JP5014308B2 - Driving assistance device - Google Patents

Description

  The present invention determines a target vehicle that may enter the course of the host vehicle and collide among the surrounding vehicles existing around the host vehicle, and informs the driver of the host vehicle of the target vehicle. The present invention relates to a driving support device that performs driving support for avoiding a collision.

A road ahead of the vehicle based on the information of other vehicles obtained by the radar device, the vehicle-to-vehicle communication means and the road-to-vehicle communication means by detecting the road on which the vehicle travels by the navigation device and the vehicle position on the road. Japanese Patent Application Laid-Open Publication No. 2004-151867 discloses that the possibility of collision between the own vehicle and another vehicle at the intersection of the vehicle and notifying the driver of the information on the other vehicle when there is a possibility is known.
JP 2002-340583 A

  By the way, the above-mentioned conventional one changes the display method of the other vehicle on the map according to the possibility that the traveling of the other vehicle becomes deeply related to the traveling of the own vehicle in the near future. The standard that “there is a deep relationship with the driving of the vehicle in the near future” is ambiguous, and there is a possibility that other vehicles that the driver should pay the most attention on are not preferentially displayed on the map.

  The present invention has been made in view of the above-described circumstances, and an object of the present invention is to preferentially determine the other vehicle that the driver should pay the most attention out of other vehicles existing around the own vehicle. .

In order to achieve the above object, according to the invention described in claim 1, map information storage means mounted on a vehicle for storing map information, own vehicle position detecting means for detecting the own vehicle position, Vehicle position specifying means for specifying the vehicle position on the map of the vehicle based on the map information stored in the map information storage means and the vehicle position detected by the vehicle position detection means, and mounted on the vehicle Communication means for communicating with the outside of the vehicle, other vehicle position specifying means for specifying the other vehicle position on the map of the own vehicle based on the map information and the other vehicle position obtained by the communication means, Target vehicle determination means for determining a target vehicle to be controlled from among a plurality of other vehicles based on the own vehicle position and the other vehicle position specified on the map of the vehicle, and determination as a control target by the target vehicle determination means Information on other vehicles And a driving support device that provides driving support to the driver of the host vehicle based on the host vehicle position and the other vehicle position specified on the map of the host vehicle. A margin time calculating means for calculating a margin time until the vehicle is operated, and the target vehicle determining means is calculated by the weighting coefficient set according to the type of driving assistance performed by the driving assistance means and the margin time calculating means. based on the weighting coefficient set in accordance with the margin time which is, the driving support apparatus characterized by prioritizing the target vehicle Ru been proposed.

  The vehicle-to-vehicle communication means M1 and the road-to-vehicle communication means M2 of the embodiment correspond to the communication means of the present invention, and the GPS M4 of the embodiment corresponds to the own vehicle position detection means of the present invention. The map matching processing means M8 corresponds to the other vehicle position specifying means of the present invention, and the own vehicle map matching processing means M9 of the embodiment corresponds to the own vehicle position specifying means of the present invention.

According to the present invention , the target vehicle is determined according to the allowance time until the own vehicle approaches the other vehicle calculated by the allowance time calculating means and the type of driving support for the driver of the own vehicle executed by the driving support means. Since the determination means determines the priority order of the target vehicle that is the target of the driving support, it is possible to accurately determine the target vehicle having a high risk of collision or urgency and to give priority to driving support for the target vehicle. It is possible to effectively prevent the own vehicle from colliding with the target vehicle . At that time, since the priority order of the target vehicle is determined based on the weighting coefficient set according to the type of driving support and the weighting coefficient set according to the margin time, the priority order of the target vehicle is further increased. It can be determined accurately.

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

  1 to 3 show an embodiment of the present invention. FIG. 1 is a block diagram of a driving support system, FIG. 2 is a flowchart for explaining the operation, and FIG. 3 shows a table for searching for priority order of target vehicles. FIG.

  As shown in FIG. 1, the driving support system mounted on the vehicle includes a vehicle-to-vehicle communication means M1 that performs wireless communication with other vehicles and a road-vehicle communication that performs wireless communication between a beacon or the like provided on the roadside. Communication means M2, map information storage means M3 that stores map information, GPS (global positioning system) M4 that receives position information from an artificial satellite, and vehicle information detection means that detects the vehicle speed and yaw rate of the host vehicle M5, driving support means M6 composed of a monitor and a speaker for notifying the driver of information of other vehicles with which the vehicle may collide with video or voice, the inter-vehicle communication means M1, the road-to-vehicle communication means M2, the map And information processing means M7 for processing signals inputted from the information storage means M3, GPS M4 and vehicle information detection means M5 and outputting them to the driving support means M6.

  The information processing means M7 is the other vehicle map matching processing means M8 connected to the vehicle-to-vehicle communication means M1 and the road-to-vehicle communication means M2, and the own vehicle map matching connected to the map information storage means M3, the GPS M4 and the vehicle information detection means M5. Processing means M9, margin time calculation means M10 connected to other vehicle map matching processing means M8 and host vehicle map matching processing means M9, other vehicle map matching processing means M8, host vehicle map matching processing means M9, margin time calculation A target vehicle determination means M11 connected to the means M10 and the driving support means M6.

  The inter-vehicle communication means M1 transmits the position of the other vehicle on the map and other information obtained by the navigation system of the other vehicle to the other vehicle map matching processing means M8 by wireless communication. The road-to-vehicle communication means M2 transmits the position of the other vehicle passing through the vicinity of the road-to-vehicle communication means M2 and other information to the other-vehicle map matching processing means M8 by wireless communication.

  Since the other vehicle position obtained by the inter-vehicle communication means M1 is a position on the map of the navigation system of the other vehicle, in order to make it correspond to the position on the map of the navigation system of the own vehicle with high accuracy, Is subjected to a map matching process on the road of the map of the own vehicle using information such as the vehicle speed and the yaw rate. On the other hand, the position information of other vehicles obtained by the road-to-vehicle communication means M2 is relatively highly accurate with reference to the position of a beacon or the like fixed on the road side. Map matching processing is performed in order to correspond to the position of.

  The own vehicle map matching processing means M9 uses the map information stored in the map information storage means M3, the absolute position of the own vehicle acquired by the GPS M4, and the vehicle speed and yaw rate detected by the vehicle information detection means M5. The vehicle position on the road of the vehicle map is specified. That is, since there is a slight error in the map information stored in the map information storage means M3 and the absolute position of the own vehicle acquired by the GPS M4, the absolute position of the own vehicle acquired by the GPS M4 is the map of the own vehicle. If the vehicle is off the road, the vehicle position is corrected on the road on the map of the vehicle, and the vehicle position estimated from the vehicle speed and yaw rate is deviated from the road. Correction is performed using the estimated course and estimated position.

  The allowance time calculation means M10 includes the position of the other vehicle (and the traveling direction) on the road of the own vehicle map specified by the other vehicle map matching processing means M8 and the map of the own vehicle specified by the own vehicle map matching processing means M9. Based on the vehicle position (and traveling direction) on the road, a surplus time until the vehicle is affected is calculated for other vehicles that may affect the driving of the vehicle in the future. For example, if there is a possibility that the host vehicle may collide with another vehicle, the margin time is the estimated time from the present to the collision, and this margin time is the relative distance between the host vehicle and the other vehicle, the host vehicle and the other vehicle. It can be calculated from the relative speed.

  The target vehicle determination means M11 includes the position of the other vehicle (and the traveling direction) on the road of the map of the own vehicle specified by the other vehicle map matching processing means M8 and the map of the own vehicle specified by the own vehicle map matching processing means M9. Based on the vehicle position (and the traveling direction) on the road and the allowance time calculated by the allowance time calculation means M10, the target vehicle to be subjected to driving assistance such as an alarm is determined with priority. By preferentially reporting information such as the position and margin time to the driver using the driving support means M6 from the target vehicle having a higher priority, it is possible to prevent the vehicle from colliding with another vehicle. be able to.

  Next, the above operation will be described in more detail with reference to the flowchart of FIG.

  First, in step S1, the host vehicle map matching processing means M9 maps the position of the host vehicle on the road of the map of the host vehicle, and in step S2, the margin time calculation means M10 links the roads existing and present in the future. Extract. The road data of the host vehicle stored in the map information storage means M3 is composed of a plurality of nodes that are coordinate points on the road and a plurality of links that connect adjacent nodes. It represents the shape of the road.

  In the subsequent step S3, the data of the surrounding vehicles (other vehicles) obtained by the vehicle-to-vehicle communication means M1 and the road-to-vehicle communication means M2 is subjected to map matching processing by the other vehicle map matching processing means M8, and the position is mapped on the road of the map of the own vehicle. In step S4, the margin time for each peripheral vehicle is calculated by the margin time calculation means M10.

  Table 1 shows the definition of allowance time. The allowance time in the case of right turn support is the time until the vehicle collides with the oncoming straight vehicle when making a right turn. This is the time it takes for the vehicle to collide with the vehicle ahead, and the margin time for left turn support is the time it takes for the vehicle to get involved in a motorcycle, etc. when turning left. This is the position until the vehicle reaches a position where it should be temporarily stopped. In the case of emergency vehicle approach information, this is the time until the vehicle approaches the emergency vehicle.

  In this way, when the margin time calculation means M10 calculates the margin time for each surrounding vehicle of the own vehicle, the target vehicle determination means M11 determines the target vehicle to be controlled with priority. That is, first, in step S5, weighting for determining the priority order of the target vehicle is performed according to the type of driving support.

  Table 2 shows the weighting coefficients corresponding to the types of driving assistance. The smaller the weighting coefficient, the higher the priority (that is, the higher the degree of risk and the degree of urgency). Arranged in descending order of priority, right turn support (weighting coefficient = 1), rear-end collision prevention support (weighting coefficient = 3), left turn support (weighting coefficient = 5), temporary stop support (weighting coefficient = 7), emergency Vehicle approach information (weighting coefficient = 9).

  In subsequent step S6, weighting for determining the priority order of the target vehicle is performed according to the margin time. The weighting coefficient according to the margin time is set so that the priority becomes higher as the margin time becomes shorter (that is, the degree of danger or urgency becomes higher). It can be used as a weighting factor.

  FIG. 3 shows a table for retrieving the final priority order from the priority order by driving support (see horizontal axis) and the priority order by margin time (see vertical axis). For example, when the rear-end collision prevention support (weighting coefficient = 3) and the margin time is 4 seconds (weighting coefficient = 4), the total weighting coefficient is calculated as 3 + 4 = 7. Alternatively, when the left turn support (weighting coefficient = 5) and the margin time is 3 seconds (weighting coefficient = 3), the total weighting coefficient is calculated as 5 + 3 = 8. Therefore, the priority order of the target vehicle for the rear-end collision prevention support whose total weighting factor is 7 is higher than the priority order of the target vehicle for the left turn support whose total weighting factor is 8.

  Thus, when the priority order is calculated for all target vehicles based on the table of FIG. 3, the driving support means corresponding to the first priority target vehicle in step S7 by the driving support means M6 in step S8. Execute. For example, in the case of rear-end collision prevention support, the speaker can output a voice saying “There is a possibility that a rear-end vehicle will collide with the preceding vehicle” after 3 seconds, and alert the driver to avoid the rear-end collision.

  As described above, depending on the allowance time until the own vehicle approaches the other vehicle calculated by the allowance time calculating means M10 and the type of driving support for the driver of the own vehicle executed by the driving support means M6 Since the vehicle determination means M11 determines the priority order of the target vehicle to be the target of the driving support, it accurately determines the target vehicle having a high risk of collision or urgency, and preferentially provides driving support for the target vehicle. Thus, it is possible to effectively prevent the own vehicle from colliding with the target vehicle. At that time, since the priority order of the target vehicle is determined based on the weighting coefficient set according to the type of driving support and the weighting coefficient set according to the margin time, the priority order of the target vehicle is further increased. It can be determined accurately.

  The embodiments of the present invention have been described above, but various design changes can be made without departing from the scope of the present invention.

  For example, instead of providing the driver with other vehicle information that may cause a collision by the driving support means M6, automatic braking for collision avoidance or steering assist for collision avoidance is performed according to the degree of urgency. be able to.

Block diagram of driving support system Flow chart explaining operation The figure which shows the table which searches the priority of an object vehicle

M1 Inter-vehicle communication means (communication means)
M2 Road-to-vehicle communication means (communication means)
M3 Map information storage means M4 GPS (own vehicle position detection means)
M6 Driving support means M8 Other vehicle map matching processing means (other vehicle position specifying means)
M9 Own vehicle map matching processing means (own vehicle position specifying means)
M10 allowance time calculation means M11 target vehicle determination means

Claims (1)

Map information storage means (M3) for storing map information mounted on a vehicle;
Own vehicle position detecting means (M4) for detecting the own vehicle position;
Vehicle position specification for specifying the vehicle position on the map of the vehicle based on the map information stored in the map information storage means (M3) and the vehicle position detected by the vehicle position detection means (M4) Means (M9);
Communication means (M1, M2) mounted on the vehicle and communicating with the outside of the vehicle;
Other vehicle position specifying means (M8) for specifying the other vehicle position on the map of the own vehicle based on the map information and the other vehicle position obtained by the communication means (M1, M2);
Target vehicle determination means (M11) for determining a target vehicle to be controlled from a plurality of other vehicles based on the own vehicle position and the other vehicle position specified on the map of the own vehicle;
Driving assistance means (M6) for providing driving assistance to the driver of the own vehicle based on the information of other vehicles determined to be controlled by the target vehicle determination means (M11);
In a driving support device equipped with
A margin time calculating means (M10) for calculating a margin time until the host vehicle approaches the other vehicle based on the host vehicle position and the other vehicle position specified on the map of the host vehicle;
The target vehicle determining means (M11), in response to the and the driving support unit weighting coefficients set according to the type of driving support performed by (M6), the margin time calculated by the time margin calculation means (M10) on the basis of the set weighting coefficients Te, the driving support equipment, characterized in that to determine the priority of the target vehicle.

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