JP6354091B2 - Driving support device, driving support method, and computer program - Google Patents

Description

The present invention, drive assist system for providing information to support smooth travel to the vehicle driver, driving support method, and those related to the computer program.

In recent years, attempts have been made to realize green wave traveling using an intelligent road traffic system (ITS).
The green wave traveling is a traveling mode in which the speed of a vehicle such as an automobile is controlled so that a traffic light can always pass in blue, and a smooth traffic flow is realized.
In order to carry out green wave traveling, it is necessary to obtain a speed at which a plurality of signals installed in front can pass in blue at least for a certain section.

  Patent Document 1 below discloses a system that performs a driving support control in which a recommended driving speed for performing green wave driving is obtained and driving support information including information related to the recommended driving speed is provided to the vehicle.

JP 2011-81640 A

  In the above system, information indicating the light color of a traffic signal located in front of the vehicle installed in the control section is mounted on the vehicle as the driving support information for the vehicle traveling in the control section for executing the driving support control. Provided to the travel support apparatus. At this time, as the information indicating the lamp color, information indicating the lamp color for the vehicle when the vehicle travels along the control section is provided.

  Here, the traffic lights display the so-called blue light that permits the traveling, in addition to allowing only straight and left / right turns, only allowing straight travel, and allowing only right or left turn, etc. May be included.

  Therefore, if the control section is turned right or left at a certain intersection and extends in a direction other than the straight-ahead direction, the information indicating the blue light color is simply a blue light color that permits advancing. In addition, those that allow only straight travel and those that allow only right or left turn are included.

For this reason, for the driver who is going to travel along the control section, traveling is appropriately supported by traveling according to the information indicating the light color. However, when information indicating that the light color is simply blue is given to the driver, for the driver who is not going to travel along the control section, the blue display is simply a blue color for allowing the progress. It may not be possible to determine whether the color is a light color or a blue color for allowing only straight, right or left turn.
In other words, the driver may not be able to recognize in which direction the signal information of the traffic signal is information for the vehicle that is about to travel.

The present invention has been made in view of such circumstances, and allows a driver to easily recognize in which direction the signal information of a traffic signal is information on a vehicle that is about to travel. driving support device, driving support method, and an object of the invention to provide the computer program.

  A travel support apparatus according to the present invention is a travel support apparatus mounted on a vehicle, and is installed in the travel support section, an acquisition unit that acquires travel support section information indicating a travel support section in which travel support is executed. In addition to outputting signal information related to the light color of the traffic signal in front of the vehicle, the partial section included in the driving support section, including the installation position where the traffic signal is installed, the partial section before and after the installation position And an output control unit that specifies and outputs the partial section information based on the driving support section information.

  According to another aspect of the present invention, there is provided a method of providing driving assistance to a driver of a vehicle, the step of obtaining driving assistance section information indicating a driving assistance section in which driving assistance is executed, Outputs signal information related to the color of the traffic signal light in front of the installed vehicle, and is a partial section included in the travel support section, including the installation position where the traffic signal is installed, before and after the installation position. Specifying and outputting partial section information indicating the partial section based on the driving support section information.

  The computer program according to the present invention is a computer program for causing a computer to execute a process of performing driving support for a vehicle, and includes driving support section information indicating a driving support section in which the driving support is executed by the computer. And obtaining signal information regarding the light color of the traffic signal in front of the vehicle installed in the driving support section, and a partial section included in the driving support section, wherein the traffic signal is installed And a step of specifying and outputting partial section information indicating a partial section before and after the installation position including the installed position based on the travel support section information.

  In addition, the computer program according to the present invention is a computer program that outputs signal information related to the light color of the traffic signal in front of the vehicle installed in the travel support section in a vehicle traveling in the travel support section in which the travel support is executed. A computer program for causing the computer to output signal information relating to a light color of a traffic signal in front of the vehicle installed in the driving support section, and a partial section included in the driving support section A computer program for executing a step of specifying and outputting partial section information indicating a partial section before and after the installation position including the installation position where the traffic signal is installed based on the travel support section information.

  The computer program manufacturing method according to the present invention is a computer program manufacturing method for causing a computer to execute a process of performing driving support for a vehicle, and causes the computer to execute the process of outputting the signal information. And a computer program manufacturing method for manufacturing a computer program for causing a computer to execute a process of performing driving support.

  According to the present invention, it is possible to make a driver easily recognize in which direction the signal information of a traffic signal is information on a vehicle that is about to travel.

It is a top view which shows the structure of an intelligent road traffic system. It is a block diagram which shows the structure of the driving assistance apparatus mounted in the vehicle. It is a graph which shows the mode at the time of calculating the recommended travel speed which a recommended speed calculation part generates. It is a figure which shows the output mode at the time of an output control part outputting recommended travel speed information to a display part, and shows an example at the time of displaying the intersection which can be passed typically with a recommended travel speed. (A) is an example of the case where the output control unit displays the driving support information superimposed on the road map image and displayed on the display unit, and (b) shows a traffic signal having an arrow-type traffic signal that permits a right turn. FIG. It is another example at the time of an output control part displaying driving assistance information on a display part. It is a figure which shows an example of the display of a display part in case one traffic signal is installed in the partial area, (a) is the case where the driving assistance area is extended in the direction of making a right turn at the intersection ahead of the vehicle 2 FIG. 5B is a diagram illustrating a case where the driving support section extends in a direction that goes straight at an intersection in front of the vehicle 2. It is a figure which shows the variation of the example of a display of the driving assistance information by an output control part. It is a figure which shows the other variation of the example of a display of the driving assistance information by an output control part.

[Description of Embodiment of Present Invention]
First, the contents of the embodiments of the present invention will be listed and described.
(1) A travel support device according to an embodiment of the present invention is a travel support device mounted on a vehicle, and obtains travel support section information indicating a travel support section in which travel support is executed; Outputs signal information relating to the light color of the traffic signal in front of the vehicle installed in the driving support section, and includes a partial section included in the driving support section, where the traffic signal is installed An output control unit that specifies and outputs partial section information indicating the partial sections before and after the installation position based on the travel support section information.

  According to the travel support device having the above configuration, since the partial information indicating the partial sections before and after the installation position of the traffic signal is output together with the signal information of the traffic signal, the travel support section at the installation position of the traffic signal is extended. The direction can be shown to the driver. Thereby, it is possible to make the driver easily recognize in which direction the signal information of the traffic signal is information on the vehicle about to travel.

(2) Accordingly, the output control unit is configured to output the signal information as information indicating whether or not the traffic signal can proceed when the vehicle travels along the travel support section. For example, when signal information for permitting travel is output to the driver, the signal information for permitting travel is used to determine whether or not the vehicle permits travel in the direction in which the host vehicle is about to travel. It can be easily recognized.

(3) In the travel support device, it is preferable that a plurality of the traffic signals are installed in the section portion. Even in this case, the traffic signal signal information is about to travel in any direction. It is possible for the driver to easily recognize whether the information is for the vehicle that is present.

(4) Moreover, in the said driving assistance device, when the said signal information and the said partial area information are further provided with the display part which can be superimposed and displayed on the map image which shows a road map, the said output control part is It is preferable that the partial section information is displayed along a road shape shown in the map image.
In this case, it is possible to make the driver more easily recognize in which direction the signal information is allowed to proceed.

(5) A method of performing driving support according to an embodiment of the present invention is a method of driving support for a driver of a vehicle, and acquires driving support section information indicating a driving support section in which the driving support is executed. And outputting signal information relating to the light color of the traffic signal in front of the vehicle installed in the driving support section, and a partial section included in the driving support section, wherein the traffic signal is installed Specifying and outputting partial section information indicating a partial section before and after the installation position including the installation position based on the travel support section information.

(6) Moreover, the computer program which is one Embodiment of this invention is a computer program for making a computer perform the process which performs driving assistance with respect to a vehicle, Comprising: The driving assistance area where driving assistance is performed by a computer A step of obtaining driving support section information indicating, and outputting signal information on the light color of the traffic signal in front of the vehicle installed in the driving support section, and a partial section included in the driving support section, A computer program for executing a step of specifying and outputting partial section information indicating a partial section before and after the installation position including the installation position where the traffic signal is installed based on the travel support section information. .

(7) Moreover, the computer program which is one Embodiment of this invention is a signal regarding the light color of the traffic signal ahead of the said vehicle installed in the said driving assistance area in the vehicle which drive | works the driving assistance area where driving assistance is performed. A computer program for causing a computer to execute a process of outputting information, wherein the computer outputs signal information relating to a light color of a traffic signal in front of the vehicle installed in the driving support section, and the driving support section A step of specifying and outputting partial section information indicating a partial section that is included and includes a section before and after the installation position including the installation position where the traffic signal is installed based on the travel support section information is executed. It is a computer program for.

(8) A computer program manufacturing method according to an embodiment of the present invention is a computer program manufacturing method for causing a computer to execute a process of performing driving support for a vehicle. A computer program manufacturing method for manufacturing a computer program for causing a computer to execute a process of performing driving support using the described computer program.

According to the driving support method and the computer program configured as described above, the driver can easily recognize in which direction the signal information of the traffic signal is information on the vehicle that is about to travel. .
In addition, according to the computer program manufacturing method having the above-described configuration, a computer program that allows a driver to easily recognize in which direction the signal information of a traffic signal is information on a vehicle that is about to travel. Can be obtained.

[Details of the embodiment of the present invention]
Hereinafter, preferred embodiments will be described with reference to the drawings.
[1. (Overall system configuration)
FIG. 1 is a plan view showing a configuration of an intelligent road traffic system.
The intelligent road traffic system (running support system) shown in FIG. 1 includes a vehicle 2 equipped with a driving support device 1, a plurality of traffic signals 3, a roadside communication device 4, an optical beacon 5, and a central for signal control and the like. Device 6 is included.

The traffic signal 3 and the roadside communication device 4 are installed at each of a plurality of intersections A1 to A3 provided continuously on the road R.
The traffic signal 3 and the roadside communication device 4 are communicably connected to a central device 6 installed in a traffic control center or the like via a communication line 7.

  The traffic signal device 3 includes, for example, a lamp that lights in blue, yellow, and red, and includes a control unit that controls the color of the lamp. The control unit performs lamp color control based on signal control information transmitted from the central device 6 via the communication line 7.

The plurality of roadside communication devices 4 installed at the respective intersections A1 to A3 have a function of performing wireless communication (road-to-vehicle communication) with the travel support device 1 of the vehicle 2 traveling around the intersections.
The roadside communication device 4 receives various information transmitted by the driving support device 1 and transmits the received various information to the central device 6 through the communication line 7. The roadside communication device 4 transmits various information such as traffic information given from the central device 6 via the communication line 7 to the travel support device 1 of the vehicle 2 by wireless communication.
In addition, the travel support device 1 of the vehicle 2 can perform wireless communication (vehicle-to-vehicle communication) with another travel support device 1 by a CSMA (Carrier Sense Multiple Access) method or a wireless LAN method.

The optical beacon 5 is installed above the road R and has a function of performing bidirectional communication (road-to-vehicle communication) with the driving support device 1 of the vehicle 2 by optical communication using near infrared as a communication medium. ing.
The optical beacon 5 is installed on the upstream side of the lane that flows into each of the intersections A1 to A3. The optical beacon 5 is also communicably connected to the central device 6 via the communication line 7 in the same manner as the traffic signal 3 and the like.
Further, the optical beacon 5 includes a vehicle detection sensor for detecting the vehicle 2 passing directly under the optical beacon 5 in addition to a road-to-vehicle communication function with the travel support device 1 of the vehicle 2 by optical communication. The traffic volume at each point on the road R can be measured.

  The central device 6 constitutes a LAN (Local Area Network) with the traffic signal device 3, the roadside communication device 4, the optical beacon 5 and the like of each intersection included in the area under its control. Therefore, the central device 6 can perform bidirectional communication with each traffic signal device 3, each roadside communication device 4, and the optical beacon 5. The central device 6 systematically controls the traffic signal 3 at the intersection belonging to its own network. The central device 6 may be installed on the road instead of the traffic control center.

  The roadside communication device 4 and the optical beacon 5 measure the traffic volume on the road R from information obtained by road-to-vehicle communication with the vehicle 2 and information obtained by sensors, and the traffic volume around the intersection where each is installed. Generates information indicating The central device 6 collects information indicating the traffic generated by the roadside communication device 4 and the optical beacon 5 through the network.

  The central device 6 has a control unit composed of a workstation (WS), a personal computer (PC), and the like. This control unit acquires various types of traffic information given from the roadside communication device 4 and the optical beacon 5, and performs processing, recording, signal control based on the information, and information provision in an integrated manner.

  The central device 6 has a function of transmitting signal control information for controlling the light color of each traffic signal 3 to the control unit of each traffic signal 3. The control unit of the traffic signal device 3 that has received the signal control information determines the distribution of the lighting time of each lamp color based on the signal control information, and performs lighting control of each lamp color accordingly.

  The signal control information includes, for example, information indicating parameters such as an ID for identifying the traffic signal 3 to be controlled, a cycle length, a split, an offset, and an expiration date of the signal control information. The cycle length is a time required for the light color display of the traffic light 3 to make a round (one cycle). The split is a value obtained by dividing the blue lighting time of the traffic signal 3 by the cycle length. The offset is a value indicating a difference between the start time of one cycle (for example, the blue lighting start time) and the reference time.

  The central device 6 can determine each of the above parameters based on information indicating the traffic volume given from the roadside communication device 4 or the optical beacon 5 and generate signal control information. The central device 6 generates signal control information corresponding to each traffic signal 3 and gives it to each traffic signal 3.

  In addition, the central device 6 transmits the travel support information including the acquired traffic information, the generated signal control information, and the travel support section information indicating the travel support section E in which the travel support process is executed, to the roadside communication device 4 and the light. It has a function of giving to the beacon 5 and providing it to the driving support device 1 through road-to-vehicle communication.

Here, the driving support section E is a section in which the driving support processing is to be performed on the vehicle 2 on the road R, and is set in advance as a predetermined section on the road R.
As driving support processing, in addition to providing the vehicle driver with information such as traffic information and signal information regarding the light color of the traffic signal 3 in the traveling direction, driving that allows the signal to always pass in blue (green wave driving) The vehicle speed (recommended travel speed) for realizing the above is provided to the driver, and the offset control for realizing a smooth flow of traffic by controlling the light color of the traffic signal 3 is exemplified.

The optical beacon 5 and the roadside communication device 4 that have received the travel support information transmit the travel support information to the travel support device 1 of the vehicle 2 traveling in the travel support section E by road-to-vehicle communication.
In this way, the central device 6 provides the driving support information to the vehicle 2 via the optical beacon 5 and the roadside communication device 4 by transmitting the driving support information to the optical beacon 5 and the roadside communication device 4. It is configured as follows.

[2. Regarding the configuration of the driving support device)
FIG. 2 is a block diagram illustrating a configuration of the driving support device 1 mounted on the vehicle 2.
The travel support device 1 is a device having a function of performing travel support for a driver of a vehicle 2 (own vehicle 2) on which the travel support device 1 is mounted. For example, a smartphone, a tablet terminal, a portable computer Etc.

The driving support device 1 according to the present embodiment has a car navigation function, a function of providing traffic information acquired by road-to-vehicle communication, road-to-road communication, and the like as a driving support function. The function of outputting signal information relating to the light color of the traffic signal 3 in front of the vehicle 2 to the driver, and a speed at which a plurality of traffic signals 3 installed in front of the vehicle 2 in the driving support section E can pass in blue (recommended) (Traveling speed) is obtained and output to the driver.
The driving support device 1 outputs information regarding car navigation, traffic information, signal information, and information regarding recommended driving speed to the driver as driving support information.

As shown in the figure, an optical communication device 10 and a wireless communication device 11 provided in the host vehicle 2 are connected to the driving support device 1 by communication.
The optical communication device 10 includes a projector / receiver, and has a function as a transmitter / receiver that performs optical communication with the optical beacon 5. The optical communication device 10 further has a function of communicating with the driving support device 1 by wireless communication such as wireless LAN or Blue Tooth (registered trademark), or by wire.
The driving support device 1 has a function of performing optical communication with the optical beacon 5 and performing road-to-vehicle communication via the optical communication device 10 that can be connected to the driving support device 1.

The wireless communication device 11 has a function as a transceiver that performs wireless communication with the roadside communication device 4. The wireless communication device 11 further has a function of connecting to the driving support device 1 by wireless or wired communication.
The driving support device 1 has a function of performing wireless communication with the roadside communication device 4 via the wireless communication device 11 that can be connected to the driving support device 1 and performing road-to-vehicle communication.

  As illustrated in FIG. 2, the driving support device 1 includes a control unit 20, a storage unit 21 that stores necessary information, an operation unit 22, a display unit 23, a speaker 24, a GPS receiver 25, a gyro sensor 26, and a communication unit. 27.

The operation unit 22 is a functional unit for receiving an operation input by an operator of the travel support device 1 and is configured by an input device such as an operation key.
The display unit 23 is a functional unit for visually displaying information given from the control unit 20 and outputting the information, and is configured by an output device such as a liquid crystal display or a touch panel. When the display unit 23 is configured by a touch panel, the display unit 23 is configured to have the function of the operation unit 22.
The speaker 24 has a function of outputting information given from the control unit 20 as sound.

A GPS receiver 25 (GPS: Global Positioning System) receives a GPS signal and provides it to the control unit 20.
The gyro sensor 26 detects the direction of the driving support device 1 and gives an output related to the detection result to the control unit 20.
The control unit 20 obtains the absolute position of the driving support device 1 (own vehicle 2) from the GPS signal received by the GPS receiver 25, outputs related to the detection result of the gyro sensor 26, the vehicle control unit of the own vehicle 2, and the like. Based on the information on the speed of the host vehicle 2 acquired from the above, the position and direction are complemented, and the accurate current position and direction of the driving support device 1 (host vehicle 2) can be always grasped.

  The communication unit 27 has a function for establishing communication connection with the above-described optical communication device 10, the wireless communication device 11, or the like by wireless communication such as wireless LAN or Blue Tooth (registered trademark), or by wire. Yes. The travel support device 1 exchanges information with the optical communication device 10, the wireless communication device 11, and the like via the communication unit 27.

The storage unit 21 stores a control program for controlling and functioning each functional unit described above, a program for realizing a driving support function, a program for realizing a car navigation function, and the like.
The storage unit 21 stores a road map database. In the road map database, reference data on the road map, node data such as intersections, and road data such as link data related to road sections connecting the nodes are registered in association with IDs for identifying the nodes and links. Has been.
Furthermore, the storage unit 21 also stores information regarding the road shape corresponding to each node and link registered in the road map database, and reproduces road information of an area represented by a specific node and link as an image. Information necessary for this is stored.
The control unit 20 can output a necessary road map image on the display unit 23 by referring to the road map database.

  The control unit 20 has a function of performing communication control processing related to optical communication (road-to-vehicle communication) performed via the optical communication device 10. In addition, the control unit 20 has a function of performing communication control processing relating to wireless communication (road-to-vehicle communication and vehicle-to-vehicle communication) performed via the wireless communication device 11. Furthermore, the control unit 20 has a function of performing communication control related to communication with each device (the optical communication device 10 and the wireless communication device 11) connected to the travel support device 1 via the communication unit 27. .

Therefore, the control unit 20 acquires the travel support information given from the central device 6 through the communication unit 27 by the optical communication device 10 and the wireless communication device 11 that perform road-to-vehicle communication, and further acquires through the communication unit 27. To do. That is, the communication unit 27 has a function of acquiring travel support information.
Here, the driving support information includes driving support section information that is information indicating the driving support section E in which the driving support processing is executed, and signal control information of the traffic signal device 3 installed in the driving support section E. The communication unit 27 constitutes an acquisition unit that acquires travel support section information and signal control information used for lamp color control of the traffic signal.

  The control unit 20 functionally includes a recommended speed calculation unit 30 and an output control unit 31 in addition to the functions described above and a function for executing car navigation. The functions of the recommended speed calculation unit 30 and the output control unit 31 will be described in detail later.

  Part or all of the functions of the control unit 20 of the driving support device 1 may be configured by a hardware circuit, or part or all of the functions may be realized by a computer program. When some or all of the functions of the control unit 20 are realized by a computer program, the driving support device 1 includes a computer, and the computer program executed by the computer is stored in the storage unit 21.

The computer program that realizes the function of the control unit 20 can be generated by using an SDK (Software Development Kit) for generating the computer program.
The SDK has a function as an output control unit 31 that outputs information relating to the light color of the traffic signal 3 and information indicating the travel support section E toward the vehicle 2 traveling along the travel support section E, which is generated in advance. A program module for causing the computer to execute, a program module for causing the computer to execute a function as a recommended speed calculation unit 30 for calculating a recommended travel speed, which will be described later, and an acquisition unit for acquiring the communication support section information Other necessary program modules such as a program module for functioning as a computer can be used, and a computer program for realizing the function of the control unit 20 can be easily obtained by using the program module included in the SDK. Can be generated.

[3. (Calculation of recommended travel speed)
The recommended speed calculation unit 30 of the control unit 20 has a function of calculating a recommended travel speed.
The recommended speed calculation unit 30 acquires the position information of the host vehicle 2 based on the GPS signal from the GPS receiver 25, and acquires information about the speed of the host vehicle 2 (speed information) from the control unit of the host vehicle 2 or the like. To do.

  The recommended speed calculation unit 30 identifies a link corresponding to the road R on which the host vehicle 2 is currently traveling based on the position information of the host vehicle 2 and the road map database in the storage unit 21. Further, the recommended speed calculation unit 30 specifies a predetermined number of traffic signals 3 that are located along the road R in the traveling direction of the host vehicle 2 with the current position of the host vehicle 2 as a reference.

Here, when the host vehicle 2 is traveling in the travel support section E (FIG. 1), the signal support information from the central device 6 is given to the travel support device 1 (control unit 20) by road-to-vehicle communication. .
At this time, the recommended speed calculation unit 30 acquires signal control information of a predetermined number of traffic signals 3 that are installed in the driving support section E and located in front of the host vehicle 2 by road-to-vehicle communication.
The recommended speed calculation unit 30 obtains a recommended travel speed based on the acquired information.

FIG. 3 is a graph showing a mode when the recommended travel speed generated by the recommended speed calculation unit 30 is calculated. In FIG. 3, the horizontal axis indicates the distance from the current position of the host vehicle 2, and the vertical axis indicates time.
In FIG. 3, the temporal change of the lamp color for each traffic signal 3 is represented as a bar-shaped diagram along the vertical axis direction. In the bar-shaped diagram representing the change in lamp color, the white part indicates the time zone when the lamp color is blue (progress permission signal), and the hatched part indicates the time zone when the lamp color is red (stop signal). ing.

The time zone of each lamp color in the traffic signal 3 can be obtained from signal control information transmitted from the central device 6 through road-to-vehicle communication.
At this time, the central device 6 uses, as signal control information, information indicating the temporal change of the lamp color displayed toward the host vehicle 2 when the host vehicle 2 travels along the travel support section E. To device 1.
The recommended speed calculation unit 30 obtains a temporal change in the color of each traffic signal 3 based on the signal control information.

Each bar-shaped diagram is based on the current position of the host vehicle 2 in the horizontal axis direction, at a distance portion to the positions of the intersections A1 to A5 where the traffic signals 3 corresponding to the respective bar-shaped diagrams are installed. It is represented.
In order for the own vehicle 2 to travel without stopping at each traffic signal 3, it is only necessary to travel at such a speed that the traffic light 3 can pass in the blue time zone.

Here, in the graph shown in FIG. 3, since the horizontal axis is the distance and the vertical axis is the time (time), if the host vehicle 2 travels at a constant speed, the relationship between the position of the host vehicle 2 and its passing time is Indicated by a straight line. Further, the slope of the straight line expressed when the host vehicle 2 travels at a constant speed indicates the speed of the host vehicle 2.
Accordingly, in the figure, if a straight line that can pass through the current position and the traffic signal 3 that can pass in the time zone in which the light color is blue is obtained as much as possible, the slope of the obtained straight line is the recommended travel speed. It becomes.

Therefore, the recommended speed calculation unit 30 can change the slope of the straight line by changing the assumed speed of the host vehicle 2, pass through the current position, and pass through the time zone in which the light color is blue. A straight line is determined so that the traffic signal 3 is increased as much as possible. The recommended speed calculation unit 30 obtains a recommended traveling speed from the obtained straight line. The recommended speed calculation unit 30 obtains a recommended travel speed within a range equal to or less than the regulated speed set on the road R.
The recommended speed calculation unit 30 obtains an upper limit value and a lower limit value of the recommended travel speed, and obtains the recommended travel speed as a certain numerical range.

  In FIG. 3, when the host vehicle 2 travels between 35 km / h and 45 km / h, the traffic light 3 can pass between the blue lights of the intersections A1 to A3, and the vehicle has reached the intersection A4. In some cases, the traffic light 3 is colored red.

Therefore, when the speed of the host vehicle 2 is 30 km / h, for example, as shown in the figure, the traffic light 3 turns red when it reaches the intersection A2.
If the speed of the host vehicle 2 is 50 km / h, the traffic light 3 turns red when it reaches the intersection A3.

  Thus, in the case of FIG. 3, the upper limit value of the recommended traveling speed at which the vehicle can travel to the intersection A4 without stopping by the traffic light 3 is 45 km / h, and the lower limit value is 35 km / h.

The recommended speed calculation unit 30 updates the target traffic signal 3 as needed as the host vehicle 2 travels and moves, and calculates the upper limit value and the lower limit value of the recommended travel speed as described above.
The recommended speed calculation unit 30 gives the calculated upper and lower limits of the recommended travel speed to the output control unit 31 as information indicating the recommended travel speed (recommended travel speed information).

[4. About the output mode of driving support information)
The output control unit 31 of the control unit 20 has a function of performing control related to the output of travel support information given from the central device 6.
More specifically, the output control unit 31 outputs a function (signal information) related to the light color of each traffic signal device 3 obtained based on the signal control information given from the central device 6 or a driving support section E (see FIG. 1) is output.
The output control unit 31 includes the recommended travel speed information provided from the recommended speed calculation unit 30 in the travel support information and outputs the travel support information to the driver.

  FIG. 4 is a diagram showing an output mode when the output control unit 31 outputs the recommended travel speed information to the display unit 23, and an example of a case where a crossing that can be passed is schematically displayed together with the recommended travel speed. Show.

In FIG. 4, a pointer 41 indicating the current position of the host vehicle 2 is displayed at one end of the route diagram 40 indicating the road R, and circles corresponding to the intersections A1 to A5 are located downstream of the current position. The mark is displayed.
Further, a recommended traveling speed display 42 for displaying the recommended traveling speed is displayed in the vicinity of the pointer 41.

  The route diagram 40 shows, for example, in blue the range (hatched range) from the current position to the intersection A4 that can be passed without stopping while waiting for a signal by traveling at the recommended traveling speed. The range is displayed in other colors. Thus, it is displayed so that it is possible to easily grasp which intersection can be passed if the vehicle travels at the recommended travel speed.

  In this way, the output control unit 31 outputs the recommended travel speed information given from the recommended speed calculation unit 30 by displaying the recommended travel speed information on the display unit 23 together with the route diagram 40 schematically showing the road R.

FIG. 5A shows an example when the output control unit 31 displays the driving support information superimposed on the road map image on the display unit 23.
In FIG. 5A, the display unit 23 displays a road map image 45 showing the vicinity of the current position of the host vehicle 2 traveling in the travel support section E. In this case, a part of the driving support section E is displayed on the road map image 45.

  The output control unit 31 refers to the road map database stored in the storage unit 21, identifies the node or link corresponding to the current position of the host vehicle 2, and the road shape of the road R based on the identified node or link. Is displayed on the display unit 23.

Further, the output control unit 31 displays a pointer 47 indicating the current position of the host vehicle 2 on the road portion 46 indicating the road R in the road map image 45. The tip direction of the pointer 47 indicates the traveling direction of the host vehicle 2.
The output control unit 31 outputs recommended travel speed information by displaying a recommended travel speed display 42 for displaying the recommended travel speed in the vicinity of the pointer 47.

Further, the output control unit 31 displays an arrow display 50 formed by a broken line on the display unit 23 as information for indicating the driving support section E.
The output control unit 31 specifies the part set in the driving support section E among the nodes and links of the part displayed on the display unit 23 based on the driving support section information acquired by road-to-vehicle communication. The arrow display 50 is superimposed and displayed on the road portion 46 corresponding to the node and link of the specified portion.
The output control unit 31 displays an arrow display 50 formed in a belt shape by a broken line so as to be superimposed on the road along the road shape of the road portion 46 set in the driving support section E. Which section of the road portion 46 is set to E is shown to the driver.

In FIG. 5A, the road portion 46 where the driving support section E is set extends from the current position of the host vehicle 2 in the direction of passing through the intersections A6 and A7 along the traveling direction. The intersection A8 is assumed to extend in the direction of turning right with respect to the traveling direction of the host vehicle 2.
In this case, as shown in FIG. 5A, the output control unit 31 uses the arrow display 50 as the road portion 46 at the intersections A6 and A7 with the current position of the host vehicle 2 (the position of the pointer 47) as the starting point P. Is displayed along the straight direction, and further along the right turn direction at the intersection A8. Further, the output control unit 31 sets a point that has passed the intersection A8 for a predetermined distance as the end point Q of the arrow display 50.

  In this way, the output control unit 31 superimposes the arrow display 50 on the partial section from the start point P to the end point Q including the intersections A6 to A8 in the road portion 46 where the driving support section E is set. By displaying, the direction in which the driving support section E extends in each part of the road portion 46 can be shown to the driver.

A traffic signal 3 is installed at each of the intersections A6 to A8, and each of the intersections A6 to A8 is an installation position of the traffic signal 3. That is, the partial section from the start point P to the end point Q is a section included in the driving support section E, and shows a section before and after the installation position including the installation position where the traffic signal 3 is installed. Note that this partial section may include the entire travel support section E.
Moreover, the output control part 31 specifies and outputs the arrow display 50 as partial area information which shows the said partial area based on driving assistance area information. In addition, the output control part 31 refers to the road shape of a road map database, and outputs it, when outputting the arrow display 50 along an actual road shape.

  Further, the output control unit 31 outputs the lamp color display 48 for indicating the current lamp color of the traffic signal 3 in front of the host vehicle 2 installed in the driving support section E by displaying it on the display unit 23. The lamp color display 48 indicates whether the current lamp color of the target traffic signal 3 is blue, yellow, or red.

In this example, each intersection A6, A7, A8 in the road portion 46 in the display unit 23 is installed in a partial section from the start point P to the end point Q. Therefore, the traffic signals 3 at the intersections A6, A7, A8 are installed in the driving support section E.
Therefore, the output control unit 31 displays the light color displays 48a, 48b, and 48c for indicating the light colors of the traffic lights 3 at the intersections A6 to A8 installed in the driving support section E.
Thus, each light color display 48 (48a-48c) comprises the signal information regarding the light color of the traffic signal apparatus 3 ahead of the own vehicle 2 installed in the driving assistance section E.

The output control unit 31 specifies the current lamp color of each traffic signal device 3 based on the signal control information given from the central device 6 and displays it as the lamp color display 48.
The signal control information given from the central device 6 indicates the temporal change in the lamp color displayed toward the host vehicle 2 when the host vehicle 2 travels along the travel support section E as described above. Yes.
The output control unit 31 identifies the current lamp color of each traffic signal 3 based on the temporal change of the lamp color obtained from the signal control information, and displays it as the lamp color display 48.

  Here, the traffic signal 3 at the intersection A8 in FIG. 5 (a) includes an arrow-type traffic signal 70 that permits a right turn in addition to the lamp 71 indicating blue, yellow, and red as shown in FIG. 5 (b). If so, the host vehicle 2 is permitted to make a right turn during a period in which the arrow traffic light 70 is lit in addition to the normal blue light period.

In this case, if the host vehicle 2 travels along the traveling direction of the travel support section E, the host vehicle 2 turns right at the intersection A8. That is, the host vehicle 2 can travel through the intersection A8 along the driving support section E during the period in which the arrow signal 70 is lit in addition to the normal blue light period.
At this time, as described above, the central device 6 outputs information indicating a temporal change in the lamp color displayed toward the host vehicle 2 when the host vehicle 2 travels along the travel support section E. The control information is given to the driving support device 1.
Therefore, the central device 6 sets the period of the blue lamp color to a period obtained by adding the period of the normal blue lamp color and the period in which the arrow type traffic light 70 is lit, and generates signal control information.

Therefore, the output control unit 31 uses the arrow-type traffic light 70 of the traffic signal 3 at the intersection A8, in addition to the case where the traffic signal 3 at the intersection A8 is lit in blue as a light color so as to permit all straight travel and right / left turn. Even when is lit, a lamp color display 48c indicating that the current lamp color is blue is displayed on the display unit 23.
That is, the output control unit 31 outputs the lamp color display 48c as information indicating whether or not the traffic signal device 3 can proceed when the host vehicle 2 travels along the travel support section E.

  The driver recognizes that the vehicle can travel right along the intersection A8 when traveling along the travel support section E by checking the lamp display 48c together with the arrow display 50 indicating the travel support section E. be able to.

  As described above, for the driver who is going to travel along the travel support section E, if the vehicle travels in accordance with the light color display 48 of the traffic signal 3, the travel speed is calculated by using the recommended travel speed obtained by the recommended speed calculation unit 30. The traffic signal 3 installed along the support section E can receive appropriate travel support such that the lamp color can pass in blue as much as possible.

  However, if a driver who is not going to travel along the driving support section E is given a lamp color display 48 indicating that the lamp color is simply blue, for such a driver, the blue lamp color is displayed. It is not possible to determine whether the light color display 48 indicating the vehicle is simply a blue light color display for permitting progress, or a blue light color display for permitting only straight, right or left turn. There is a case.

  In this regard, the travel support device 1 of the present embodiment includes a communication unit 27 as an acquisition unit that acquires travel support section information indicating the travel support section E, and a traffic signal 3 in front of the vehicle 2 installed in the travel support section E. A light color display 48 as signal information relating to the light color of the vehicle is output, and an arrow display 50 as partial section information indicating a partial section from the start point P to the end point Q included in the travel support section E is displayed as a travel support section. And an output control unit 31 that specifies and outputs the information based on the information.

  According to the travel support device 1 configured as described above, the light color display 48 of the traffic signal 3 and the section before and after the installation position (intersections A6 to A8) of the traffic signal 3, from the start point P to the end point Q. Since the arrow display 50 indicating the partial section is output to the display unit 23, the direction in which the driving support section E extends at the intersections A6 to A8 can be indicated to the driver. As a result, the driver can recognize in which direction the light color information of the traffic signal 3 is information for the vehicle 2 that is about to travel.

  Therefore, in this embodiment, since the output control part 31 outputs the light color display 48c as information which shows the propriety of the traffic signal 3 when the own vehicle 2 drive | works along the driving assistance area E, it progresses. When the lamp color display 48 that permits the vehicle is output to the driver, it is determined whether or not the lamp color display 48 that permits the travel permits the vehicle 2 to travel in the direction in which the vehicle 2 is about to travel. Can be easily recognized.

Thereby, for example, in FIG. 5, when the arrow signal 70 of the traffic signal 3 at the intersection A8 is lit, the lamp color display 48c displayed on the display unit 23 indicates that the lamp is blue. Even in this case, the driver can recognize from the arrow display 50 that the light color display 48c indicates the light color as blue for all the light colors that are allowed to turn right.
As a result, it is possible to suppress misunderstandings for other drivers other than trying to travel along the driving support section E, and for drivers who are going to travel along the driving support section E. Appropriate information can be provided.

  Moreover, in this embodiment, the display part 23 which can superimpose and display the lamp color display 48 and the arrow display 50 on the road map image 45 which shows a road map is provided, and the output control part 31 is arrow display. 50 is displayed along the road shape of the road portion 46 shown in the road map image 45, so it is indicated to the driver which direction the light color display 48 permits. Can be recognized more easily.

In the present embodiment, the signal control information given from the central device 6 indicates the temporal change in the lamp color displayed toward the host vehicle 2 when the host vehicle 2 travels along the travel support section E. In the illustrated example, the blue light period is set to a period obtained by adding a period in which the arrow traffic light 70 is lit to a normal blue light period. The given signal control information may be, for example, a distinction between a normal blue light color period and a period during which the arrow signal 70 is lit.
In this case, the output control unit 31 displays the light color display 48c on the host vehicle 2 based on the signal control information in which the period of the normal blue light color and the period in which the arrow signal device 70 is lit are distinguished. Is output as information indicating whether or not the traffic signal 3 can travel when traveling along the travel support section E.

  In this way, the output control unit 31 outputs signal information related to the light color when traveling along the travel support section E for the light color of the traffic light 3 in front of the host vehicle 2 installed in the travel support section E. In the driving support section E, the signal information is output as information necessary for using the recommended driving speed generated by the recommended speed calculation unit 30.

[5. (Modification of output mode of driving support information)
In the said embodiment, after displaying the road map image 45 on the display part 23, the case where it outputs with respect to a driver by displaying the lamp color display 48 and the arrow display 50 as partial area information is shown. However, for example, as shown in FIG. 6, an intersection or a road specified from a node or a link may be displayed only by a graphic such as a point or a broken line.
In the display example by the display unit 23 shown in FIG. 6, the lamp color display 48 (48 a to 48 c) is displayed in the same manner as in FIG. 5A, but the road map image 45 is not displayed. In addition, portions corresponding to the intersections A6 to A8 are indicated by white circles 61 to 63, respectively. A portion corresponding to the road portion 46 is indicated by a broken line 60.
Further, partial section information indicating a partial section from the start point P to the end point Q is indicated by an arrow display 51 represented by a thick arrow. The arrow display 51 extends linearly from the starting point P, which is the current position of the host vehicle 2, to a circle 63 indicating an intersection, turns right at the circle 63 and extends to a terminal Q along a broken line 60 indicating a road. Thus, the partial section is displayed.

  Thus, the display mode of the display unit 23 may be simplified, and in this case, the processing load on the driving support device 1 can be reduced.

  5A and 6 show a case where a plurality of traffic signals 3 are installed in a partial section from the start point P to the end point Q. In this case, it is possible to make the driver easily recognize for each traffic signal 3 whether the lamp color display 48 of the traffic signal 3 is the display for the vehicle 2 that is about to travel in which direction.

  On the other hand, even if only one traffic signal 3 is installed in this partial section, it is determined in which direction the light color display 48 of this traffic signal 3 is an indication for the vehicle 2 that is about to travel. The driver can be easily recognized.

FIG. 7 is a diagram illustrating an example of display on the display unit 23 when one traffic signal 3 is installed in a partial section. FIG. 7A is a diagram in which a driving support section E turns right at an intersection in front of the vehicle 2. The figure which shows the case where it extends in the direction to do, (b) is a figure which shows the case where the driving assistance area E is extended in the direction which goes straight at the intersection of the front of the vehicle 2. FIG.
In the display of the display unit 23 shown in FIG. 7, the intersection is indicated by a white circle and the road portion is indicated by a broken line, as in the mode shown in FIG.

In FIG. 7A, the arrow display 51 indicating the partial section as the partial section information extends linearly from the starting point P, which is the current position of the host vehicle 2, to the circular mark 64 indicating the intersection, and turns right at the circular mark 64. After that, it extends along a broken line 60 indicating a road to an end point Q located at a predetermined distance.
In this case, the output control unit 31 can display the arrow display 51 as described above to indicate to the driver that the driving support section E extends in the right-turning direction at the intersection indicated by the circle 64.

In FIG. 7B, the arrow display 51 extends linearly from the start point P to a circle 64 indicating the intersection, and further linearly extends to the end point Q after passing straight through the circle 64.
In this case, the output control unit 31 can indicate to the driver that the driving support section E extends in a direction passing through the intersection of the circles 64 by the display of the arrow display 51.

  Thus, even if only one traffic signal 3 is installed in the partial section, in which direction the light color display 48 of this traffic signal 3 is the display for the vehicle 2 that is about to travel Can be easily recognized by the driver.

[6. Others]
Each said embodiment is an illustration and is not restrictive.
For example, although the output control part 31 of each said embodiment showed the case where the partial area information which shows a partial area was combined with several arrow display 50 or 51, and it displayed on the display part 23, it outputs to a driver. As shown in FIG. 8A, an arrow display 52 that is a single thick arrow along the shape of the road portion 46 may be displayed on the display unit 23.
Further, as shown in FIG. 8 (b), the output control unit 31 displays a diagram display 53 represented by a diagram along the shape of the road portion 46 on the display unit 23, thereby indicating a partial section. The partial section information may be output to the driver.
Further, as shown in FIG. 9A, a single arrow display 54 formed in a band shape by a thick line may be displayed on the display unit 23 so as to be superimposed on the road along the road shape of the road portion 46. Alternatively, as shown in FIG. 9B, a single diagram display 55 formed in a band shape by a thick line is displayed on the display unit 23 so as to be superimposed on the road along the road shape of the road portion 46. May be.

  Moreover, the output control part 31 of each said embodiment displays the signal information which concerns on the traffic signal 3 on the display part 23 as the lamp color display 48, and the partial area information which shows a partial area as the arrow display 50,51. Although the case where it outputs to a driver was shown, you may comprise so that signal information and partial area information may be output with an audio | voice. Moreover, you may comprise so that the output by the display part 23 and the output by an audio | voice may be performed simultaneously.

  Moreover, in the said embodiment, although the case where the road map database was memorize | stored in the memory | storage part 21 of the driving assistance device 1 was shown, for example, the central device 6 is a road via the road-vehicle communication with respect to the driving assistance device 1. A map database may be provided, and when the driving support device 1 is configured with a smartphone, the road map database may be acquired from the outside by a data communication function that the smartphone has as a driving support. It is not always necessary for the device 1 to store the map database.

  In the above embodiment, the driving support information including the signal control information and the like is generated in the central device 6 and the driving support section E is set in the central device 6, but these processes constitute a system. The roadside communicator 4 that has been installed may install a device for executing a process for generating driving support information including signal control information and a device for performing a process for setting a driving support section E. May be.

[7. Conclusion)
The embodiment disclosed this time should be considered as illustrative in all points and not restrictive. The scope of the present invention is defined by the terms of the claims, rather than the meanings described above, and is intended to include any modifications within the scope and meaning equivalent to the terms of the claims.

1 Driving support device 2 Vehicle (own vehicle)
DESCRIPTION OF SYMBOLS 3 Traffic signal apparatus 4 Roadside communication apparatus 5 Optical beacon 6 Central apparatus 7 Communication line 10 Optical communication apparatus 11 Wireless communication apparatus 20 Control part 21 Storage part 22 Operation part 23 Display part 24 Speaker 25 Receiver 26 Gyro sensor 27 Communication part (acquisition part) )
DESCRIPTION OF SYMBOLS 30 Recommended speed calculating part 31 Output control part 40 Route map 41 Pointer 42 Recommended travel speed display 45 Road map image 46 Road part 47 Pointer 48 48a, 48b, 48c Light color display 50, 51, 52, 54 Arrow display 53, 55 Diagram display 60 Dashed line 61-64 Circle 70 Arrow type traffic light 71 Lamp A1-A8 Intersection E Driving support section

Claims (7)

A driving support device mounted on a vehicle,
An acquisition unit that acquires travel support section information indicating a travel support section that is set in advance as a section in which travel support is performed based on the travel support information that is given to the travel support information;
Outputs signal information relating to the light color of the traffic signal in front of the vehicle installed in the driving support section, and includes a partial section included in the driving support section, where the traffic signal is installed An output control unit that specifies and outputs partial section information indicating a partial section before and after the installation position based on the travel support section information;
A display unit for displaying a map image showing a first road set in the driving support section and a second road not set in the driving support section;
The output control unit displays the signal information superimposed on the map image with respect to the map image representing the first road included in the partial section and the second road intersecting the first road. At the same time, a driving support device that outputs the partial section information by superimposing a display indicating the partial section only on a portion corresponding to the first road.   The driving support device according to claim 1, wherein the output control unit outputs the signal information as information indicating whether or not the traffic signal can proceed when the vehicle travels along the driving support section.   The travel support apparatus according to claim 1, wherein a plurality of the traffic signals are installed in the partial section.   The travel support device according to any one of claims 1 to 3, wherein the output control unit displays the partial section information along a road shape indicated in the map image. A method for providing driving assistance to a driver of a vehicle,
A first step of obtaining travel support section information indicating a travel support section that is set in advance as a section in which travel support information is given and based on the given travel support information;
Outputs signal information relating to the light color of the traffic signal in front of the vehicle installed in the driving support section, and includes a partial section included in the driving support section, where the traffic signal is installed A second step of specifying and outputting partial section information indicating a partial section before and after the installation position based on the driving support section information,
In the second step, for the map image showing the first road set in the travel support section and the second road not set in the travel support section, the signal information is converted into the map image. A driving support method for outputting the partial section information by superimposing and displaying a display indicating the partial section only on a portion corresponding to the first road at the same time as the superimposed display. A computer program for causing a computer to execute a process of performing driving support for a vehicle,
Using the acquisition unit, the travel support section information indicating a travel support section set in advance as a section in which travel support information is given to the computer and the travel support is executed based on the travel support information provided is acquired using the acquisition unit. The first step;
Outputs signal information relating to the light color of the traffic signal in front of the vehicle installed in the driving support section, and includes a partial section included in the driving support section, where the traffic signal is installed A second step of specifying and outputting partial section information indicating a partial section before and after the installation position based on the travel support section information using an output control unit ;
And execute
In the second step, the signal information is displayed on a map image showing a first road set in the driving support section and a second road not set in the driving support section using a display unit. Is superimposed on the map image, and at the same time, a computer for executing the process of outputting the partial section information by superimposing and displaying a display showing the partial section only on the portion corresponding to the first road program. The vehicle front that is installed in the driving support section in a vehicle that travels in a driving support section that is set in advance as a section in which driving support is executed based on the given driving support information. A computer program for causing a computer to execute a process of outputting signal information related to the color of a traffic signal of the vehicle,
The computer outputs signal information related to the light color of the traffic signal in front of the vehicle installed in the travel support section, and is a partial section included in the travel support section, where the traffic signal is installed The partial section information indicating the partial section before and after the installation position including the position is specified and output based on the driving support section information indicating the driving support section using the output control unit, and executed.
In the step, the signal information is displayed on a map image showing a first road set in the driving support section and a second road not set in the driving support section using a display unit. The computer program which performs the process which outputs the said partial area information by superimposing and displaying the display which shows the said partial area only on the part corresponding to a said 1st road simultaneously with displaying on a map image.

Images