a junction, not via communication with a network. For example, a dedicated base station 130 whose communication area is only around the junction point may be provided in front of the junction point, and communication may be performed by specifying a vehicle that can communicate via the base station 130.
[0029]
Next, a functional configuration of the driving support device 121 will be described. FIG. 2 is a block diagram showing a functional configuration of the driving support device mounted on the own vehicle. The driving support device 121x includes a detection unit 201, an acquisition unit 202, a determination unit 203, a risk level calculation unit 204, a notification unit 205, a detection unit 206, a time calculation unit 207, and a control unit 208.
[0030]
First, the detection unit 201 detects whether or not the vehicle 110 reaches a predetermined junction. Here, the predetermined merging point is a merging point where there is a concern about collision with other vehicles 120, such as an intersection without a traffic light, an intersection known as an accident occurrence point, or a merging point from the acceleration lane to the main highway. . The information on the predetermined meeting point may be registered in advance, or the position information may be acquired through communication with the base station 130. In addition, in order to ensure safety, all merge points may be detected.
[0031]
In addition, the detection unit 201 acquires, for example, the position information of the own vehicle, and detects whether or not there is a joining point within a predetermined range from the position of the own vehicle. The position information of the own vehicle is calculated from, for example, GPS information received from a GPS satellite, a moving speed and a moving direction of the own vehicle. Then, it is detected whether there is a merging point within a predetermined range from the position of the vehicle by comparison with position information (latitude and longitude information, etc.) of the merging point.
[0032]
Further, the acquisition unit 202 acquires the time for the other vehicle 120 to reach the joining point based on the detection result detected by the detection unit 201. Specifically, for example, when it is detected that there is a joining point within a predetermined range from the position of the host vehicle, the time for the other vehicle 120 to reach the joining point is acquired. Here, the time may have a certain width, or may indicate a point on the time axis like time. Specifically, the acquisition unit 202 includes a transmission unit 202a, a reception unit 202b, a determination unit 202c, and a time calculation unit 202d. The acquisition of the time when another vehicle reaches the junction is received by the transmission unit 202a. This is performed by the unit 202b, the determination unit 202c, and the time calculation unit 202d.
[0033]
Further, the transmission unit 202a transmits an acquisition request signal related to behaviors such as the current position, movement speed, and movement direction of the other vehicle 120 to the other vehicle 120 based on the detection result detected by the detection unit 201. . Moreover, the transmission part 202a is good also as transmitting the acquisition request signal of the time when the other vehicle 120 arrives at a joining point to the other vehicle 120 based on the detection result detected by the detection part 201. FIG. In the case of FIG. 1, the transmission unit 202 a transmits, for example, an acquisition request signal for the time to reach the intersection 101 to the other vehicle 120.
[0034]
In addition, the reception unit 202b receives information transmitted from another vehicle 120 as a result of transmission of the acquisition request signal by the transmission unit 202a. Specifically, when an acquisition request signal for information regarding behavior such as the current position, moving speed, and moving direction is transmitted by the transmission unit 202a, information regarding the behavior of the other vehicle 120 is received from the other vehicle 120. To do. Further, when the acquisition request signal of the time to reach the joining point is transmitted by the transmission unit 202a, the time for the other vehicle 120 to reach the joining point is received from the other vehicle 120. In the case of FIG. 1, the receiving unit 202 b receives, for example, the time when another vehicle 120 reaches the intersection 101 from the other vehicle 120.
[0035]
Here, the receiving unit 202b may receive the above-described information from a mobile body in a communication area including the vehicle 110 and a junction (hereinafter referred to as “in-area mobile body”) among other vehicles 120. . In the case of FIG. 1, the in-area moving body refers to the other vehicles 120 a to 120 f located in the communication area (area A) of the base station 130 whose communication area is the area including the current position of the intersection 101 and the vehicle 110. That is.
[0036]
The receiving unit 202b receives information related to each behavior or time to reach the intersection 101 from other vehicles 120a to 120f which are moving bodies within the area. In order to receive information from the mobile body in the area, for example, a broadcast address transmitted only to the mobile body in the area is generated, and the transmission unit 202a transmits an acquisition request signal only to the mobile body in the area. As a result, the receiving unit 202b receives information transmitted from the in-area moving body.
[0037]
In addition, the determination unit 202c determines whether there is a possibility that the other vehicle 120 may reach the joining point based on the information regarding the behavior of the other vehicle 120 received by the reception unit 202b. Specifically, the determination unit 202c determines, for example, whether the vehicle 120 is traveling on the road (lane) and heading to the joining point from the moving direction of the other vehicle 120.
[0038]
In addition, when the information regarding the behavior of the other vehicle 120 is received by the receiving unit 202b, the time calculation unit 202d determines that the other vehicle 120 becomes a meeting point based on the received information regarding the behavior of the other vehicle 120. Calculate the arrival time. The time calculation unit 202d calculates the time for the other vehicle 120 to reach the joining point based on the determination result of the determination unit 202c. That is, when the determination unit 202c determines that another vehicle 120 reaches the joining point, the time when the other vehicle 120 arrives is calculated.
[0039]
Specifically, the time calculation unit 202d calculates the distance between the host vehicle and the intersection 101 from the current position information of the other vehicle 120 and the position information of the intersection 101, for example. Then, the time required to move the distance from the moving speed is calculated, and how many seconds later the other vehicle 120 reaches the intersection 101 is calculated.
[0040]
Further, the determination unit 203 determines the possibility of a collision between the vehicle 110 and another vehicle 120 based on the time when the vehicle 110 reaches the joining point and the time acquired by the acquisition unit 202. Specifically, the determination unit 203 determines the possibility of collision between the vehicle 110 and another vehicle 120 based on the risk level calculated by the risk level calculation unit 204, for example.
[0041]
Further, the risk level calculation unit 204 calculates the risk level at which the vehicle 110 and the other vehicle 120 collide based on the time when the vehicle 110 reaches the joining point and the time acquired by the acquisition unit 202. . Specifically, the risk level calculation unit 204 calculates the distance between the own vehicle and the intersection 101 from the current position information of the own vehicle and the position information of the intersection 101, for example.
[0042]
Then, the time required to move the distance from the moving speed and moving direction is calculated, and the time required for the host vehicle to reach the intersection 101 is calculated. Then, the degree of risk is calculated based on how much time difference there is compared with the time when another vehicle 120 acquired by the acquisition unit 202 reaches the intersection 101. For example, when the difference in comparison time is 0 second (1 second or less), the collision risk (maximum value 100) is 100, and when the difference is 30 seconds or more, the collision risk is 0, and the difference is 0 to 0. In the case of 30 seconds, the degree of risk is calculated corresponding to the magnitude of the difference.
[0043]
In addition, the notification unit 205 notifies the determination result determined by the determination unit 203. Specifically, for example, whether or not there is a possibility of collision between the own vehicle and another vehicle 120 is displayed as a warning message on the display screen, or is notified by a warning sound or a voice output of a warning message. . Further, the notification unit 205 may notify the other vehicle 120 of the determination result of the determination unit 203. For example, when the determination unit 203 determines that there is a possibility of collision with another vehicle 120, the determination result is transmitted to the other vehicle 120. The other vehicle 120 notifies the vehicle of the received determination result. As a result, the driver can take measures to avoid a collision, such as slow driving or a change in the travel route.
[0044]
Further, the notification unit 205 may change the content of the notification in accordance with the risk level calculated by the risk level calculation unit 204. For example, when the degree of danger is 90 or more, notification by a warning sound and a voice message is performed, and when the degree of danger is 20 or less, only a warning message is displayed on the screen.
[0045]
Further, the detection unit 206 detects a change in the speed of the vehicle 110 after the notification of the determination result by the notification unit 205. Specifically, the detection unit 206 detects a speed change of the vehicle 110 from an output signal from a speed sensor mounted on the vehicle 110, for example.
[0046]
Further, the time calculation unit 207 calculates the time for the vehicle 110 to reach the joining point after the speed change detected by the detection unit 206. Specifically, the time calculation unit 207 calculates the distance between the host vehicle and the intersection 101 from the current position information of the host vehicle and the position information of the intersection 101, for example. Then, the time required to move the distance from the moving speed and moving direction after the speed change is calculated, and the time required for the host vehicle to reach the intersection is calculated.
[0047]
In addition, when the time calculation unit 207 calculates the time to reach the meeting point, the determination unit 203 is based on the calculated time to reach the meeting point and the time acquired by the acquisition unit 202. The possibility of collision between the vehicle 110 and another vehicle 120 is determined. At this time, the acquisition unit 202 may acquire the time for the other vehicle 120 to reach the intersection 101 again. When the determination unit 203 determines that there is no possibility of a collision, the notification unit 205 transmits the determination result to another vehicle 120.
[0048]
In addition, the control unit 208 controls the behavior of the vehicle 110 based on the determination result determined by the determination unit 203. The behavior of the vehicle 110 is, for example, the current position, the moving speed, and the moving direction of the vehicle 110. Specifically, for example, the control unit 208 generates a control signal for components such as a steering wheel, a brake, and an accelerator of the vehicle 110 and outputs the control signal to each component. For example, when the determination unit 203 determines that the vehicle 110 and another vehicle 120 may collide, the control unit 208 controls the behavior of the vehicle 110 to avoid the collision.
[0049]
Next, the functional configuration of the driving assistance devices 121a to 121j will be described. FIG. 3 is a block diagram showing a functional configuration of a driving support apparatus mounted on another vehicle. The driving assistance devices 121a to 121j are configured by a reception unit 301, a detection unit 302, a time calculation unit 303, and a transmission unit 304.
[0050]
The receiving unit 301 receives an acquisition request signal related to the time required for the apparatus main body to reach the joining point from the moving body that has moved to the predetermined joining point. Specifically, the receiving unit 301 receives information transmitted from the base station 130, for example. In the illustrated example, the reception unit 301 receives an acquisition request signal transmitted from the vehicle 110 as a moving body that is moving to the junction, via the base station 130.
[0051]
Further, when the acquisition request signal is received by the reception unit 301, the detection unit 302 detects information related to behavior such as the current position of the apparatus main body, the movement speed, and the movement direction. Specifically, the detection unit 302 detects, for example, information output from a speed sensor or direction sensor mounted on another vehicle 120 or GPS information received from a GPS satellite.
[0052]
Based on the detection result detected by the detection unit 302, the time calculation unit 303 calculates the time for the apparatus main body to reach the junction. For example, when the acquisition request signal received by the receiving unit 301 relates to the time for the other vehicle 120 to reach the junction, the time calculating unit 303 calculates the time.
[0053]
Specifically, the time calculation unit 303 calculates the distance between the own vehicle and the intersection 101 from the current position information of the other vehicle 120 and the position information of the intersection 101, for example. Then, the time required to move the distance from the moving speed and the moving direction is calculated, and how many seconds later the other vehicle 120 reaches the intersection 101 is calculated.
[0054]
In addition, the transmission unit 304 transmits the detection result detected by the detection unit 302 or the time calculated by the time calculation unit 303 to the vehicle 110. For example, when the acquisition request signal received by the receiving unit 301 relates to behavior such as the current position, moving speed, and moving direction of the other vehicle 120, the transmitting unit 304 detects the detection result detected by the detecting unit 302. Is transmitted to the vehicle 110. When the acquisition request signal received by the receiving unit 301 is related to the time for the other vehicle 120 to reach the junction, the time calculated by the time calculating unit 303 is transmitted to the vehicle 110.
[0055]
With the configuration as described above, the driving assistance device 121 performs driving assistance so that the vehicle 110 and the other vehicles 120 can pass through the intersection 101 safely. According to the driving assistance apparatus 121, the possibility of collision at the intersection 101 between the vehicle 110 and another vehicle 120 is determined, and the determination result is notified. As a result, the driver can take measures to avoid a collision between the vehicle 110 and another vehicle 120 such as slow driving or a change in the travel route.
[0056]
In addition, according to the driving support device 121, the time for the other vehicle 120 to reach the intersection 101 is calculated based on the information related to the behavior of the other vehicle received from the other vehicle 120, and the possibility of collision at the intersection 101 is calculated. Can be judged. Moreover, the processing load of the driving assistance apparatus 121 can be reduced by requesting the other vehicle 120 to transmit the time for the other vehicle 120 to reach the intersection 101. Furthermore, the processing can be efficiently performed by receiving information only from the in-area moving body traveling around the intersection 101.
[0057]
Moreover, when there is a possibility of a collision, the probability of avoiding the collision can be further increased by transmitting the notification information to the other vehicle 120. Furthermore, by detecting the speed change after the notification and recalculating the time to reach the intersection 101, it is possible to provide the user with appropriate judgment materials for decision making during driving.
【Example】
[0058]
(Hardware configuration of navigation device)
Next, examples of the driving support apparatus 121 according to the above-described embodiment will be described. In this embodiment, a case where the driving support device 121 is applied to the navigation device 400 will be described. In this embodiment, the navigation device (driving support device 121x) mounted on the vehicle 110 shown in FIG. 1 is used as the navigation device 400a, and the navigation devices (driving support devices 121a to 121j) mounted on other vehicles 120 are used as the navigation device. 400b.
[0059]
FIG. 4 is a block diagram of a hardware configuration of the navigation device according to the embodiment. In FIG. 4, the navigation device 400 (400a, 400b) includes a navigation control unit 401, a user operation unit 402, a display unit 403, a position acquisition unit 404, a recording medium 405, a recording medium decoding unit 406, and an audio. The output unit 407, the communication unit 408, the route search unit 409, the route guidance unit 410, the voice generation unit 411, the speaker 412, and the driving support unit 413 are configured.
[0060]
The navigation control unit 401 controls the entire navigation device 400. The navigation control unit 401 can be realized by, for example, a microcomputer that includes a CPU that executes predetermined arithmetic processing, a ROM that stores various control programs, and a RAM that functions as a work area of the CPU. Identification information for identifying the navigation device 400 is recorded in the ROM or RAM.
[0061]
The user operation unit 402 outputs information such as characters, numerical values, and various instructions input by the user using the navigation device 400 to the navigation control unit 401. As the configuration of the user operation unit 402, various known forms such as a push button switch that detects physical pressing / non-pressing, a touch panel, a keyboard, and a joystick can be employed. The user operation unit 402 may be configured to perform an input operation by sound using a microphone that inputs sound from the outside.
[0062]
The form of the user operation unit 402 may be configured in any one of the various forms described above, or may be configured in a plurality of forms such as a touch panel and a push button switch. . The user inputs information by appropriately performing an input operation according to the form of the user operation unit 402.
[0063]
Examples of information input via the user operation unit 402 include information such as information transmitted and received by a communication unit 408 described later and information on a transmission destination. Further, information desired to be transmitted to the navigation device 400, information request destinations, and the like can be given. These pieces of information may all be input by the user, may be selected from predetermined information, or may be selected from a past history.
[0064]
The display unit 403 includes, for example, a CRT (Cathode Ray Tube), a TFT liquid crystal display, an organic EL display, a plasma display, and the like. Specifically, the display unit 403 can be configured by, for example, a video display device connected to the video I / F or the video I / F.
[0065]
Specifically, the video I / F includes, for example, a graphic controller that controls the entire display device, a buffer memory such as a VRAM (Video RAM) that temporarily stores image information that can be displayed immediately, and a graphic controller. Based on the output image information, the display device is configured by a control IC or the like. The display unit 403 displays icons, cursors, menus, windows, or various information such as characters and images. Further, the display unit 403 displays map information recorded on the recording medium 405 and information on route guidance.
[0066]
The position acquisition unit 404 is configured by a GPS receiver, for example, and acquires information regarding the current position of each navigation device 400. The GPS receiver receives radio waves (GPS data) from GPS satellites and obtains a geometric position with respect to the GPS satellites. GPS is an abbreviation for Global Positioning System, and is a system for accurately obtaining a position on the ground by receiving radio waves from four or more satellites. The GPS receiver includes an antenna for receiving radio waves from GPS satellites, a tuner for demodulating the received radio waves, an arithmetic circuit for calculating the current position based on the demodulated information, and the like.
[0067]
The position acquisition unit 404 acquires data output from various sensors such as a speed sensor, an angular speed sensor, a travel distance sensor, and an inclination sensor provided in the host vehicle, and specifies the position of the host vehicle together with the GPS data. Do it. Thereby, the identification precision of the own vehicle position can be improved.
[0068]
The recording medium 405 records various control programs and various information in a state that can be read by a computer. The recording medium 405 accepts writing of information by the recording medium decoding unit 406 and records the written information in a nonvolatile manner. The recording medium 405 can be realized by HD, for example.
[0069]
The recording medium 405 is not limited to the HD, and can be attached to and detached from the recording medium decoding unit 406 such as a DVD (Digital Versatile Disk) or a CD (Compact Disk) instead of or in addition to the HD. A medium having portability may be used as the recording medium 405. The recording medium 405 is not limited to a DVD and a CD, and is a removable medium that is removable from the recording medium decoding unit 406 such as a CD-ROM (CD-R, CD-RW), MO, or memory card. Can also be used.
[0070]
The map information recorded on the recording medium 405 includes background data representing features (features) such as buildings, rivers, and the ground surface, and road shape data representing the shape of the road. It is drawn in two or three dimensions on the screen. When the navigation device 400 is guiding a route, the map information recorded on the recording medium 405 and the vehicle position acquired by the position acquisition unit 404 are displayed in an overlapping manner.
[0071]
In this embodiment, the map information is recorded on the recording medium 405. However, the present invention is not limited to this. The map information is not recorded only on the information provided integrally with the hardware of the navigation device 400, and may be provided outside the navigation device 400. In that case, the navigation apparatus 400 acquires map information via a predetermined network through the communication unit 408, for example, and stores the acquired map information in a RAM or the like.
[0072]
The recording medium 405 records information on a base station with which a communication unit 408 described later communicates (hereinafter referred to as “base station table”). Specifically, the base station table records the base station ID (identification information), position information, and communication area position information of each base station. Also, data for generating a broadcast address for transmitting information all at once is recorded in a communication terminal or the like located in the communication area of each base station. By referring to the base station table, it is possible to know which base station communication area an arbitrary point on the map information belongs to. Note that the base station table may be acquired from a server or the like via the communication unit 408 whenever necessary.
[0073]
The recording medium decoding unit 406 controls reading / writing of information with respect to the recording medium 405. For example, when an HD is used as the recording medium 405, the recording medium decoding unit 406 is an HDD (Hard Disk Drive). Similarly, when a DVD or CD (including CD-R and CD-RW) is used as the recording medium 405, the recording medium decoding unit 406 is a DVD drive or a CD drive. When a CD-ROM (CD-R, CD-RW), MO, memory card, or the like is used as the writable and detachable recording medium 405, writing of information to the various recording media 405 and various recording media 405 are performed. As the recording medium decoding unit 406, a dedicated drive device capable of reading the information stored in the recording medium is used as appropriate.
[0074]
The audio output unit 407 reproduces the guidance sound by controlling the output to the connected speaker 412. There may be one speaker 412 or a plurality of speakers. Specifically, the audio output unit 407 can be realized by an audio I / F connected to an audio output speaker 412. More specifically, the audio I / F includes, for example, a D / A converter that performs D / A conversion of audio digital information, an amplifier that amplifies an audio analog signal output from the D / A converter, and audio analog information. And an A / D converter that performs A / D conversion.
[0075]
The communication unit 408 includes various communication devices, and transmits / receives information to / from other devices connected to the network. Here, communication by the communication unit 408 is performed via the nearest base station. The communication unit 408 communicates with the base station by wireless communication and connects to the network via the base station. The base station is installed so as to cover a predetermined range from the position as a communication area so that the communication area is not interrupted. In addition, when the navigation apparatus 400 is located in the overlapping point of a communication area, it is good also as communicating with both base stations, and it is good also as switching the base station which communicates according to the reception condition of an electromagnetic wave.
[0076]
The route search unit 409 searches for an optimum route from the departure point to the destination point using map information recorded in the recording medium 405 and the like. Here, the optimum route is the shortest (or fastest) route to the destination point or the route that best matches the conditions specified by the user. For example, when the user designates a “route with a low fee”, a route that does not use a toll road as much as possible is searched.
[0077]
The route guidance unit 410 is obtained from the guidance route information searched by the route search unit 409, the position information of the navigation device 400 itself acquired by the position acquisition unit 404, and the recording medium 405 via the recording medium decoding unit 406. Based on the map information, real-time route guidance information is generated. The route guidance information generated by the route guidance unit 410 is output to the display unit 403 and the voice output unit 407 via the navigation control unit 401.
[0078]
The sound generation unit 411 generates tone and sound information corresponding to the pattern. That is, based on the route guidance information generated by the route guidance unit 410, the virtual sound source corresponding to the guidance point is set and the voice guidance information is generated and output to the voice output unit 407 via the navigation control unit 401.
[0079]
The driving support unit 413 supports driving of the vehicle 110 or the other vehicle 120 using each hardware of the navigation device 400 described above. Specifically, using the map information recorded in the position acquisition unit 404 and the recording medium 405, there is a concern about traffic accidents such as an intersection where the current position of the own vehicle has no signal or a junction to the expressway main line. Judge whether to reach the meeting point. Then, the possibility of collision is determined based on the time when other surrounding vehicles 120 arrive at the same merge point, and if necessary, the user is notified via the display unit 403 or the speaker 412 so that the user can safely To help drive the vehicle. Details of processing by the driving support unit 413 will be described later.
[0080]
In the configuration of the driving support device 121x according to the embodiment, the detecting unit 201 is configured by the position acquiring unit 404 and the driving support unit 413, and the acquiring unit 202 (the transmitting unit 202a, the receiving unit 202b, and the time calculating unit 202d) is a communication unit. Unit 408 and driving support unit 413, determination unit 203, risk level calculation unit 204, detection unit 206, time calculation unit 207 by driving support unit 413, notification unit 205 by display unit 403, voice output unit 407, voice generation unit 411, the speaker 412, and the driving support unit 413 realize their functions. In addition, among the configurations of the driving support devices 121a to 121j according to the embodiment, the receiving unit 301 and the transmitting unit 304 have their functions by the communication unit 408, and the detecting unit 302 and the time calculating unit 303 have their functions by the driving support unit 413, respectively. Realize.
[0081]
(Driving support processing by the driving support unit 413)
Next, the driving support process of the driving support unit 413 will be described. First, driving support processing performed by the navigation device 400a mounted on the vehicle 110 that is the host vehicle will be described. FIG. 5 is a flowchart showing a procedure of driving support processing performed by the navigation device mounted on the own vehicle. First, the driving support unit 413 acquires the position information of the own vehicle by the position acquisition unit 404 (step S501). Then, it is determined whether or not there is a joining point within a predetermined range in the traveling direction by comparing with the position information of the joining point included in the map information recorded in the recording medium 405 (step S502).
[0082]
When the junction point exists within the predetermined range (step S502: Yes), the driving support unit 413 refers to the base station table recorded in the recording medium 405 and identifies the base station that covers the junction point ( Step S503). If there is no merging point within the predetermined range (step S502: No), the process returns to step S501 and the acquisition of the current position of the host vehicle is continued.
[0083]
In step S503, when the base station covering the junction point is specified, the base station broadcast address is further generated with reference to the base station table (step S504). Then, using the generated address, the communication unit 408 transmits an acquisition request signal to another vehicle 120 within the base station area (step S505). Here, the acquisition request signal is information (behavior information) regarding behavior such as the current position, moving speed, and moving direction of the other vehicle 120 within the base station area, or the time for the other vehicle 120 to reach the junction. This is an acquisition request signal for information (arrival time information).
[0084]
Next, the driving support unit 413 receives the information transmitted by the communication unit 408 in response to the acquisition request signal transmitted by the other vehicle 120 in step S505 (the previous stage of step S506). The information received at this time is the behavior information of the other vehicle 120 when the acquisition request signal relates to behavior information, and the other vehicle 120 when the acquisition request signal relates to arrival time information. Is the time to reach the meeting point. For this reason, when the received information is behavior information, based on the behavior information received by the navigation control unit 401, the time required for the other vehicle 120 to reach the junction is calculated (after step S506).
[0085]
Furthermore, the driving support unit 413 calculates the time for the host vehicle to reach the joining point based on data output from a speed sensor, a moving direction sensor, and the like mounted on the host vehicle (step S507). Then, based on the time when the other vehicle 120 received or calculated in step S506 arrives at the meeting point and the time when the own vehicle calculated in step 507 arrives at the meeting point, the own vehicle and the other vehicle 120 collide. It is determined whether or not there is a possibility of this (step S508). The determination as to whether or not there is a possibility of collision is made based on whether or not the time required for the host vehicle and another vehicle 120 to reach the junction is within a predetermined range.
[0086]
When there is a possibility that the own vehicle and another vehicle 120 may collide (step S508: Yes), it is possible to collide with another vehicle 120 in the own vehicle using the screen display or the audio output from the display unit 403 or the speaker 412. The sex is notified (step S509). Furthermore, a continuous acquisition request signal is transmitted to another vehicle 120 with a possibility of collision (step S510), and the processing according to this flowchart ends.
[0087]
In step S509, another vehicle 120 that may collide may be specifically identified, and the current position, travel speed, time to reach the junction, and the like may be notified. In addition, when attribute information such as the vehicle type or vehicle type of another vehicle 120 that may collide can be acquired, the information may be notified. By notifying such information, it is possible to provide the driver of the vehicle 110 with more accurate determination material for the collision avoidance operation.
[0088]
Further, in step S510, the continuous acquisition request signal is a request to continue transmission of behavior information or time information until reaching the junction. It is unclear what other vehicles 120 will behave until just before the meeting point. In particular, if both the own vehicle and the other vehicle 120 perform a collision avoidance operation such as deceleration, they eventually end up at the junction. In order to avoid such a situation, the driving support unit 413 continues to acquire behavior information and time information until it reaches the junction. The driver can travel safely at the junction by performing the collision avoidance operation while monitoring the behavior of the other vehicle 120 updated in real time.
[0089]
Further, at this time, notification information about the possibility of collision, position information, behavior information, time information, and the like of the own vehicle may be transmitted to another vehicle 120. If the collision avoidance operation is performed on both the own vehicle and the other vehicle 120 while monitoring the behavior of the other party, the vehicle can travel more safely.
[0090]
Further, the collision avoidance operation may be automatically performed by a driving assistance device or an automatic driving device (not shown) regardless of the driving of the driver. At that time, information on the possibility of collision is transmitted to the other vehicle 120, and at the same time, information on the type of collision avoidance operation such as deceleration of the vehicle 110 or lane change (hereinafter referred to as avoidance operation information). It is good also as transmitting. The transmission of the type of collision avoidance operation may be automatically performed according to a brake operation or a handle operation.
[0091]
The avoidance operation information transmitted to the other vehicle 120 is displayed on the navigation device 400 b mounted on the other vehicle 120. When the avoidance operation of the other vehicle 120 is performed by driving by the driver, the driver of the other vehicle 120 recognizes that the vehicle 110 has entered the avoidance operation, and does not perform the avoidance operation and tries to travel as it is. to decide.
[0092]
When the avoidance operation is performed by the driving assistance device or the automatic driving device, the avoidance operation is performed after obtaining the permission to perform the avoidance operation on the vehicle 110 after receiving the avoidance operation information from the vehicle 110. In this case, transmission / reception of these information, determination of whether to perform the avoidance operation, and execution of the avoidance operation are automatically performed by the driving assistance device or the automatic driving device.
[0093]
Further, the vehicle 110 may instruct the other vehicle 120 to perform the avoidance operation. In this case, if you want to avoid the other vehicle 120 by driving by the driver, for example, "Please decelerate to XX km / h", "Please change the lane to the right lane" The avoidance operation information including a typical avoidance operation is transmitted to the other vehicle 120. Further, when the avoidance operation is performed by the driving assistance device or the automatic driving device, a signal for controlling these devices is transmitted to the other vehicle 120.
[0094]
In addition, the continuous acquisition request signal may transmit a signal for requesting continuous transmission of behavior information or time information until another vehicle 120 receives the release signal. The acquisition request signal may be continuously transmitted from the own vehicle to the vehicle 120. In addition, since the address of the other vehicle 120 with the possibility of collision is included as the transmission source address in the information received in step S506, the transmission of the acquisition request signal in step S510 identifies each of the other vehicles 120. Can be done.
[0095]
On the other hand, in step S508, when there is no possibility that the own vehicle and another vehicle 120 collide (step S508: No), the notification is not performed and the processing according to this flowchart ends. Through the processing described above, the driving support unit 413 notifies the collision possibility between the own vehicle and the other vehicle 120.
[0096]
FIG. 6 is a diagram illustrating an example of a notification screen when there is a possibility of collision. The display unit 403 displays a map display 601 including a host vehicle position display 611 and position displays 612 and 613 of other vehicles 120 with a possibility of collision. Since the current position and speed of the other vehicles 120 are continuously requested for acquisition, the position displays 612 and 613 on the display screen are also updated as appropriate. In addition, a message display 602 indicating that there is a possibility of collision with another vehicle 120 is displayed. The message display 602 displays information such as the position and speed of another vehicle 120 that may collide. Such information may be output by voice simultaneously with the screen display.
[0097]
The driver can pass through the merge point without colliding with other vehicles 120 by decelerating the speed by checking these notification screens and shifting the time to reach the merge point. Further, as described above, such a process for avoiding a collision may be automatically performed by a driving assistance device or a self-propelled driving device regardless of the driving of the driver.
[0098]
Here, details of the base station identification performed in step S503 and the broadcast address generation performed in step S504 will be described. FIG. 7 is an explanatory diagram of an example of the base station table. The base station table 700 includes a base station ID area 701, a position information area 702, a communication radius area 703, and an address ID area 704.
[0099]
The base station ID area 701 stores an ID that identifies each base station. Each base station is assigned a unique ID and is used to distinguish the base stations. The position information area 702 stores position information of each base station. The position information of the base station is written in such a way that one point on the map such as latitude and longitude can be specified. The communication radius area 703 records the radius of a range (communication area) that can be communicated from each base station. There are cases where communication areas of a plurality of base stations overlap. The address ID area 704 stores the broadcast address ID of each base station used for the broadcast address.
[0100]
The base station identification performed in step S503 in FIG. 5 is performed by, for example, calculating the linear distance between the junction point and the base station from the location information of the junction point and the location information of the base station recorded in the location information area 702. The base station with the shortest straight line distance is identified. Then, it is confirmed whether or not there is a joining point within the communication radius of the base station recorded in the communication radius area 703. If it is within the communication radius, the base station is identified as a base station that covers the joining point. On the other hand, if it is not within the communication radius, it is confirmed whether or not there is a joining point within the communication radius of the base station with the next shortest linear distance. Thereafter, this process is repeated to identify a base station that covers the junction.
[0101]
The broadcast address generation performed in step S504 in FIG. 5 is performed using, for example, the base station address ID specified in step S503. FIG. 8 is an explanatory diagram showing an example of a broadcast address. The broadcast address 800 includes a broadcast account unit 801, a base station-specific domain unit 802, and a domain unit 803.
[0102]
The broadcast account unit 801 is a broadcast address account common to all base stations. In the illustrated example, “9999” is a broadcast account. The base station domain section 802 is a domain defined for each base station. A domain portion 803 indicates a general domain. Specifically, the ID stored in the address ID area 704 in FIG. 7 is used for the base station-specific domain unit 802. When information is transmitted to an address having its own broadcast address ID in the domain, the base station specifies a transmission destination by an account before the @ mark. When information is transmitted to the address addressed with the broadcast account, the base station transmits data to all the vehicles (vehicle 110 and other vehicles 120) in the communication area.
[0103]
Next, a driving support process after notification of the possibility of collision will be described. FIG. 9 is a flowchart illustrating the procedure of the driving support process after the notification of the possibility of collision. The driving support unit 413 notifies the possibility of collision with another vehicle 120 using screen display or audio output from the display unit 403 or the speaker 412 (step S901). Next, the driving support unit 413 detects the speed of the own vehicle from the output of the speed sensor of the own vehicle (step S902), and determines whether there is a change in speed (step S903).
[0104]
When there is a speed change (step S903: Yes), the time to reach the joining point is calculated again (step S904). On the other hand, when there is no speed change (step S903: No), the process returns to step S901, and the notification of the possibility of collision is continued. If the time to reach the junction is calculated again in step S904, the time calculated again and the time for the other vehicle 120 received or calculated in step S506 in FIG. 5 to reach the junction (or continuously acquired) Based on the acquired behavior information and time information of the other vehicle 120, it is determined whether or not a collision has been avoided (step S905).
[0105]
When the collision is avoided (step S905: Yes), the display unit 403 or the speaker 412 is used to notify the collision avoidance with the other vehicle 120 in the own vehicle using the screen display or the audio output (step S906). The process according to this flowchart ends. At this time, the collision avoidance notification information may be transmitted also to the other vehicle 120 having the possibility of collision. In step S905, when a collision between the host vehicle and another vehicle 120 is not avoided (step S905: No), the process returns to step S901, and the collision possibility notification is continued.
[0106]
In this way, by continuing the notification, it is possible to allow the driver to take some kind of collision avoidance measures before reaching the joining point, and to safely pass the joining point. In FIG. 9, it is determined whether or not a collision has been avoided by detecting a change in the speed of the host vehicle. However, a similar process may be performed by detecting a change in the speed of another vehicle 120.
[0107]
Next, the driving support process of the driving support unit 413 of the navigation device 400b mounted on another vehicle 120 will be described. FIG. 10 is a flowchart showing the procedure of the driving support process of the driving support unit of the navigation device mounted on another vehicle. First, the driving support unit 413 continues waiting until the communication unit 408 receives an acquisition request signal (step S1001: No loop). The acquisition request signal may be transmitted using a broadcast address, or may be transmitted by specifying an address from another vehicle 120 having a possibility of collision.
[0108]
When the acquisition request signal is received (step S1001: Yes), the driving support unit 413 detects or calculates the requested information (step S1002). The requested information is behavior information or arrival time information. Then, the information detected or calculated in step S1002 is transmitted to the transmission source of the acquisition request signal (step S1003). Note that the address of the acquisition source of the acquisition request signal is included in the acquisition request signal, so in step S1003, information can be transmitted by specifying the transmission destination.
[0109]
Next, the driving support unit 413 determines whether notification information has been received (step S1004). Here, the notification information may be notification information about the possibility of collision or may be notification information about collision avoidance. When the notification information is received (step S1004: Yes), the content of the notification information is notified in the vehicle using the screen display or audio output from the display unit 403 or the speaker 412 (step S1005), and the processing according to this flowchart is performed. Exit. On the other hand, when the notification information is not received (step S1004: No), the processing according to this flowchart is terminated.
[0110]
FIG. 11 is a diagram illustrating an example of a notification screen when notification information about the possibility of collision is received. The display unit 403 displays a map display 1101 including an own vehicle position display 1111 and a position display 1112 of a vehicle with a possibility of collision. In addition, a message display 1102 indicating that there is a vehicle with a possibility of collision is displayed. The message display 1102 displays information such as the position and speed of a vehicle that may collide. Such information may be output by voice simultaneously with the screen display.
[0111]
In the present embodiment, the behavior information and the time information are directly transmitted and received between the navigation devices 400 mounted on each vehicle. For example, a management server that manages position information of a vehicle traveling around the junction It is good also as providing. In this case, the management server acquires each behavior information or time information from the vehicles around the junction, and sends it to other vehicles 120 traveling around the same junction or other vehicles 120 making information acquisition requests. Send.
[0112]
In the present embodiment, the navigation device 400a mounted on the vehicle 110 makes an information acquisition request to the navigation device 400b mounted on the other vehicle 120, and the possibility of collision is determined based on the returned information. Although it has been determined, information may be transmitted from the vehicle 110 side to the other vehicle 120 side to determine the possibility of collision on the other vehicle 120 side. That is, part of the roles of the navigation device 400a and the navigation device 400b may be interchanged.
[0113]
For example, the vehicle 110 transmits the behavior information of the own vehicle to the other vehicle 120 using the broadcast address. The other vehicle 120 determines whether there is a possibility of a collision with the vehicle 110 based on the behavior information or the time information transmitted from the vehicle 110. The other vehicle 120 notifies the determination result on the display unit 403 or the like and returns the determination result to the vehicle 110. Such notification and reply may be performed only when there is a possibility of collision between the vehicle 110 and another vehicle 120. In addition, behavior information and time information on the other vehicle 120 side may be returned to the vehicle 110 as reference information.
[0114]
As described above, according to the navigation device 400, the possibility of collision at the intersection 101 between the vehicle 110 and another vehicle 120 is determined, and the determination result is notified. Thereby, even if no traffic light or the like is provided at the intersection 101, it is possible to take measures to avoid a collision between the vehicle 110 and another vehicle 120.
[0115]
Moreover, according to the navigation apparatus 400, based on the behavior of the other vehicle received from the other vehicle 120, the time for the other vehicle 120 to reach the intersection 101 is calculated, and the possibility of collision at the intersection 101 is determined. be able to. Moreover, the processing load of the navigation apparatus 400 can be reduced by requesting the other vehicle 120 to transmit the time for the other vehicle 120 to reach the intersection 101. Furthermore, the processing can be efficiently performed by receiving information only from the in-area moving body traveling around the intersection 101.
[0116]
Moreover, when there is a possibility of a collision, the probability of avoiding the collision can be further increased by transmitting the notification information to the other vehicle 120. Furthermore, by detecting the speed change after the notification and recalculating the time to reach the intersection 101, it is possible to provide the driver with appropriate judgment materials for decision making during driving.
[0117]
The driving support method described in this embodiment can be realized by executing a program prepared in advance on a computer such as a personal computer or a workstation. This program is recorded on a computer-readable recording medium such as a hard disk, a flexible disk, a CD-ROM, an MO, and a DVD, and is executed by being read from the recording medium by the computer. The program may be a transmission medium that can be distributed via a network such as the Internet.

Claims (9)

Detecting means for detecting whether or not the moving body reaches a predetermined meeting point;
Based on the detection result detected by the detection means, acquisition means for acquiring a time for a moving body other than the moving body to reach the joining point;
A determination unit that determines a collision possibility between the mobile unit and the other mobile unit based on a time when the mobile unit reaches the joining point and a time acquired by the acquisition unit;
Informing means for informing the other moving body of the judgment result judged by the judging means;
Detecting means for detecting a change in speed of the moving body after notification of the determination result by the notification means,
When the determination means detects a speed change by the detection means after determining that there is a possibility of collision at the time of the previous determination, the time for the moving body to reach the junction and the time acquired by the acquisition means And again determining the possibility of collision between the moving body and the other moving body ,
The said notification means notifies the said determination result to said other mobile body, when the said determination means determines that there is no possibility of a collision based on the detection result by the said detection means, The driving assistance apparatus characterized by the above-mentioned .   The informing means continuously informs the other mobiles of the possibility of collision after it is judged by the judging means that there is a possibility of a collision until it is judged that there is no possibility of the collision. The driving support apparatus according to claim 1, wherein: Based on the detection result detected by the detection means, the acquisition means is information on behavior such as a current position, a moving speed, and a moving direction of the other moving body, or the other moving body is at the joining point. Receiving means for receiving information about the arrival time from the other mobile unit;
When the information received by the receiving means is information related to the behavior of the other moving body, based on the information related to the behavior, time calculating means for calculating the time for the other moving body to reach the junction With
The determination means is capable of colliding between the moving body and the other moving body based on a time when the moving body reaches the joining point and a time when the other moving body reaches the joining point. The driving support apparatus according to claim 1 , wherein the driving support apparatus determines a sex. Based on the detection result detected by the detection means, the acquisition means is an acquisition request signal for information related to the behavior or information related to the time for the other mobile objects to reach the junction. Further comprising transmission means for transmitting
The receiving means, the result acquisition request signal is transmitted by the transmission means, according to claim 3, wherein receiving information about the time to reach the behavior information or the junction about the other mobile Driving assistance device. The reception means, among the other mobile, claim 1, wherein receiving information about the time to reach the information or the merging point about the behavior of the mobile communication area including the junction The driving assistance apparatus as described in any one of -4 . A risk calculating means for calculating a risk of collision between the moving object and the other moving object on the basis of the time when the moving object reaches the joining point and the time acquired by the acquiring means; In addition,
It said determination means driving support device according to any one of claims 1 to 5, characterized in that determining on the basis of the degree of risk calculated by the risk calculation unit. In a driving support method in a driving support device that supports driving of a moving object,
A detection step of detecting whether or not the mobile body reaches a predetermined junction;
Based on the detection result detected in the detection step, an acquisition step of acquiring a time for a moving body other than the moving body to reach the joining point;
A determination step of determining a collision possibility between the moving body and the other moving body based on a time when the moving body reaches the joining point and a time acquired by the acquiring step;
A notification step of notifying the other mobile body of the determination result determined in the determination step;
A detection step of detecting a change in speed of the moving body after notification of the determination result by the notification step,
In the determination step, when it is determined that there is a possibility of collision at the time of the previous determination, and the speed change by the detection step is detected, the time when the moving body reaches the joining point and the time acquired by the acquisition step And again determining the possibility of collision between the moving body and the other moving body ,
The said notification process notifies the said determination result to said other mobile body, when the said determination process determines that there is no possibility of a collision based on the detection result by the said detection process . A driving support program that causes a computer to execute the driving support method according to claim 7 . A computer-readable recording medium in which the driving support program according to claim 8 is recorded.

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