WO2019207755A1 - Onboard information device, driving assistance system, and driving assistance method - Google Patents

Onboard information device, driving assistance system, and driving assistance method Download PDF

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Publication number
WO2019207755A1
WO2019207755A1 PCT/JP2018/017162 JP2018017162W WO2019207755A1 WO 2019207755 A1 WO2019207755 A1 WO 2019207755A1 JP 2018017162 W JP2018017162 W JP 2018017162W WO 2019207755 A1 WO2019207755 A1 WO 2019207755A1
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WO
WIPO (PCT)
Prior art keywords
vehicle
index value
information
calculation unit
value calculation
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PCT/JP2018/017162
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French (fr)
Japanese (ja)
Inventor
貴志 須藤
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三菱電機株式会社
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Publication date
Application filed by 三菱電機株式会社 filed Critical 三菱電機株式会社
Priority to PCT/JP2018/017162 priority Critical patent/WO2019207755A1/en
Priority to JP2020515422A priority patent/JP6972322B2/en
Publication of WO2019207755A1 publication Critical patent/WO2019207755A1/en

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    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems

Definitions

  • the present invention relates to an in-vehicle information apparatus that performs notification to a driver or vehicle operation control in accordance with the state of the vehicle and the situation around the vehicle.
  • Patent Document 1 describes a device that performs notification to a driver or operation control of a vehicle based on the risk of collision between a pedestrian and a vehicle.
  • the driver is notified or the vehicle operation control is performed. Therefore, in order to prevent frequent occurrence of notification to the driver or vehicle operation control, the state of the vehicle or the situation around the vehicle. The risk of collision is reduced accordingly.
  • the present invention solves the above-described problem, and appropriately notifies the driver or controls the operation of the vehicle when there is a high possibility that the vehicle will collide with a pedestrian or bicycle existing around the vehicle. It aims at obtaining the vehicle-mounted information device which can do.
  • the in-vehicle information device includes an information acquisition unit, an index value calculation unit, and a control unit.
  • the information acquisition unit acquires information related to the state of the first vehicle and information related to the situation around the first vehicle.
  • the index value calculation unit is based on the information acquired by the information acquisition unit, a state in which an abnormality is detected in a traffic signal at an intersection existing in the traveling direction of the first vehicle, and there is a moving body around the first vehicle And when the distance between the moving body and the first vehicle around the first vehicle is determined to be at least one state, the first vehicle and the moving body are Increase the index value of the possibility of collision.
  • the control unit performs notification to the driver of the first vehicle or operation control of the first vehicle when the index value input from the index value calculation unit is larger than the threshold value.
  • the in-vehicle information device performs notification to the driver of the vehicle or operation control of the vehicle when the index value of the possibility that the vehicle and the moving body collide is larger than the threshold value.
  • the index value is at least one of a state in which an abnormality is detected in a traffic signal at an intersection existing in the traveling direction of the vehicle, a state in which a moving body exists around the vehicle, and a state in which the distance between the moving body and the vehicle is equal to or less than a threshold value. Increased when in one state.
  • the in-vehicle information device can appropriately perform notification to the driver or control of the operation of the vehicle when there is a high possibility that a pedestrian or bicycle existing around the vehicle will collide with the vehicle.
  • FIG. 6 is a diagram illustrating an example of notification of warning information according to Embodiment 1.
  • FIG. 6A is a block diagram showing a hardware configuration for realizing the functions of the in-vehicle information device according to Embodiment 1.
  • FIG. 6B is a block diagram illustrating a hardware configuration for executing software that implements the functions of the in-vehicle information device according to Embodiment 1.
  • FIG. 20 is a diagram illustrating a notification example of warning information in the fifth embodiment. It is a flowchart which shows the index value calculation process in Embodiment 6 of this invention.
  • FIG. 20 is a diagram illustrating a notification example of warning information in the sixth embodiment.
  • FIG. 1 is a block diagram showing a configuration of a driving support system 1 according to Embodiment 1 of the present invention.
  • the driving support system 1 is a system that performs notification of warning information to the driver of the vehicle or operation control of the vehicle, and includes an in-vehicle information device 2.
  • the vehicle is an automobile or a motorcycle.
  • the driving support target vehicle is the first vehicle
  • the vehicle other than the driving support target vehicle is the second vehicle.
  • the in-vehicle information device 2 is a device mounted on a driving support target vehicle, and is connected to the detection unit 3, the output unit 4, and the vehicle control device 5.
  • the in-vehicle information device 2 provides the driver of the vehicle as a driving assistance target when the index value of the possibility that the vehicle as the driving assistance target and a moving body around the vehicle collide is larger than a preset threshold value.
  • the warning information is notified or the operation of the vehicle to be driven is supported.
  • the moving body is a pedestrian or a bicycle.
  • the in-vehicle information device 2 includes an information acquisition unit 20, an index value calculation unit 21, and a control unit 22 as components for executing the above processing.
  • the information acquisition unit 20 acquires information on the state of the vehicle and information on the situation around the vehicle from the detection information input from the detection unit 3 and the vehicle information input from the vehicle control device 5.
  • the index value calculation unit 21 calculates the index value based on the information on the vehicle state acquired by the information acquisition unit 20 and the information on the situation around the vehicle.
  • the control unit 22 notifies the driver of the driving support target vehicle of warning information or controls the operation of the vehicle.
  • the detection unit 3 detects the state of the vehicle that is the driving assistance target, detects the situation around the driving assistance target vehicle, and outputs the detection information to the in-vehicle information device 2.
  • the detection unit 3 includes an imaging unit 30, a position detection unit 31, a map DB (map database) 32, a communication unit 33, and a vehicle information acquisition unit 34.
  • the imaging unit 30 is provided in a vehicle that is a driving support target, and captures images around the vehicle.
  • the position detection unit 31 detects position information of a vehicle that is a driving assistance target.
  • map data including road information in which the number of road lanes and the position of an intersection are set is registered.
  • the communication unit 33 receives traffic signal information from a roadside device installed near the intersection.
  • the vehicle information acquisition unit 34 acquires vehicle information from the vehicle control device 5.
  • the vehicle information includes, for example, vehicle speed information and steering information.
  • the output unit 4 outputs the warning information generated by the in-vehicle information device 2 visually or audibly.
  • the output unit 4 includes a display device 40 and a sound output device 41.
  • the display device 40 is provided in the passenger compartment and is installed at a position where the screen can be visually recognized by the driver.
  • the display device 40 displays the warning information input from the control unit 22 on the screen.
  • the sound output device 41 is provided in the vehicle interior so that the driver can listen to the output sound.
  • the sound output device 41 outputs the warning information input from the control unit 22 as a sound.
  • the vehicle control device 5 controls the operation of the vehicle by controlling the driving force device, the steering device, or the braking device included in the vehicle according to the driving operation of the driver or the control information from the in-vehicle information device 2. For example, the vehicle control device 5 changes the vehicle speed by controlling the braking device in accordance with the driver's brake operation. Further, the vehicle control device 5 may have an automatic driving function for automatically controlling the vehicle according to control information from the in-vehicle information device 2.
  • FIG. 2 is a flowchart illustrating the driving support method according to the first embodiment.
  • the information acquisition unit 20 acquires information related to the state of the vehicle that is the driving assistance target and information related to the situation around the vehicle (step ST1).
  • the information regarding the state of the vehicle includes position information, speed information, and a traveling direction of the vehicle that is a driving assistance target.
  • Information on the situation around the vehicle includes information on the intersection in the traveling direction of the vehicle to be driven, information on the traffic light at this intersection, information on the road on which the vehicle is traveling, information on the state of the moving object existing around the vehicle , And information on the state of another vehicle other than the driving support target vehicle traveling toward the intersection.
  • the information acquisition unit 20 analyzes the video information around the driving support target vehicle imaged by the imaging unit 30, and acquires information on the state of the pedestrian or bicycle existing around the driving support target vehicle. For example, the information acquisition unit 20 recognizes the presence of a pedestrian or a bicycle around the vehicle using an image recognition technique such as pattern matching, and sequentially recognizes the position change of the pedestrian or the bicycle in the image, thereby Obtain information on bicycle position information, travel speed information, and travel direction.
  • an image recognition technique such as pattern matching
  • the information acquisition unit 20 analyzes the video information of the traffic signal at the intersection captured by the imaging unit 30 and recognizes the lamp color state of the traffic signal.
  • the information acquisition unit 20 outputs information including the recognized light color state of the traffic signal and the traffic signal information received from the roadside device by the communication unit 33 to the index value calculation unit 21 as information regarding the traffic signal at the intersection.
  • the information acquisition unit 20 uses the position information of the driving support target vehicle detected by the position detection unit 31 and the map data registered in the map DB 32, and information on an intersection in the traveling direction of the driving support target vehicle and Information on the road on which the vehicle is traveling is acquired.
  • the index value calculation unit 21 is in a state in which an abnormality is detected in a traffic signal at an intersection existing in the traveling direction of the vehicle to be driven, and a pedestrian around the vehicle.
  • the index value is Increase (step ST2).
  • the index value calculation unit 21 sets a value obtained by adding a constant increment to the initial value of the index value as the index value.
  • the index value calculation unit 21 detects a certain amount of increase if an abnormality is detected in the traffic signal at the intersection or if there is a pedestrian or a bicycle around the driving support target vehicle even if no abnormality is detected in the traffic light.
  • a value obtained by further adding is used as an index value. If the distance between the driving support target vehicle and the pedestrian or the bicycle is equal to or smaller than the threshold value, the index value calculation unit 21 sets a value obtained by further adding a constant increase as the index value.
  • the control unit 22 When the index value input from the index value calculation unit 21 is larger than the threshold value, the control unit 22 notifies the driver of the driving support target vehicle of the warning information or controls the operation of the driving support target vehicle (step). ST3). For example, the control unit 22 uses the first threshold value and the second threshold value (the second threshold value is larger than the first threshold value) set in advance, and the index value is larger than the first threshold value. If it is less than or equal to the threshold of 2, warning information is notified to the driver. If the index value is larger than the second threshold value, the control unit 22 controls the operation of the driving support target vehicle.
  • the control unit 22 outputs warning information indicating that an abnormality has been detected in a traffic signal at an intersection existing in the traveling direction of the vehicle to the display device 40 and the sound output device 41 of the output unit 4.
  • the display device 40 displays a warning screen based on the warning information input from the control unit 22, and the sound output device 41 outputs a warning sound based on the warning information input from the control unit 22.
  • the control unit 22 is likely to collide with the pedestrian or bicycle and the vehicle. Decelerate or drive automatically to avoid pedestrians or bicycles.
  • FIG. 3 is a flowchart showing the index value calculation process in the first embodiment and shows details of the process in step ST2 of FIG.
  • the index value calculation unit 21 determines whether or not an abnormality has been detected in the traffic signal based on the information regarding the traffic signal at the intersection existing in the traveling direction of the driving support target vehicle input from the information acquisition unit 20 (step) ST1a). For example, the index value calculation unit 21 compares the light color state of the traffic light recognized from the video information by the information acquisition unit 20 with the light color state in the traffic light information received from the roadside device, and the two are not consistent. It is determined that an abnormality has occurred in the traffic light.
  • the index value calculation unit 21 may determine that an abnormality has occurred in the traffic signal when the no-light state of the traffic signal is recognized from the video information of the traffic signal input from the information acquisition unit 20.
  • the index value calculation unit 21 adds a constant increment to the initial value of the index value (step ST2a).
  • the initial value of the index value is “0” if the situation before the processing in step ST1a is not a situation where warning information should be notified to the driver.
  • the increment is a value set in advance for a state in which an abnormality is detected in the traffic light in front of the vehicle. For example, if this increment is “+1”, the index value calculator 21 calculates an index value obtained by adding the increment “+1” to the initial value “0”.
  • step ST2a When the processing of step ST2a is completed or no abnormality is detected in the traffic light (step ST1a; NO), the index value calculation unit 21 is input from the information acquisition unit 20 around the driving support target vehicle. Based on the information regarding the state of the existing moving body, it is determined whether or not there are pedestrians or bicycles around the vehicle (step ST3a).
  • the index value calculation unit 21 ends the process of FIG.
  • the index value calculation unit 21 outputs an initial value “0” of the index value to the control unit 22.
  • the index value calculation unit 21 determines whether the abnormality is detected in the traffic light with respect to the initial value “0”. The index value “+1” obtained by adding the increment “+1” is output to the control unit 22.
  • the index value calculation unit 21 adds a constant increment to the index value (step ST4a).
  • the increase is a value set in advance for a state in which there are pedestrians or bicycles around the driving support target vehicle. For example, when this increase is “+2”, the index value calculation unit 21 calculates an index value obtained by adding the increase “+2” to the previous index value.
  • the index value calculation unit 21 determines whether or not the distance between the driving support target vehicle and a pedestrian or bicycle existing around the vehicle is equal to or less than a threshold (step ST5a). ). For example, the index value calculation unit 21 inputs the position information, speed information, and information on the traveling direction of the driving support target vehicle, the position information of the pedestrian or the bicycle existing around the vehicle, and the speed, which are input from the information acquisition unit 20. The distance between the driving support target vehicle and the pedestrian or the bicycle is calculated in real time using the information and the information on the traveling direction. The index value calculation unit 21 compares the calculated distance with a preset threshold value, and determines whether the distance is equal to or less than the threshold value based on the comparison result.
  • step ST5a NO
  • the index value calculation unit 21 ends the process of FIG.
  • the index value calculation unit 21 sets the initial value. An index value “+2” obtained by adding an increment “+2” for a state where a pedestrian or a bicycle is present around the vehicle to “0” is output to the control unit 22.
  • the index value calculation unit 21 In contrast to an index value “+1” obtained by adding “+1” to the initial value “0” for the state in which an abnormality is detected, an increase “+2” for a state where there are pedestrians or bicycles around the vehicle The index value “+3” obtained by adding is added to the control unit 22.
  • the index value calculation unit 21 adds a constant increment to the index value (step ST6a).
  • the increase is a value set in advance for a state in which the distance between the driving support target vehicle and the pedestrian or the bicycle is equal to or less than a threshold value. For example, if this increase is “+3”, the index value calculation unit 21 calculates an index value obtained by adding the increase “+3” to the index value up to step ST4a.
  • the index value calculation unit 21 ends the process of FIG. If no abnormality is detected in the traffic light, but there is a pedestrian or bicycle around the vehicle and the distance between the vehicle and the pedestrian or bicycle is equal to or less than the threshold, the index value calculation unit 21 Alternatively, the increment in the state where the distance between the vehicle and the pedestrian or the bicycle is equal to or less than the threshold with respect to the index value “+2” obtained by adding the increment “+2” in the state where the bicycle exists to the initial value “0”. The index value “+5” obtained by adding “+3” is output to the control unit 22.
  • the index value calculation unit 21 detects an abnormality in the traffic light.
  • the increment “+2” when there are pedestrians or bicycles around the vehicle and the vehicle and the pedestrian is output to the control unit 22.
  • the increment of the index value is increased in order.
  • the increment of the index value in these states may be constant.
  • the increment of the index value may be “+1” in all states.
  • FIG. 4 is a flowchart showing the driving support process in the first embodiment, and shows details of the process in step ST3 of FIG.
  • the controller 22 determines whether or not the index value input from the index value calculator 21 is greater than the first threshold value TH_a (step ST1b).
  • the first threshold value TH_a is a threshold value related to the index value, and is an upper limit value of the index value that does not require notification of warning information to the driver.
  • the control unit 22 determines that notification of warning information to the driver is unnecessary and does not execute the notification (step ST2b). .
  • the control unit 22 determines whether or not the index value input from the index value calculation unit 21 is greater than the second threshold value TH_b. (Step ST3b).
  • the second threshold value TH_b is a value larger than the first threshold value TH_a, and is a lower limit value of an index value that does not require operation control of the driving support target vehicle.
  • the control unit 22 notifies the driver of warning information by sound and screen display (step ST4b).
  • FIG. 5 is a diagram showing an example of notification of warning information in the first embodiment, and shows a state in which an abnormality is detected at a traffic light installed at an intersection existing in the traveling direction of a vehicle that is a driving support target.
  • the control unit 22 outputs warning information indicating that an abnormality has been detected in the traffic signal at the intersection to the display device 40 and the sound output device 41.
  • the display device 40 displays the warning screen 6a based on the warning information input from the control unit 22.
  • text information 6a-1 indicating that an abnormality has been detected in the traffic light is displayed on the warning screen 6a, and the icon indicating the traffic signal is changed to an icon 6a-2 indicating that the traffic signal is abnormal.
  • the sound output device 41 outputs a warning sound 7 a based on the warning information input from the control unit 22. The driver can recognize that the traffic signal ahead is not functioning correctly based on the warning information.
  • the control unit 22 controls the vehicle speed and notifies the driver of warning information by sound and screen display (step ST5b). For example, the control unit 22 controls the display device 40 to display the warning screen 6a and controls the sound output device 41 to output the warning sound 7a. Further, the control unit 22 transmits control information to the vehicle control device 5, so that the vehicle control device 5 automatically decelerates the vehicle entering the intersection according to the control information of the control unit 22.
  • the driving assistance system 1 When the traffic light stops functioning, vehicles, pedestrians and bicycles lose traffic instructions at intersections, increasing the risk of accidents.
  • the index value of the possibility that the pedestrian or the bicycle and the vehicle collide is increased in a state where the abnormality of the traffic light is detected.
  • the driving support system 1 actually increases the index value when a pedestrian or a bicycle is present around the vehicle, and increases the index value when the distance between the two is equal to or less than a threshold value.
  • the driving assistance system 1 when the said index value becomes larger than a threshold value, ie, when the possibility that the pedestrian or bicycle which exists in the vehicle periphery and a vehicle will collide becomes high, to a driver
  • the in-vehicle information device 2 includes a processing circuit for executing the processing from step ST1 to step ST3 in FIG.
  • This processing circuit may be dedicated hardware, or may be a CPU (Central Processing Unit) that executes a program stored in a memory.
  • CPU Central Processing Unit
  • FIG. 6A is a block diagram showing a hardware configuration for realizing the functions of the in-vehicle information device 2.
  • FIG. 6B is a block diagram illustrating a hardware configuration for executing software that implements the functions of the in-vehicle information device 2.
  • the camera 100 is the imaging unit 30 shown in FIG. 1, and images the periphery of the vehicle.
  • the GPS (Global Positioning System) receiver 101 is the position detector 31 shown in FIG. 1 and detects the latitude and longitude of the position of the vehicle.
  • the DB interface 102 relays map data input from the map DB 103 to the in-vehicle information device 2.
  • the map DB 103 is the map DB 32 shown in FIG.
  • the information acquisition unit 20 acquires map data from the map DB 32 via the DB interface 102.
  • the receiving device 104 is the communication unit 33 illustrated in FIG.
  • the receiving device 104 communicates with the roadside device and receives the traffic signal information of the traffic signal installed at the intersection.
  • the display 105 is the display device 40 shown in FIG. On the display 105, for example, the warning screen 6a shown in FIG. 5 is displayed.
  • the speaker 106 is the sound output device 41 shown in FIG.
  • the speaker 106 outputs, for example, the warning sound 7a shown in FIG.
  • the control interface 107 relays control information output from the in-vehicle information device 2 to the vehicle control device 108.
  • the vehicle control device 108 is the vehicle control device 5 shown in FIG.
  • the control unit 22 outputs a vehicle deceleration command to the vehicle control device 5 via the control interface 107.
  • the vehicle control device 5 decelerates the vehicle according to this deceleration command.
  • the processing circuit 109 may be, for example, a single circuit, a composite circuit, a programmed processor, a parallel programmed processor, an ASIC (Application Specific).
  • An integrated circuit (FP), a field-programmable gate array (FPGA), or a combination thereof is applicable.
  • the functions of the information acquisition unit 20, the index value calculation unit 21, and the control unit 22 in the in-vehicle information device 2 may be realized by separate processing circuits, or these functions may be realized by a single processing circuit. .
  • the processing circuit is the processor 110 shown in FIG. 6B
  • the functions of the information acquisition unit 20, the index value calculation unit 21, and the control unit 22 in the in-vehicle information device 2 are realized by software, firmware, or a combination of software and firmware. Is done.
  • the software or firmware is described as a program and stored in the memory 111.
  • the processor 110 implements the functions of the information acquisition unit 20, the index value calculation unit 21, and the control unit 22 in the in-vehicle information device 2 by reading and executing a program stored in the memory 111. That is, the in-vehicle information device 2 includes a memory 111 for storing a program that, when executed by the processor 110, results from the processing from step ST1 to step ST3 shown in FIG. These programs cause the computer to execute the procedures or methods of the information acquisition unit 20, the index value calculation unit 21, and the control unit 22.
  • the memory 111 may be a computer-readable storage medium in which a program for causing a computer to function as the information acquisition unit 20, the index value calculation unit 21, and the control unit 22 is stored.
  • the memory 111 includes, for example, a nonvolatile memory such as a RAM (Random Access Memory), a ROM (Read Only Memory), a flash memory, an EPROM (Erasable Programmable Read Only Memory), an EEPROM (Electrically-EPROM), or a volatile memory such as an EEPROM (Electrically-EPROM).
  • a nonvolatile memory such as a RAM (Random Access Memory), a ROM (Read Only Memory), a flash memory, an EPROM (Erasable Programmable Read Only Memory), an EEPROM (Electrically-EPROM), or a volatile memory such as an EEPROM (Electrically-EPROM).
  • a nonvolatile memory such as a RAM (Random Access Memory), a ROM (Read Only Memory), a flash memory, an EPROM (Erasable Programmable Read Only Memory), an EEPROM (Electrically-EPROM), or a volatile memory such as an EEPROM (Electrically-EPROM).
  • EEPROM Electrically
  • the functions of the information acquisition unit 20, the index value calculation unit 21, and the control unit 22 may be partially realized by dedicated hardware and partially realized by software or firmware.
  • the information acquisition unit 20 realizes the function by a processing circuit that is dedicated hardware, and the index value calculation unit 21 and the control unit 22 read and execute a program stored in the memory 111 by the processor 110. By realizing the function.
  • the processing circuit can realize the above functions by hardware, software, firmware, or a combination thereof.
  • the in-vehicle information device 2 when the index value is larger than the threshold value, the in-vehicle information device 2 according to Embodiment 1 notifies the driver of warning information or controls the operation of the vehicle.
  • the index value is at least one of a state in which an abnormality is detected in a traffic signal at an intersection existing in the traveling direction of the vehicle, a state in which a moving body exists around the vehicle, and a state in which the distance between the moving body and the vehicle is equal to or less than a threshold value. Increased when in one state. If there is an abnormality in the traffic light, traffic instructions at the intersection cannot be properly obtained from the traffic signal, and the possibility of an accident increases.
  • the in-vehicle information device 2 increases the index value when it is determined that the state is at least one of the three states.
  • the vehicle-mounted information device 2 appropriately performs notification to the driver or operation control of the vehicle when there is a high possibility that the vehicle to be supported for driving and a pedestrian or bicycle existing in the vicinity will collide.
  • the said effect is acquired also in the driving assistance system 1 provided with the vehicle-mounted information apparatus 2, and the said effect is acquired even if the driving assistance method shown in FIG. 2 is performed.
  • the in-vehicle information device 2 includes the information acquisition unit 20, the index value calculation unit 21, and the control unit 22 has been shown, these may be components included in an external device provided separately from the in-vehicle device.
  • the information acquisition unit 20, the index value calculation unit 21, and the control unit 22 may be provided in a server device that can communicate with the detection unit 3, the output unit 4, and the vehicle control device 5 mounted on the vehicle.
  • the information acquisition unit 20 acquires information on the state of the vehicle and information on the situation around the vehicle from the detection unit 3 via the communication network.
  • the index value calculation unit 21 calculates an index value based on the information acquired by the information acquisition unit 20.
  • the control unit 22 transmits warning information to the output unit 4 or transmits vehicle control information to the vehicle control device 5 via the communication network.
  • the output unit 4 of the vehicle outputs warning information received from the server device, and the vehicle control device 5 controls the operation of the vehicle according to the control information from the server device.
  • Embodiment 2 increases the index value when a pedestrian or a bicycle existing in the vicinity of the driving support target vehicle is traveling toward an intersection existing in the traveling direction of the vehicle. . Thereby, when the possibility of a collision between a pedestrian or a bicycle and a vehicle is high, notification to the driver or operation control of the vehicle can be appropriately performed.
  • the in-vehicle information device is different from the first embodiment in that the index value is increased when a pedestrian or a bicycle is traveling toward an intersection existing in the traveling direction of the driving support target vehicle.
  • the basic functions of the components are the same as in FIG. Therefore, the configuration of the driving support system and the in-vehicle information device according to the second embodiment will be described with reference to FIG.
  • FIG. 7 is a flowchart showing the index value calculation process in the second embodiment, and shows details of the process in step ST3 in FIG.
  • the processing from step ST1c to step ST6c in FIG. 7 is the same as the processing from step ST1a to step ST6a shown in FIG.
  • the index value calculation unit 21 determines whether a pedestrian or a bicycle existing around the driving support target vehicle is moving toward an intersection existing in the traveling direction of the driving support target vehicle. It is determined whether or not (step ST7c). For example, the index value calculation unit 21 uses information on the traveling direction of a pedestrian or bicycle existing around the vehicle and the map data of the intersection among the information acquired by the information acquisition unit 20, It is determined whether or not the bicycle is traveling toward the intersection.
  • the index value calculation unit 21 ends the process of FIG.
  • the initial value of the index value is “0”
  • the increment of the index value when an abnormality is detected in the traffic light is “1”
  • there are pedestrians or bicycles around the driving support target vehicle The increment of the index value at “2” is “2”
  • the increment of the index value when the distance between the vehicle and the pedestrian or bicycle is equal to or less than the threshold is “3”.
  • the index value calculation unit 21 Increase in the state where the distance between the vehicle and the pedestrian or the bicycle is below the threshold with respect to the index value “+2” obtained by adding “+2” to the initial value “0” for the state where the pedestrian or the bicycle is present
  • the index value “+5” obtained by adding the minute “+3” is output to the control unit 22.
  • the index value calculation unit 21 detects an abnormality in the traffic light.
  • the increment “+2” and the vehicle and the pedestrian when the pedestrian or bicycle exists around the vehicle Alternatively, an index value “+6” obtained by adding the increment “+3” when the distance from the bicycle is equal to or less than the threshold value is output to the control unit 22.
  • the index value calculation unit 21 adds a constant increment to the index value (step ST8c).
  • the increase is a value set in advance with respect to a state in which a pedestrian or a bicycle existing in the vicinity of the driving support target vehicle is traveling toward the intersection. For example, when this increment is set to “+4”, the index value calculation unit 21 calculates an index value obtained by adding the increment “+4” to the index value calculated up to step ST6c.
  • the index value calculation unit 21 ends the process of FIG. For example, no abnormality is detected in the traffic light, but there are pedestrians or bicycles around the vehicle, the distance between the vehicle and the pedestrians or bicycles is below a threshold, and the pedestrians or bicycles are moving toward the intersection.
  • the index value calculation unit 21 walks with the vehicle with respect to the index value “+2” obtained by adding “+2” to the initial value “0” when the pedestrian or the bicycle is present around the vehicle.
  • An index value “+9” obtained by adding the increment “+3” when the distance to the person or the bicycle is equal to or less than the threshold and the increment “+4” when the pedestrian or the bicycle is moving toward the intersection. "Is output to the control unit 22.
  • the index value calculation unit 21 uses a pedestrian or bicycle around the vehicle with respect to the index value “+1” obtained by adding “+1” to the initial value “0” when an abnormality is detected in the traffic light.
  • the pedestrian or bicycle is moving toward the intersection with the increase “+2” when the vehicle is present and the increase “+3” when the distance between the vehicle and the pedestrian or bicycle is below the threshold.
  • the index value “+10” obtained by adding the increment “+4” in the state is output to the control unit 22.
  • FIG. 8 is a diagram illustrating a notification example of warning information according to the second embodiment, and illustrates a state in which a bicycle existing around a driving support target vehicle is approaching an intersection.
  • the control unit 22 outputs warning information indicating that the bicycle is traveling toward the intersection to the display device 40 and the sound output device 41.
  • the display device 40 displays the warning screen 6b based on the warning information input from the control unit 22.
  • the warning screen 6b displays text information 6b-1 indicating that a bicycle enters an intersection in the traveling direction of the driving support target vehicle, and an arrow indicating the traveling direction of the icon 6b-2 indicating the bicycle. It is displayed on the intersection map.
  • the sound output device 41 outputs a warning sound 7b based on the warning information input from the control unit 22. Based on the warning information, the driver can recognize that a bicycle around the vehicle is also approaching an intersection in the traveling direction of the vehicle.
  • the control unit 22 When the index value “+9” or “+10” calculated by the index value calculation unit 21 is larger than the second threshold value TH_b, the control unit 22 notifies the warning information by sound and screen display, Control the behavior. For example, the control unit 22 controls the display device 40 to display the warning screen 6b and controls the sound output device 41 to output the warning sound 7b. Further, the control unit 22 transmits the control information to the vehicle control device 5 so that the vehicle control device 5 automatically decelerates the vehicle entering the intersection or automatically uses the bicycle according to the control information of the control unit 22. Do the driving operation to avoid.
  • an abnormality is detected in the traffic light, a pedestrian or a bicycle is present around the vehicle, a distance between the vehicle and the pedestrian or the bicycle is less than a threshold value, and the pedestrian or the bicycle proceeds toward the intersection.
  • the increment of the index value in the state of being increased is sequentially increased is shown, the increment of the index value in these states may be constant.
  • the increment of the index value may be “+1” in all states.
  • the index value calculation unit 21 has a moving body (pedestrian or bicycle) existing around the driving support target vehicle in the traveling direction of the vehicle.
  • the index value is increased when it is determined that the vehicle is traveling toward the intersection.
  • the in-vehicle information device 2 can appropriately perform notification to the driver or operation control of the vehicle when there is a high possibility that the vehicle to be driven assists and a moving body existing in the vicinity thereof will collide. The effect is obtained.
  • Embodiment 3 FIG.
  • the index value is increased when it is determined that the vehicle to be driven is driving on a one-lane road.
  • the in-vehicle information device differs from the first embodiment in that the index value is increased when the vehicle to be driven is driving on a one-lane road.
  • the basic functions are the same as those in FIG. Therefore, the configuration of the driving support system and the in-vehicle information device according to Embodiment 3 will be described with reference to FIG.
  • FIG. 9 is a flowchart showing the index value calculation process in the third embodiment, and shows details of the process in step ST3 in FIG.
  • the processing from step ST1d to step ST6d in FIG. 9 is the same as the processing from step ST1a to step ST6a shown in FIG.
  • the index value calculation unit 21 determines whether or not the driving support target vehicle is traveling on a one-lane road (step ST7d). For example, the index value calculation unit 21 uses the road information of the road on which the vehicle is traveling among the information acquired by the information acquisition unit 20 to determine whether the vehicle is traveling on a one-lane road. judge.
  • the index value calculation unit 21 ends the process of FIG.
  • the initial value of the index value is “0”
  • the increment of the index value when an abnormality is detected in the traffic light is “1”
  • there are pedestrians or bicycles around the driving support target vehicle The increment of the index value at “2” is “2”
  • the increment of the index value when the distance between the vehicle and the pedestrian or bicycle is equal to or less than the threshold is “3”.
  • the index value calculation unit 21 Increase in the state where the distance between the vehicle and the pedestrian or the bicycle is below the threshold with respect to the index value “+2” obtained by adding “+2” to the initial value “0” for the state where the pedestrian or the bicycle is present
  • the index value “+5” obtained by adding the minute “+3” is output to the control unit 22.
  • the index value calculation unit 21 detects an abnormality in the traffic light.
  • the increment “+2” and the vehicle and the pedestrian when the pedestrian or bicycle exists around the vehicle Alternatively, an index value “+6” obtained by adding the increment “+3” when the distance from the bicycle is equal to or less than the threshold value is output to the control unit 22.
  • the index value calculation unit 21 adds a constant increment to the index value (step ST8d).
  • the increase is a value set in advance with respect to a state in which the driving support target vehicle is traveling on a one-lane road. For example, when this increase is set to “+4”, the index value calculation unit 21 outputs an index value obtained by adding the increase “+4” to the index value calculated up to step ST6d to the control unit 22. To do.
  • the index value calculation unit 21 ends the process of FIG.
  • the control unit 22 When the index value calculated by the index value calculation unit 21 is greater than the first threshold value TH_a and less than or equal to the second threshold value TH_b, the control unit 22 notifies the driver of warning information by sound and screen display. .
  • the control unit 22 outputs warning information indicating that the driving support target vehicle is traveling on a one-lane road to the display device 40 and the sound output device 41.
  • the display device 40 displays a warning screen based on the warning information input from the control unit 22.
  • the sound output device 41 outputs a warning sound based on the warning information input from the control unit 22.
  • the control unit 22 controls the operation of the vehicle in addition to the notification of the warning information by sound and screen display. For example, the control unit 22 transmits a control information to the vehicle control device 5 in a state in which a warning screen is displayed on the display device 40 and a warning sound is output from the sound output device 41, whereby the vehicle control device 5 The vehicle is automatically decelerated according to the control information of the control unit 22.
  • a state in which an abnormality has been detected in the traffic light a state in which there are pedestrians or bicycles around the vehicle, a state in which the distance between the vehicle and the pedestrians or bicycles is less than a threshold, and a vehicle traveling on a single lane road
  • the increment of the index value in these states may be constant.
  • the increment of the index value may be “+1” in all states.
  • the in-vehicle information device 2 when the index value calculation unit 21 determines that the driving support target vehicle is traveling on a one-lane road, the indicator Increase the value. As a result, the in-vehicle information device 2 can appropriately perform notification to the driver or operation control of the vehicle when there is a high possibility that the vehicle to be driven assists and a moving body existing in the vicinity thereof will collide. The effect is obtained.
  • Embodiment 4 FIG.
  • a second vehicle other than the first vehicle hereinafter referred to as a surrounding vehicle
  • the index value is increased. This makes it possible to appropriately perform notification to the driver or control of the operation of the vehicle when the possibility of a collision between the vehicle to be driven and the surrounding vehicle is high.
  • the in-vehicle information device differs from the first embodiment in that the index value is increased when the surrounding vehicle is traveling toward the intersection, but the basic functions of the constituent elements Is the same as FIG. Therefore, the configuration of the driving support system and the in-vehicle information device according to the fourth embodiment will be described with reference to FIG.
  • FIG. 10 is a flowchart showing the index value calculation process in the fourth embodiment, and shows details of the process in step ST3 in FIG. Note that the processing from step ST1e to step ST6e in FIG. 10 is the same as the processing from step ST1a to step ST6a shown in FIG.
  • the index value calculation unit 21 determines whether or not there is a surrounding vehicle traveling toward the intersection (step ST7e). For example, the index value calculation unit 21 uses the information about the position information, speed information, and traveling direction of the surrounding vehicle, and the map data of the intersection among the information acquired by the information acquisition unit 20 to turn the surrounding vehicle toward the intersection. To determine whether it is progressing.
  • the index value calculation unit 21 ends the process of FIG.
  • the initial value of the index value is “0”
  • the increment of the index value when an abnormality is detected in the traffic light is “1”
  • there are pedestrians or bicycles around the driving support target vehicle The increment of the index value at “2” is “2”
  • the increment of the index value when the distance between the vehicle and the pedestrian or bicycle is equal to or less than the threshold is “3”.
  • the index value calculation unit 21 Increase in the state where the distance between the vehicle and the pedestrian or the bicycle is below the threshold with respect to the index value “+2” obtained by adding “+2” to the initial value “0” for the state where the pedestrian or the bicycle is present
  • the index value “+5” obtained by adding the minute “+3” is output to the control unit 22.
  • the index value calculation unit 21 detects an abnormality in the traffic light.
  • the increment “+2” and the vehicle and the pedestrian when the pedestrian or bicycle exists around the vehicle Alternatively, an index value “+6” obtained by adding the increment “+3” when the distance from the bicycle is equal to or less than the threshold value is output to the control unit 22.
  • the index value calculation unit 21 adds a constant increase to the index value (step ST8e).
  • the increase is a value set in advance for a state in which there is a surrounding vehicle traveling toward the intersection. For example, when the increment is set to “+4”, the index value calculation unit 21 outputs to the control unit 22 an index value obtained by adding the increment “+4” to the index value calculated up to step ST6e.
  • the index value calculation unit 21 ends the process of FIG.
  • the surrounding vehicle traveling toward the intersection from the left side or the right side with respect to the traveling direction of the vehicle as the driving assistance target is the driving assistance target vehicle at the intersection.
  • surrounding vehicles that are traveling in the opposite direction of the driving support target vehicle enter the intersection at the same timing as the driving support target vehicle. For this reason, driving support target vehicles are more likely to travel toward the intersection from the opposite direction of the driving support target vehicle than to surrounding vehicles traveling toward the intersection from the left or right side of the driving support target vehicle. There is a high possibility of collision.
  • the index value calculation unit 21 determines that the surrounding vehicle is a target for driving assistance rather than the increase in the index value in a state where the surrounding vehicle is traveling from the left side or the right side toward the intersection with respect to the traveling direction of the driving target vehicle. You may increase the increment of the index value in the state which is advancing toward the intersection from the opposing direction of a vehicle.
  • the index value calculation unit 21 confirms from which direction the surrounding vehicle is traveling to the intersection by using the position information, speed information, information on the traveling direction of the surrounding vehicle, and map data of the intersection.
  • the in-vehicle information device 2 can drive the vehicle when the driving support target vehicle and the surrounding vehicle are likely to collide. Notification to the person or vehicle operation control can be performed appropriately.
  • the control unit 22 When the index value calculated by the index value calculation unit 21 is greater than the first threshold value TH_a and less than or equal to the second threshold value TH_b, the control unit 22 notifies the driver of warning information by sound and screen display. .
  • the control unit 22 outputs warning information indicating that there is a surrounding vehicle traveling toward the intersection to the display device 40 and the sound output device 41.
  • the display device 40 displays a warning screen based on the warning information input from the control unit 22.
  • the sound output device 41 outputs a warning sound based on the warning information input from the control unit 22.
  • the control unit 22 controls the operation of the vehicle in addition to the notification of the warning information by sound and screen display. For example, the control unit 22 transmits a control information to the vehicle control device 5 in a state in which a warning screen is displayed on the display device 40 and a warning sound is output from the sound output device 41, whereby the vehicle control device 5 The vehicle is automatically decelerated according to the control information of the control unit 22.
  • the index value calculation unit 21 is directed toward an intersection where peripheral vehicles other than the driving support target vehicle exist in the traveling direction of the driving support target vehicle.
  • the index value is increased.
  • the in-vehicle information device 2 can appropriately perform notification to the driver or vehicle operation control when there is a high possibility of collision between the vehicle to be driven and the surrounding vehicle. .
  • the index value calculation unit 21 is based on an increase in the index value in a state in which the surrounding vehicle is traveling toward the intersection from the left side or the right side with respect to the traveling direction of the driving assistance vehicle.
  • the increase in the index value in the state where the surrounding vehicle is traveling from the facing direction of the vehicle to be driven to the intersection toward the intersection is increased.
  • the in-vehicle information device 2 can appropriately perform notification to the driver or vehicle operation control when there is a high possibility of collision between the vehicle to be driven and the surrounding vehicle. .
  • Embodiment 5 the index value is increased when it is determined that the distance between the traffic signal in which the abnormality is detected and the driving support target vehicle is equal to or less than the threshold value.
  • the driver is in a state where there is a high possibility of a collision between the driving support target vehicle and a pedestrian, bicycle or other vehicle other than the driving support target vehicle around which the abnormality is detected. Notification or vehicle operation control can be appropriately performed.
  • the in-vehicle information device is different from the first embodiment in that the index value is increased when the distance between the traffic signal in which an abnormality is detected and the vehicle that is the driving support target is equal to or less than a threshold value.
  • the basic functions of the components are the same as in FIG. Therefore, the configuration of the driving support system and the in-vehicle information device according to Embodiment 5 will be described with reference to FIG.
  • FIG. 11 is a flowchart showing the index value calculation process in the fifth embodiment, and shows details of the process in step ST3 of FIG. Note that the processing from step ST1f to step ST2f and step ST5f to step ST8f in FIG. 11 is the same as the processing from step ST1a to step ST2a and step ST3a to step ST6a in FIG.
  • the index value calculation unit 21 determines whether or not the distance between the traffic signal in which the abnormality is detected and the vehicle that is the driving support target is equal to or less than the threshold (step ST3f). For example, the index value calculation unit 21 uses, among the information acquired by the information acquisition unit 20, the position information, the speed information, and the traveling direction information of the driving support target vehicle, and the traffic signal information including the traffic signal position information. Thus, the distance between the traffic light and the vehicle that is the driving support target is calculated. Then, the index value calculation unit 21 determines whether or not the distance is equal to or less than the threshold based on a comparison result between the calculated distance and a preset threshold value.
  • the threshold value set in advance is, for example, a boundary value of a distance range that the driving support target vehicle should decelerate among the distance range from the position of the traffic light.
  • step ST3f When the distance between the traffic light in which the abnormality is detected and the vehicle to be driven is larger than the threshold (step ST3f; NO), the index value calculation unit 21 proceeds to the process of step ST5f without increasing the index value. .
  • the increment of the index value in a state in which an abnormality is detected in the traffic light is “+1”
  • the index value calculation unit 21 increases the increment with respect to the initial value “0” of the index value in step ST2f. An index value “+1” obtained by adding “+1” is calculated.
  • the index value calculation unit 21 adds a constant increase to the index value (Ste ST4f).
  • the increase is a value set in advance for a state in which the distance between the traffic signal in which an abnormality has been detected and the vehicle that is the driving support target is equal to or less than a threshold value. For example, if the increase in the index value in a state where an abnormality is detected in the traffic light is “+1”, the increase in the index value in the state where the distance between the traffic light and the vehicle that is the driving support target is equal to or less than the threshold value. “+2”.
  • the index value calculation unit 21 calculates an increase “+2” in a state in which the distance between the traffic signal in which the abnormality is detected and the vehicle to be driven is equal to or less than the threshold with respect to the index value “+1” calculated in step ST2f. The added index value “+3” is calculated. Thereafter, the index value calculation unit 21 proceeds to the process of step ST5f.
  • FIG. 12 is a diagram showing a notification example of warning information in the fifth embodiment, and shows a state in which the distance between the traffic signal in which an abnormality has been detected and the vehicle that is the driving assistance target is equal to or less than the threshold value.
  • the control unit 22 outputs, to the display device 40 and the sound output device 41, warning information indicating that the distance between the traffic signal in which the abnormality is detected and the driving support target vehicle is equal to or less than the threshold value.
  • the display device 40 displays the warning screen 6 c based on the warning information input from the control unit 22.
  • the warning screen 6c displays text information 6c-1 indicating that a vehicle to be driven is approaching the traffic signal for which an abnormality is detected, and an icon indicating the traffic signal indicates that the traffic signal is abnormal.
  • the icon 6c-2 is changed.
  • the warning screen 6c displays an icon 6c-3 indicating a vehicle that is a driving support target.
  • the sound output device 41 outputs a warning sound 7 c based on the warning information input from the control unit 22. Based on the warning information, the driver can recognize that the vehicle is approaching the traffic signal where the abnormality is detected.
  • the control unit 22 controls the operation of the vehicle in addition to the notification of the warning information by sound and screen display.
  • the control unit 22 controls the display device 40 to display the warning screen 6c, and controls the sound output device 41 to output the warning sound 7c.
  • the control unit 22 transmits the control information to the vehicle control device 5, so that the vehicle control device 5 automatically decelerates the vehicle traveling toward the traffic signal in which the abnormality is detected according to the control information of the control unit 22.
  • the index value calculation unit 21 determines that the distance between the traffic signal in which an abnormality has been detected and the driving support target vehicle is equal to or less than the threshold value. If the index value is increased. Thereby, the in-vehicle information device 2 is operated when there is a high possibility that a vehicle other than the pedestrian, bicycle, or driving support target vehicle around which the abnormality is detected collides with the driving support target vehicle. The effect that notification to a person or operation control of a vehicle can be performed appropriately is acquired.
  • Embodiment 6 FIG.
  • the next traffic signal (hereinafter referred to as the next traffic signal) in the traveling direction of the vehicle that is the driving support target. .
  • Increase the indicator value when there is a high possibility of a collision between the driving support target vehicle and a pedestrian, bicycle, or another vehicle other than the driving support target vehicle around the next traffic light where an abnormality is detected, Notification to the person or vehicle operation control can be performed appropriately.
  • the in-vehicle information device is different from the first embodiment in that the index value is increased when an abnormality is detected in the next traffic light, but the basic functions of the constituent elements are as follows. The same as FIG. Therefore, the configuration of the driving support system and the in-vehicle information device according to the sixth embodiment will be described with reference to FIG.
  • FIG. 13 is a flowchart showing the index value calculation process in the sixth embodiment, and shows the details of the process in step ST3 in FIG.
  • the processing from step ST1g to step ST2g and step ST7g to step ST10g in FIG. 13 is the same as the processing from step ST1a to step ST2a and step ST3a to step ST6a in FIG.
  • the index value calculation unit 21 determines whether or not an abnormality has been detected in the next traffic light that exists in the traveling direction of the driving support target vehicle (step ST3g). For example, the index value calculation unit 21 compares the light color state of the traffic light recognized from the video information by the information acquisition unit 20 with the light color state in the traffic light information received from the roadside device, and the two are not matched. It is determined that an abnormality has occurred in the next traffic light. The index value calculation unit 21 may determine that an abnormality has occurred in the next traffic signal when the no-light state of the traffic signal is recognized from the video information of the traffic signal input from the information acquisition unit 20.
  • step ST3g If no abnormality is detected in the next traffic light (step ST3g; NO), the index value calculation unit 21 proceeds to the process of step ST7g without increasing the index value.
  • the index value calculation unit 21 increases the increment with respect to the initial value “0” of the index value in step ST2g. An index value “+1” obtained by adding “+1” is calculated.
  • the index value calculation unit 21 adds a constant increment to the index value (step ST4g).
  • the increase is a value set in advance for a state in which an abnormality is detected in the next traffic light that exists in the traveling direction of the vehicle to be driven. For example, when the increment of the index value in a state where an abnormality is detected in the next traffic light is “+1”, the index value calculation unit 21 performs the next to the index value “+1” calculated in step ST2g. An index value “+2” is calculated by adding the increment “+1” in a state where an abnormality is detected in the traffic light. Thereafter, the index value calculation unit 21 proceeds to step ST7g.
  • the index value calculation unit 21 determines whether or not the distance between the next traffic light in which an abnormality has been detected and the driving support target vehicle is equal to or less than a threshold value (step ST5g).
  • the index value calculation unit 21 includes signal information including information on the position information, speed information, and traveling direction of the driving support target vehicle among the information acquired by the information acquisition unit 20, and position information of the next traffic light. Is used to calculate the distance between the next traffic light and the driving support target vehicle.
  • the index value calculation unit 21 determines whether or not the distance is equal to or less than the threshold based on a comparison result between the calculated distance and a preset threshold value.
  • the threshold set in advance is, for example, a boundary value of a distance range that the driving support target vehicle should decelerate among the distance range from the position of the next traffic light.
  • step ST5g When the distance between the next traffic light in which an abnormality is detected and the vehicle to be driven is larger than the threshold (step ST5g; NO), the index value calculation unit 21 performs the process of step ST7g without increasing the index value. Transition. On the other hand, when the distance between the next traffic light in which an abnormality is detected and the vehicle to be driven is equal to or less than the threshold (step ST5g; YES), the index value calculation unit 21 adds a constant increment to the index value. (Step ST6g). The increase is a value set in advance for a state in which the distance between the next traffic light in which an abnormality has been detected and the vehicle that is the driving support target is equal to or less than the threshold value.
  • the index value calculation unit 21 increases the index value “+2” calculated in step ST4g in a state where the distance between the next traffic light in which an abnormality is detected and the vehicle to be driven is equal to or less than the threshold value.
  • An index value “+4” obtained by adding the minute “+2” is calculated. Thereafter, the index value calculation unit 21 proceeds to the process of step ST7g.
  • FIG. 14 is a diagram showing a notification example of warning information in the sixth embodiment, and shows a state in which an abnormality is detected in the next traffic light.
  • the control unit 22 outputs warning information indicating that an abnormality has been detected in the next traffic light to the display device 40 and the sound output device 41.
  • the display device 40 displays a warning screen 6d based on the warning information input from the control unit 22. For example, on the warning screen 6d, text information 6d-1 indicating that the vehicle to be supported for driving is approaching the next traffic light where an abnormality is detected is displayed, and an icon indicating a traffic light ahead indicates that the traffic light is abnormal. The icon indicating that there is a traffic light is changed to an icon 6d-2, and the icon indicating the next traffic light is changed to an icon 6d-3 indicating that the traffic light is abnormal. An arrow A indicates the traveling direction of the vehicle that is the driving assistance target.
  • the sound output device 41 outputs a warning sound 7d based on the warning information input from the control unit 22. Based on the warning information, the driver can recognize that the vehicle is approaching the next traffic light from which an abnormality has been detected.
  • the control unit 22 controls the operation of the vehicle in addition to the notification of the warning information by sound and screen display.
  • the control unit 22 controls the display device 40 to display the warning screen 6d, and controls the sound output device 41 to output the warning sound 7d.
  • the control unit 22 transmits control information to the vehicle control device 5 so that the vehicle control device 5 automatically decelerates the vehicle traveling toward the next traffic light according to the control information of the control unit 22.
  • the index value calculation unit 21 is determined to be in a state in which an abnormality is detected in the next traffic signal in the traveling direction of the driving support target vehicle. In the case of an increase, the index value is increased. As a result, the in-vehicle information device 2 has a high possibility of a collision between the driving support target vehicle and another vehicle other than the pedestrian, bicycle, or driving support target vehicle around the next traffic light where the abnormality is detected. When this is the case, notification to the driver or vehicle operation control can be appropriately performed.
  • the index value calculation unit 21 determines the distance between the traffic light that is present next to the driving direction of the driving support target vehicle and the abnormality is detected, and the driving support target vehicle. When it is determined that the state is equal to or lower than the threshold value, the index value is increased. As a result, the in-vehicle information device 2 is more likely to collide with another vehicle other than the pedestrian, bicycle or driving support target vehicle around the next traffic light where the abnormality is detected and the driving support target vehicle. In addition, it is possible to appropriately perform notification to the driver or operation control of the vehicle.
  • the in-vehicle information device can perform notification to the driver or control the operation of the vehicle at an appropriate timing, it can be used for various driving support devices.
  • 1 driving support system 2 onboard information device, 3 detection unit, 4 output unit, 5,108 vehicle control device, 6a, 6b, 6c, 6d warning screen, 6a-1, 6b-1, 6c-1, 6d-1 Text information, 6a-2, 6b-2, 6c-2, 6c-3, 6d-2, 6d-3 icon, 7a, 7b, 7c, 7d warning voice, 20 information acquisition unit, 21 index value calculation unit, 22 Control unit, 30 imaging unit, 31 position detection unit, 32, 103 map DB, 33 communication unit, 34 vehicle information acquisition unit, 40 display device, 41 sound output device, 100 camera, 101 GPS receiver, 102 DB interface, 104 Receiving device, 105 display, 106 speaker, 107 control interface, 109 processing circuit, 110 processor, 111 memory

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Abstract

In the present invention, if it has been determined that a situation exists in which a malfunction is detected in a signal at an intersection which is present in the direction of progress of a vehicle subject to driving assistance, and/or that a situation exists in which a mobile body is present in the vicinity of the vehicle, and/or that a situation exists in which the distance between the mobile body and the vehicle is less than or equal to a threshold, an onboard information device (2) raises an index of the probability that the vehicle and the mobile body will collide, and if the index is greater than the threshold, carries out a notification to the driver of the vehicle or an operation control of the vehicle.

Description

車載情報装置、運転支援システムおよび運転支援方法In-vehicle information device, driving support system, and driving support method
　この発明は、車両の状態および車両の周辺の状況に応じて運転者への通知または車両の動作制御を行う車載情報装置に関する。 The present invention relates to an in-vehicle information apparatus that performs notification to a driver or vehicle operation control in accordance with the state of the vehicle and the situation around the vehicle.
　従来から、車両周辺の状況に応じて運転者への通知または車両の動作制御を行う技術が提案されている。例えば、特許文献１には、歩行者と車両との衝突危険度に基づいて運転者への通知または車両の動作制御を行う装置が記載されている。この装置では、衝突危険度が大きくなると運転者への通知または車両の動作制御を行うため、運転者への通知または車両の動作制御が頻繁に発生しないように、車両の状態または車両周辺の状況に応じて衝突危険度を減少させている。 Conventionally, techniques for notifying the driver or controlling the operation of the vehicle according to the situation around the vehicle have been proposed. For example, Patent Document 1 describes a device that performs notification to a driver or operation control of a vehicle based on the risk of collision between a pedestrian and a vehicle. In this device, when the risk of collision increases, the driver is notified or the vehicle operation control is performed. Therefore, in order to prevent frequent occurrence of notification to the driver or vehicle operation control, the state of the vehicle or the situation around the vehicle. The risk of collision is reduced accordingly.
特開２００８－１４３３８７号公報JP 2008-143387 A
　特許文献１に記載される従来の装置では、運転者への通知または車両の動作制御が頻繁に発生しないように衝突危険度を減少させている。
　しかしながら、従来の装置では、運転者への通知または車両の動作制御を積極的に行う条件が考慮されていない。このため、従来の装置は、車両の周辺に存在する歩行者または自転車と車両とが衝突する可能性が高い場合であっても運転者への通知または車両の動作制御を適切に行うことができないという課題があった。 In the conventional apparatus described in Patent Document 1, the risk of collision is reduced so that notification to the driver or operation control of the vehicle does not occur frequently.
However, the conventional apparatus does not consider the conditions for actively notifying the driver or controlling the operation of the vehicle. For this reason, the conventional device cannot appropriately perform notification to the driver or control of the operation of the vehicle even when there is a high possibility of collision between the pedestrian or bicycle existing around the vehicle and the vehicle. There was a problem.
　この発明は上記課題を解決するものであり、車両の周辺に存在する歩行者または自転車と車両とが衝突する可能性が高い場合に、運転者への通知または車両の動作制御を適切に行うことができる車載情報装置を得ることを目的とする。 The present invention solves the above-described problem, and appropriately notifies the driver or controls the operation of the vehicle when there is a high possibility that the vehicle will collide with a pedestrian or bicycle existing around the vehicle. It aims at obtaining the vehicle-mounted information device which can do.
　この発明に係る車載情報装置は、情報取得部、指標値算出部および制御部を備える。
　情報取得部は、第１の車両の状態に関する情報および第１の車両の周辺の状況に関する情報を取得する。指標値算出部は、情報取得部によって取得された情報に基づいて、第１の車両の進行方向に存在する交差点の信号機に異常が検出された状態、第１の車両の周辺に移動体が存在する状態および第１の車両の周辺に移動体と第１の車両との距離が閾値以下である状態のうちの少なくとも一つの状態であると判定された場合に、第１の車両と移動体が衝突する可能性の指標値を増加させる。制御部は、指標値算出部から入力した指標値が閾値よりも大きい場合に、第１の車両の運転者への通知または第１の車両の動作制御を行う。 The in-vehicle information device according to the present invention includes an information acquisition unit, an index value calculation unit, and a control unit.
The information acquisition unit acquires information related to the state of the first vehicle and information related to the situation around the first vehicle. The index value calculation unit is based on the information acquired by the information acquisition unit, a state in which an abnormality is detected in a traffic signal at an intersection existing in the traveling direction of the first vehicle, and there is a moving body around the first vehicle And when the distance between the moving body and the first vehicle around the first vehicle is determined to be at least one state, the first vehicle and the moving body are Increase the index value of the possibility of collision. The control unit performs notification to the driver of the first vehicle or operation control of the first vehicle when the index value input from the index value calculation unit is larger than the threshold value.
　この発明によれば、車載情報装置は、車両と移動体とが衝突する可能性の指標値が閾値よりも大きい場合に、車両の運転者への通知または車両の動作制御を行う。指標値は、車両の進行方向に存在する交差点の信号機に異常が検出された状態、車両の周辺に移動体が存在する状態および移動体と車両との距離が閾値以下である状態のうちの少なくとも一つの状態である場合に増加される。これにより、車載情報装置は、車両の周辺に存在する歩行者または自転車と車両とが衝突する可能性が高い場合に、運転者への通知または車両の動作制御を適切に行うことができる。 According to the present invention, the in-vehicle information device performs notification to the driver of the vehicle or operation control of the vehicle when the index value of the possibility that the vehicle and the moving body collide is larger than the threshold value. The index value is at least one of a state in which an abnormality is detected in a traffic signal at an intersection existing in the traveling direction of the vehicle, a state in which a moving body exists around the vehicle, and a state in which the distance between the moving body and the vehicle is equal to or less than a threshold value. Increased when in one state. As a result, the in-vehicle information device can appropriately perform notification to the driver or control of the operation of the vehicle when there is a high possibility that a pedestrian or bicycle existing around the vehicle will collide with the vehicle.
この発明の実施の形態１に係る運転支援システムの構成を示すブロック図である。It is a block diagram which shows the structure of the driving assistance system which concerns on Embodiment 1 of this invention. 実施の形態１に係る運転支援方法を示すフローチャートである。3 is a flowchart showing a driving support method according to the first embodiment. 実施の形態１における指標値算出処理を示すフローチャートである。5 is a flowchart showing index value calculation processing in the first embodiment. 実施の形態１における運転支援処理を示すフローチャートである。3 is a flowchart showing a driving support process in the first embodiment. 実施の形態１における警告情報の通知例を示す図である。6 is a diagram illustrating an example of notification of warning information according to Embodiment 1. FIG. 図６Ａは、実施の形態１に係る車載情報装置の機能を実現するハードウェア構成を示すブロック図である。図６Ｂは、実施の形態１に係る車載情報装置の機能を実現するソフトウェアを実行するハードウェア構成を示すブロック図である。FIG. 6A is a block diagram showing a hardware configuration for realizing the functions of the in-vehicle information device according to Embodiment 1. FIG. 6B is a block diagram illustrating a hardware configuration for executing software that implements the functions of the in-vehicle information device according to Embodiment 1. この発明の実施の形態２における指標値算出処理を示すフローチャートである。It is a flowchart which shows the index value calculation process in Embodiment 2 of this invention. 実施の形態２における警告情報の通知例を示す図である。10 is a diagram illustrating a notification example of warning information according to Embodiment 2. FIG. この発明の実施の形態３における指標値算出処理を示すフローチャートである。It is a flowchart which shows the index value calculation process in Embodiment 3 of this invention. この発明の実施の形態４における指標値算出処理を示すフローチャートである。It is a flowchart which shows the index value calculation process in Embodiment 4 of this invention. この発明の実施の形態５における指標値算出処理を示すフローチャートである。It is a flowchart which shows the index value calculation process in Embodiment 5 of this invention. 実施の形態５における警告情報の通知例を示す図である。FIG. 20 is a diagram illustrating a notification example of warning information in the fifth embodiment. この発明の実施の形態６における指標値算出処理を示すフローチャートである。It is a flowchart which shows the index value calculation process in Embodiment 6 of this invention. 実施の形態６における警告情報の通知例を示す図である。FIG. 20 is a diagram illustrating a notification example of warning information in the sixth embodiment.
　以下、この発明をより詳細に説明するため、この発明を実施するための形態について、添付の図面に従って説明する。
実施の形態１．
　図１は、この発明の実施の形態１に係る運転支援システム１の構成を示すブロック図である。運転支援システム１は、車両の運転者への警告情報の通知または車両の動作制御を行うシステムであり、車載情報装置２を備えている。車両は、自動車または自動二輪車である。また、実施の形態１において、運転支援対象の車両は第１の車両であり、運転支援対象の車両以外に存在する車両は第２の車両である。車載情報装置２は、運転支援対象の車両に搭載された装置であり、検出部３、出力部４および車両制御装置５と接続される。 Hereinafter, in order to describe the present invention in more detail, modes for carrying out the present invention will be described with reference to the accompanying drawings.
Embodiment 1 FIG.
FIG. 1 is a block diagram showing a configuration of a driving support system 1 according to Embodiment 1 of the present invention. The driving support system 1 is a system that performs notification of warning information to the driver of the vehicle or operation control of the vehicle, and includes an in-vehicle information device 2. The vehicle is an automobile or a motorcycle. In the first embodiment, the driving support target vehicle is the first vehicle, and the vehicle other than the driving support target vehicle is the second vehicle. The in-vehicle information device 2 is a device mounted on a driving support target vehicle, and is connected to the detection unit 3, the output unit 4, and the vehicle control device 5.
　車載情報装置２は、運転支援対象の車両とこの車両の周辺の移動体とが衝突する可能性の指標値が事前に設定された閾値よりも大きい場合に、運転支援対象の車両の運転者への警告情報の通知または運転支援対象の車両の動作制御を行う。上記移動体は歩行者または自転車である。車載情報装置２は、上記処理を実行するための構成要素として、情報取得部２０、指標値算出部２１および制御部２２を備える。 The in-vehicle information device 2 provides the driver of the vehicle as a driving assistance target when the index value of the possibility that the vehicle as the driving assistance target and a moving body around the vehicle collide is larger than a preset threshold value. The warning information is notified or the operation of the vehicle to be driven is supported. The moving body is a pedestrian or a bicycle. The in-vehicle information device 2 includes an information acquisition unit 20, an index value calculation unit 21, and a control unit 22 as components for executing the above processing.
　情報取得部２０は、検出部３から入力した検出情報と車両制御装置５から入力した車両情報とから、車両の状態に関する情報および車両の周辺の状況に関する情報を取得する。指標値算出部２１は、情報取得部２０によって取得された車両の状態に関する情報およびこの車両の周辺の状況に関する情報に基づいて上記指標値を算出する。制御部２２は、指標値算出部２１によって算出された上記指標値が上記閾値よりも大きい場合に、運転支援対象の車両の運転者への警告情報の通知またはこの車両の動作制御を行う。 The information acquisition unit 20 acquires information on the state of the vehicle and information on the situation around the vehicle from the detection information input from the detection unit 3 and the vehicle information input from the vehicle control device 5. The index value calculation unit 21 calculates the index value based on the information on the vehicle state acquired by the information acquisition unit 20 and the information on the situation around the vehicle. When the index value calculated by the index value calculation unit 21 is larger than the threshold value, the control unit 22 notifies the driver of the driving support target vehicle of warning information or controls the operation of the vehicle.
　検出部３は、運転支援対象の車両の状態を検出し、運転支援対象の車両の周辺の状況を検出して検出情報を車載情報装置２に出力する。例えば、検出部３は、撮像部３０、位置検出部３１、地図ＤＢ（地図データベース）３２、通信部３３および車両情報取得部３４を備える。 The detection unit 3 detects the state of the vehicle that is the driving assistance target, detects the situation around the driving assistance target vehicle, and outputs the detection information to the in-vehicle information device 2. For example, the detection unit 3 includes an imaging unit 30, a position detection unit 31, a map DB (map database) 32, a communication unit 33, and a vehicle information acquisition unit 34.
　撮像部３０は、運転支援対象の車両に設けられて、この車両の周辺の映像を撮像する。位置検出部３１は、運転支援対象の車両の位置情報を検出する。地図ＤＢ３２には、道路の車線数および交差点の位置が設定された道路情報を含む地図データが登録されている。通信部３３は、交差点近傍に設置された路側機から信号機情報を受信する。車両情報取得部３４は、車両制御装置５から車両情報を取得する。車両情報には、例えば、車両の速度情報および操舵情報が含まれる。 The imaging unit 30 is provided in a vehicle that is a driving support target, and captures images around the vehicle. The position detection unit 31 detects position information of a vehicle that is a driving assistance target. In the map DB 32, map data including road information in which the number of road lanes and the position of an intersection are set is registered. The communication unit 33 receives traffic signal information from a roadside device installed near the intersection. The vehicle information acquisition unit 34 acquires vehicle information from the vehicle control device 5. The vehicle information includes, for example, vehicle speed information and steering information.
　出力部４は、車載情報装置２によって生成された警告情報を視覚的または聴覚的に出力する。例えば、出力部４は、表示装置４０および音出力装置４１を備える。表示装置４０は、車室内に設けられ、運転者から画面が視認可能な位置に設置される。表示装置４０は、制御部２２から入力した警告情報を画面上に表示する。また、音出力装置４１は、車室内に設けられて、運転者が出力音を聴取可能である。音出力装置４１は、制御部２２から入力した警告情報を音声出力する。 The output unit 4 outputs the warning information generated by the in-vehicle information device 2 visually or audibly. For example, the output unit 4 includes a display device 40 and a sound output device 41. The display device 40 is provided in the passenger compartment and is installed at a position where the screen can be visually recognized by the driver. The display device 40 displays the warning information input from the control unit 22 on the screen. Moreover, the sound output device 41 is provided in the vehicle interior so that the driver can listen to the output sound. The sound output device 41 outputs the warning information input from the control unit 22 as a sound.
　車両制御装置５は、運転者の運転操作または車載情報装置２からの制御情報に応じて、車両が備える駆動力装置、操舵装置または制動装置を制御して、車両の動作を制御する。例えば、車両制御装置５は、運転者のブレーキ操作に応じて制動装置を制御することで、車両速度を変更する。また、車両制御装置５は、車載情報装置２からの制御情報に応じて車両を自動で制御する自動運転機能を有してもよい。 The vehicle control device 5 controls the operation of the vehicle by controlling the driving force device, the steering device, or the braking device included in the vehicle according to the driving operation of the driver or the control information from the in-vehicle information device 2. For example, the vehicle control device 5 changes the vehicle speed by controlling the braking device in accordance with the driver's brake operation. Further, the vehicle control device 5 may have an automatic driving function for automatically controlling the vehicle according to control information from the in-vehicle information device 2.
　次に動作について説明する。
　図２は、実施の形態１に係る運転支援方法を示すフローチャートである。
　情報取得部２０が、運転支援対象の車両の状態に関する情報および車両の周辺の状況に関する情報を取得する（ステップＳＴ１）。車両の状態に関する情報には、運転支援対象の車両の位置情報、速度情報および進行方向が含まれる。車両の周辺の状況に関する情報には、運転支援対象の車両の進行方向にある交差点に関する情報、この交差点の信号機に関する情報、車両の走行道路に関する情報、車両の周辺に存在する移動体の状態に関する情報、および交差点に向けて進行する運転支援対象の車両以外の別の車両の状態に関する情報が含まれる。 Next, the operation will be described.
FIG. 2 is a flowchart illustrating the driving support method according to the first embodiment.
The information acquisition unit 20 acquires information related to the state of the vehicle that is the driving assistance target and information related to the situation around the vehicle (step ST1). The information regarding the state of the vehicle includes position information, speed information, and a traveling direction of the vehicle that is a driving assistance target. Information on the situation around the vehicle includes information on the intersection in the traveling direction of the vehicle to be driven, information on the traffic light at this intersection, information on the road on which the vehicle is traveling, information on the state of the moving object existing around the vehicle , And information on the state of another vehicle other than the driving support target vehicle traveling toward the intersection.
　情報取得部２０は、撮像部３０によって撮像された運転支援対象の車両の周辺の映像情報を解析して、運転支援対象の車両の周辺に存在する歩行者または自転車の状態に関する情報を取得する。例えば、情報取得部２０は、パターンマッチングなどの画像認識手法を用いて車両周辺の歩行者または自転車の存在を認識し、映像の歩行者または自転車の位置変化を逐次認識することによって、歩行者または自転車の位置情報、移動速度情報および進行方向に関する情報を取得する。 The information acquisition unit 20 analyzes the video information around the driving support target vehicle imaged by the imaging unit 30, and acquires information on the state of the pedestrian or bicycle existing around the driving support target vehicle. For example, the information acquisition unit 20 recognizes the presence of a pedestrian or a bicycle around the vehicle using an image recognition technique such as pattern matching, and sequentially recognizes the position change of the pedestrian or the bicycle in the image, thereby Obtain information on bicycle position information, travel speed information, and travel direction.
　また、情報取得部２０は、撮像部３０によって撮像された交差点の信号機の映像情報を解析して信号機の灯色状態を認識する。情報取得部２０は、認識した信号機の灯色状態と通信部３３によって路側機から受信された信号機情報とを含んだ情報を、交差点の信号機に関する情報として指標値算出部２１に出力する。情報取得部２０は、位置検出部３１によって検出された運転支援対象の車両の位置情報と地図ＤＢ３２に登録された地図データとを用いて、運転支援対象の車両の進行方向にある交差点に関する情報および上記車両の走行道路に関する情報を取得する。 Further, the information acquisition unit 20 analyzes the video information of the traffic signal at the intersection captured by the imaging unit 30 and recognizes the lamp color state of the traffic signal. The information acquisition unit 20 outputs information including the recognized light color state of the traffic signal and the traffic signal information received from the roadside device by the communication unit 33 to the index value calculation unit 21 as information regarding the traffic signal at the intersection. The information acquisition unit 20 uses the position information of the driving support target vehicle detected by the position detection unit 31 and the map data registered in the map DB 32, and information on an intersection in the traveling direction of the driving support target vehicle and Information on the road on which the vehicle is traveling is acquired.
　指標値算出部２１は、情報取得部２０によって取得された上記情報に基づいて、運転支援対象の車両の進行方向に存在する交差点の信号機に異常が検出された状態、この車両の周辺に歩行者または自転車が存在する状態および上記車両の周辺に存在する歩行者または自転車と上記車両との距離が閾値以下である状態のうちの少なくとも一つの状態であると判定された場合に、上記指標値を増加させる（ステップＳＴ２）。 Based on the information acquired by the information acquisition unit 20, the index value calculation unit 21 is in a state in which an abnormality is detected in a traffic signal at an intersection existing in the traveling direction of the vehicle to be driven, and a pedestrian around the vehicle. Alternatively, when it is determined that there is at least one of a state where a bicycle is present and a distance between a pedestrian or bicycle existing around the vehicle and the vehicle is equal to or less than a threshold value, the index value is Increase (step ST2).
　例えば、指標値算出部２１は、上記交差点の信号機に異常が検出された場合に、指標値の初期値に対して一定の増加分を加算した値を指標値とする。指標値算出部２１は、上記交差点の信号機に異常が検出されるか、またはこの信号機に異常が検出されなくても運転支援対象の車両の周辺に歩行者または自転車が存在すると、一定の増加分をさらに加算した値を指標値とする。指標値算出部２１は、運転支援対象の車両と歩行者または自転車との距離が閾値以下であれば、一定の増加分をさらに加算した値を指標値とする。 For example, when an abnormality is detected in the traffic signal at the intersection, the index value calculation unit 21 sets a value obtained by adding a constant increment to the initial value of the index value as the index value. The index value calculation unit 21 detects a certain amount of increase if an abnormality is detected in the traffic signal at the intersection or if there is a pedestrian or a bicycle around the driving support target vehicle even if no abnormality is detected in the traffic light. A value obtained by further adding is used as an index value. If the distance between the driving support target vehicle and the pedestrian or the bicycle is equal to or smaller than the threshold value, the index value calculation unit 21 sets a value obtained by further adding a constant increase as the index value.
　制御部２２は、指標値算出部２１から入力した指標値が閾値よりも大きい場合に、運転支援対象の車両の運転者への警告情報の通知または運転支援対象の車両の動作制御を行う（ステップＳＴ３）。例えば、制御部２２は、事前に設定された第１の閾値および第２の閾値（第２の閾値は第１の閾値よりも大きい）を用いて、指標値が第１の閾値よりも大きく第２の閾値以下であれば、運転者への警告情報の通知を行う。制御部２２は、指標値が第２の閾値よりも大きければ、運転支援対象の車両の動作制御を行う。 When the index value input from the index value calculation unit 21 is larger than the threshold value, the control unit 22 notifies the driver of the driving support target vehicle of the warning information or controls the operation of the driving support target vehicle (step). ST3). For example, the control unit 22 uses the first threshold value and the second threshold value (the second threshold value is larger than the first threshold value) set in advance, and the index value is larger than the first threshold value. If it is less than or equal to the threshold of 2, warning information is notified to the driver. If the index value is larger than the second threshold value, the control unit 22 controls the operation of the driving support target vehicle.
　例えば、制御部２２は、車両の進行方向に存在する交差点の信号機に異常が検出されたことを示す警告情報を、出力部４の表示装置４０と音出力装置４１に出力する。表示装置４０は、制御部２２から入力した警告情報に基づいて警告画面を表示し、音出力装置４１は、制御部２２から入力した警告情報に基づいて警告音を出力する。運転支援対象の車両と歩行者または自転車との距離が閾値以下である場合、制御部２２は、歩行者または自転車と車両が衝突する可能性が高いため、警告情報の通知に加えて、車両を減速させるか、歩行者または自転車を回避する自動運転を行う。 For example, the control unit 22 outputs warning information indicating that an abnormality has been detected in a traffic signal at an intersection existing in the traveling direction of the vehicle to the display device 40 and the sound output device 41 of the output unit 4. The display device 40 displays a warning screen based on the warning information input from the control unit 22, and the sound output device 41 outputs a warning sound based on the warning information input from the control unit 22. When the distance between the driving support target vehicle and the pedestrian or bicycle is equal to or less than the threshold, the control unit 22 is likely to collide with the pedestrian or bicycle and the vehicle. Decelerate or drive automatically to avoid pedestrians or bicycles.
　次に、実施の形態１における指標値算出処理について詳細に説明する。
　図３は、実施の形態１における指標値算出処理を示すフローチャートであって、図２のステップＳＴ２の処理の詳細を示している。
　指標値算出部２１は、情報取得部２０から入力した、運転支援対象の車両の進行方向に存在する交差点の信号機に関する情報に基づいて、上記信号機に異常が検出されたか否かを判定する（ステップＳＴ１ａ）。例えば、指標値算出部２１は、情報取得部２０によって映像情報から認識された信号機の灯色状態と路側機から受信された信号機情報における灯色状態とを比較して両者が整合していない場合、信号機に異常が発生していると判定する。また、指標値算出部２１は、情報取得部２０から入力した信号機の映像情報から信号機の無灯状態が認識された場合、信号機に異常が発生していると判定してもよい。 Next, the index value calculation process in the first embodiment will be described in detail.
FIG. 3 is a flowchart showing the index value calculation process in the first embodiment and shows details of the process in step ST2 of FIG.
The index value calculation unit 21 determines whether or not an abnormality has been detected in the traffic signal based on the information regarding the traffic signal at the intersection existing in the traveling direction of the driving support target vehicle input from the information acquisition unit 20 (step) ST1a). For example, the index value calculation unit 21 compares the light color state of the traffic light recognized from the video information by the information acquisition unit 20 with the light color state in the traffic light information received from the roadside device, and the two are not consistent. It is determined that an abnormality has occurred in the traffic light. The index value calculation unit 21 may determine that an abnormality has occurred in the traffic signal when the no-light state of the traffic signal is recognized from the video information of the traffic signal input from the information acquisition unit 20.
　信号機に異常が検出された場合（ステップＳＴ１ａ；ＹＥＳ）、指標値算出部２１は、指標値の初期値に対して一定の増加分を加算する（ステップＳＴ２ａ）。指標値の初期値は、ステップＳＴ１ａの処理前の状況が運転者に警告情報を通知すべき状況でなければ、“０”である。増加分は、車両前方の信号機に異常が検出された状態に対して事前に設定された値である。例えば、この増加分を“＋１”とすると、指標値算出部２１は、初期値“０”に対して上記増加分“＋１”を加算した指標値を算出する。 When an abnormality is detected in the traffic light (step ST1a; YES), the index value calculation unit 21 adds a constant increment to the initial value of the index value (step ST2a). The initial value of the index value is “0” if the situation before the processing in step ST1a is not a situation where warning information should be notified to the driver. The increment is a value set in advance for a state in which an abnormality is detected in the traffic light in front of the vehicle. For example, if this increment is “+1”, the index value calculator 21 calculates an index value obtained by adding the increment “+1” to the initial value “0”.
　ステップＳＴ２ａの処理が完了したか、または、信号機に異常が検出されなかった場合（ステップＳＴ１ａ；ＮＯ）、指標値算出部２１は、情報取得部２０から入力した、運転支援対象の車両の周辺に存在する移動体の状態に関する情報に基づいて、この車両の周辺に歩行者または自転車が存在するか否かを判定する（ステップＳＴ３ａ）。 When the processing of step ST2a is completed or no abnormality is detected in the traffic light (step ST1a; NO), the index value calculation unit 21 is input from the information acquisition unit 20 around the driving support target vehicle. Based on the information regarding the state of the existing moving body, it is determined whether or not there are pedestrians or bicycles around the vehicle (step ST3a).
　車両周辺に歩行者または自転車が存在しなければ（ステップＳＴ３ａ；ＮＯ）、指標値算出部２１は、図３の処理を終了する。信号機に異常が検出されず、かつ車両周辺に歩行者または自転車が存在しなかった場合、指標値算出部２１は、制御部２２に対して指標値の初期値“０”を出力する。一方、信号機に異常が検出されたが、車両周辺に歩行者または自転車が存在しなければ、指標値算出部２１は、初期値“０”に対して、信号機に異常が検出された状態についての増加分“＋１”を加算した指標値“＋１”を、制御部２２に出力する。 If there are no pedestrians or bicycles around the vehicle (step ST3a; NO), the index value calculation unit 21 ends the process of FIG. When no abnormality is detected in the traffic light and there is no pedestrian or bicycle around the vehicle, the index value calculation unit 21 outputs an initial value “0” of the index value to the control unit 22. On the other hand, if an abnormality is detected in the traffic light, but there is no pedestrian or bicycle in the vicinity of the vehicle, the index value calculation unit 21 determines whether the abnormality is detected in the traffic light with respect to the initial value “0”. The index value “+1” obtained by adding the increment “+1” is output to the control unit 22.
　運転支援対象の車両の周辺に歩行者または自転車が存在する場合（ステップＳＴ３ａ；ＹＥＳ）、指標値算出部２１は、指標値に対して一定の増加分を加算する（ステップＳＴ４ａ）。上記増加分は、運転支援対象の車両の周辺に歩行者または自転車が存在する状態に対して事前に設定された値である。例えば、この増加分を“＋２”とすると、指標値算出部２１は、従前の指標値に対して増加分“＋２”を加算した指標値を算出する。 When there are pedestrians or bicycles around the driving support target vehicle (step ST3a; YES), the index value calculation unit 21 adds a constant increment to the index value (step ST4a). The increase is a value set in advance for a state in which there are pedestrians or bicycles around the driving support target vehicle. For example, when this increase is “+2”, the index value calculation unit 21 calculates an index value obtained by adding the increase “+2” to the previous index value.
　ステップＳＴ４ａの処理が完了すると、指標値算出部２１は、運転支援対象の車両と、この車両の周辺に存在する歩行者または自転車との距離が閾値以下であるか否かを判定する（ステップＳＴ５ａ）。例えば、指標値算出部２１は、情報取得部２０から入力した、運転支援対象の車両の位置情報、速度情報および進行方向に関する情報と、車両の周辺に存在する歩行者または自転車の位置情報、速度情報および進行方向に関する情報とを用いて、運転支援対象の車両と歩行者または自転車との距離をリアルタイムに算出する。指標値算出部２１は、算出した上記距離を事前に設定された閾値と比較し、この比較の結果に基づいて上記距離が閾値以下であるか否かを判定する。 When the process of step ST4a is completed, the index value calculation unit 21 determines whether or not the distance between the driving support target vehicle and a pedestrian or bicycle existing around the vehicle is equal to or less than a threshold (step ST5a). ). For example, the index value calculation unit 21 inputs the position information, speed information, and information on the traveling direction of the driving support target vehicle, the position information of the pedestrian or the bicycle existing around the vehicle, and the speed, which are input from the information acquisition unit 20. The distance between the driving support target vehicle and the pedestrian or the bicycle is calculated in real time using the information and the information on the traveling direction. The index value calculation unit 21 compares the calculated distance with a preset threshold value, and determines whether the distance is equal to or less than the threshold value based on the comparison result.
　運転支援対象の車両と歩行者または自転車との距離が閾値よりも大きい場合（ステップＳＴ５ａ；ＮＯ）、指標値算出部２１は、図３の処理を終了する。信号機に異常が検出されず、車両周辺に歩行者または自転車が存在するが、運転支援対象の車両と歩行者または自転車との距離が閾値よりも大きかった場合、指標値算出部２１は、初期値“０”に対して、車両周辺に歩行者または自転車が存在する状態についての増加分“＋２”を加算した指標値“＋２”を、制御部２２に出力する。 When the distance between the driving support target vehicle and the pedestrian or bicycle is greater than the threshold (step ST5a; NO), the index value calculation unit 21 ends the process of FIG. When no abnormality is detected in the traffic light and there are pedestrians or bicycles around the vehicle, but the distance between the driving support target vehicle and the pedestrians or bicycles is larger than the threshold value, the index value calculation unit 21 sets the initial value. An index value “+2” obtained by adding an increment “+2” for a state where a pedestrian or a bicycle is present around the vehicle to “0” is output to the control unit 22.
　また、信号機に異常が検出され、かつ車両周辺に歩行者または自転車が存在するが、運転支援対象の車両と歩行者または自転車との距離が閾値よりも大きければ、指標値算出部２１は、信号機に異常が検出された状態についての増加分“＋１”を初期値“０”に加算した指標値“＋１”に対して、車両周辺に歩行者または自転車が存在する状態についての増加分“＋２”を加算した指標値“＋３”を、制御部２２に出力する。 In addition, if an abnormality is detected in the traffic light and there are pedestrians or bicycles around the vehicle, but the distance between the driving support target vehicle and the pedestrian or bicycle is greater than a threshold value, the index value calculation unit 21 In contrast to an index value “+1” obtained by adding “+1” to the initial value “0” for the state in which an abnormality is detected, an increase “+2” for a state where there are pedestrians or bicycles around the vehicle The index value “+3” obtained by adding is added to the control unit 22.
　運転支援対象の車両と歩行者または自転車との距離が閾値以下である場合（ステップＳＴ５ａ；ＹＥＳ）、指標値算出部２１は、指標値に対して一定の増加分を加算する（ステップＳＴ６ａ）。上記増加分は、運転支援対象の車両と歩行者または自転車との距離が閾値以下である状態に対して事前に設定された値である。例えば、この増加分を“＋３”とすると、指標値算出部２１は、ステップＳＴ４ａまでの指標値に対して増加分“＋３”を加算した指標値を算出する。 When the distance between the driving support target vehicle and the pedestrian or bicycle is equal to or less than the threshold value (step ST5a; YES), the index value calculation unit 21 adds a constant increment to the index value (step ST6a). The increase is a value set in advance for a state in which the distance between the driving support target vehicle and the pedestrian or the bicycle is equal to or less than a threshold value. For example, if this increase is “+3”, the index value calculation unit 21 calculates an index value obtained by adding the increase “+3” to the index value up to step ST4a.
　ステップＳＴ６ａの処理が完了すると、指標値算出部２１は、図３の処理を終了する。信号機に異常が検出されなかったが、車両周辺に歩行者または自転車が存在して、車両と歩行者または自転車との距離が閾値以下であれば、指標値算出部２１は、車両周辺に歩行者または自転車が存在する状態での増加分“＋２”を初期値“０”に加算した指標値“＋２”に対して、車両と歩行者または自転車との距離が閾値以下である状態での増加分“＋３”を加算した指標値“＋５”を、制御部２２に出力する。 When the process of step ST6a is completed, the index value calculation unit 21 ends the process of FIG. If no abnormality is detected in the traffic light, but there is a pedestrian or bicycle around the vehicle and the distance between the vehicle and the pedestrian or bicycle is equal to or less than the threshold, the index value calculation unit 21 Alternatively, the increment in the state where the distance between the vehicle and the pedestrian or the bicycle is equal to or less than the threshold with respect to the index value “+2” obtained by adding the increment “+2” in the state where the bicycle exists to the initial value “0”. The index value “+5” obtained by adding “+3” is output to the control unit 22.
　また、信号機に異常が検出され、車両周辺に歩行者または自転車が存在し、かつ車両と歩行者または自転車との距離が閾値以下である場合、指標値算出部２１は、信号機に異常が検出された状態での増加分“＋１”を初期値“０”に加算した指標値“＋１”に対し、車両周辺に歩行者または自転車が存在する状態での増加分“＋２”と、車両と歩行者または自転車との距離が閾値以下である状態での増加分“＋３”とを加算した指標値“＋６”を、制御部２２に出力する。 In addition, when an abnormality is detected in the traffic light, a pedestrian or a bicycle is present around the vehicle, and the distance between the vehicle and the pedestrian or the bicycle is equal to or less than a threshold value, the index value calculation unit 21 detects an abnormality in the traffic light. In contrast to the index value “+1” obtained by adding the increment “+1” to the initial value “0”, the increment “+2” when there are pedestrians or bicycles around the vehicle and the vehicle and the pedestrian Alternatively, an index value “+6” obtained by adding the increment “+3” when the distance from the bicycle is equal to or less than the threshold value is output to the control unit 22.
　なお、信号機に異常が検出された状態、車両周辺に歩行者または自転車が存在する状態および車両と歩行者または自転車との距離が閾値以下である状態で指標値の増加分を順に大きくした場合を示したが、これらの状態での指標値の増加分は一定であってもよい。
　例えば、指標値の増加分を全ての状態で“＋１”としてもよい。 In the case where an abnormality is detected in the traffic light, there are pedestrians or bicycles around the vehicle, and the distance between the vehicle and the pedestrians or bicycles is less than or equal to the threshold, the increment of the index value is increased in order. Although shown, the increment of the index value in these states may be constant.
For example, the increment of the index value may be “+1” in all states.
　次に、運転支援処理について詳細に説明する。
　図４は、実施の形態１における運転支援処理を示すフローチャートであり、図２のステップＳＴ３の処理の詳細を示している。
　制御部２２は、指標値算出部２１から入力した上記指標値が第１の閾値ＴＨ＿ａよりも大きいか否かを判定する（ステップＳＴ１ｂ）。第１の閾値ＴＨ＿ａは、指標値に関する閾値であり、運転者へ警告情報の通知が不要な指標値の上限値である。ここで、指標値が第１の閾値ＴＨ＿ａ以下である場合（ステップＳＴ１ｂ；ＮＯ）、制御部２２は、運転者への警告情報の通知が不要と判断して、通知を実行しない（ステップＳＴ２ｂ）。 Next, the driving support process will be described in detail.
FIG. 4 is a flowchart showing the driving support process in the first embodiment, and shows details of the process in step ST3 of FIG.
The controller 22 determines whether or not the index value input from the index value calculator 21 is greater than the first threshold value TH_a (step ST1b). The first threshold value TH_a is a threshold value related to the index value, and is an upper limit value of the index value that does not require notification of warning information to the driver. Here, when the index value is equal to or less than the first threshold TH_a (step ST1b; NO), the control unit 22 determines that notification of warning information to the driver is unnecessary and does not execute the notification (step ST2b). .
　指標値が第１の閾値ＴＨ＿ａよりも大きい場合（ステップＳＴ１ｂ；ＹＥＳ）、制御部２２は、指標値算出部２１から入力した上記指標値が第２の閾値ＴＨ＿ｂよりも大きいか否かを判定する（ステップＳＴ３ｂ）。第２の閾値ＴＨ＿ｂは、第１の閾値ＴＨ＿ａよりも大きな値であり、運転支援対象の車両の動作制御が不要な指標値の下限値である。
　指標値が第１の閾値ＴＨ＿ａよりも大きく、かつ第２の閾値ＴＨ＿ｂ以下である場合（ステップＳＴ３ｂ；ＮＯ）、制御部２２は、音および画面表示によって警告情報を運転者に通知する（ステップＳＴ４ｂ）。 When the index value is greater than the first threshold value TH_a (step ST1b; YES), the control unit 22 determines whether or not the index value input from the index value calculation unit 21 is greater than the second threshold value TH_b. (Step ST3b). The second threshold value TH_b is a value larger than the first threshold value TH_a, and is a lower limit value of an index value that does not require operation control of the driving support target vehicle.
When the index value is greater than the first threshold value TH_a and less than or equal to the second threshold value TH_b (step ST3b; NO), the control unit 22 notifies the driver of warning information by sound and screen display (step ST4b). ).
　図５は、実施の形態１における警告情報の通知例を示す図であり、運転支援対象の車両の進行方向に存在する交差点に設置された信号機に異常が検出された状態を示している。制御部２２は、上記交差点の信号機に異常が検出されたことを示す警告情報を表示装置４０および音出力装置４１に出力する。表示装置４０は、制御部２２から入力した警告情報に基づいて警告画面６ａを表示する。 FIG. 5 is a diagram showing an example of notification of warning information in the first embodiment, and shows a state in which an abnormality is detected at a traffic light installed at an intersection existing in the traveling direction of a vehicle that is a driving support target. The control unit 22 outputs warning information indicating that an abnormality has been detected in the traffic signal at the intersection to the display device 40 and the sound output device 41. The display device 40 displays the warning screen 6a based on the warning information input from the control unit 22.
　例えば、警告画面６ａには、信号機に異常が検出されたことを示すテキスト情報６ａ－１が表示されており、信号機を示すアイコンが、信号機に異常があることを示すアイコン６ａ－２に変更されている。さらに、音出力装置４１は、制御部２２から入力した警告情報に基づいて警告音声７ａを出力する。運転者は、警告情報に基づいて前方の信号機が正しく機能していないことを認識できる。 For example, text information 6a-1 indicating that an abnormality has been detected in the traffic light is displayed on the warning screen 6a, and the icon indicating the traffic signal is changed to an icon 6a-2 indicating that the traffic signal is abnormal. ing. Furthermore, the sound output device 41 outputs a warning sound 7 a based on the warning information input from the control unit 22. The driver can recognize that the traffic signal ahead is not functioning correctly based on the warning information.
　一方、指標値が第２の閾値ＴＨ＿ｂよりも大きい場合（ステップＳＴ３ｂ；ＹＥＳ）、制御部２２は、車両速度を制御し、音および画面表示によって警告情報を運転者に通知する（ステップＳＴ５ｂ）。例えば、制御部２２は、表示装置４０を制御して警告画面６ａを表示させ、音出力装置４１を制御して警告音声７ａを出力させる。さらに、制御部２２は、車両制御装置５に制御情報を送信することにより、車両制御装置５は、制御部２２の制御情報に従って、交差点へ進入する車両を自動で減速させる。 On the other hand, when the index value is larger than the second threshold TH_b (step ST3b; YES), the control unit 22 controls the vehicle speed and notifies the driver of warning information by sound and screen display (step ST5b). For example, the control unit 22 controls the display device 40 to display the warning screen 6a and controls the sound output device 41 to output the warning sound 7a. Further, the control unit 22 transmits control information to the vehicle control device 5, so that the vehicle control device 5 automatically decelerates the vehicle entering the intersection according to the control information of the control unit 22.
　信号機の機能が停止すると、車両、歩行者および自転車は、交差点における交通の指示を失ってしまい、事故が発生する危険が高くなる。これに対して、運転支援システム１では、信号機の異常が検出された状態で、歩行者または自転車と車両とが衝突する可能性の指標値を増加させる。さらに、運転支援システム１は、実際に、車両周辺に歩行者または自転車が存在する状態になると、上記指標値を増加させ、両者の距離が閾値以下の状態になると、上記指標値を増加させる。これにより、運転支援システム１では、上記指標値が閾値よりも大きくなった場合、すなわち、車両周辺に存在する歩行者または自転車と車両とが衝突する可能性が高くなった場合に、運転者への通知または車両の動作制御を適切に行うことができる。 When the traffic light stops functioning, vehicles, pedestrians and bicycles lose traffic instructions at intersections, increasing the risk of accidents. On the other hand, in the driving assistance system 1, the index value of the possibility that the pedestrian or the bicycle and the vehicle collide is increased in a state where the abnormality of the traffic light is detected. Further, the driving support system 1 actually increases the index value when a pedestrian or a bicycle is present around the vehicle, and increases the index value when the distance between the two is equal to or less than a threshold value. Thereby, in the driving assistance system 1, when the said index value becomes larger than a threshold value, ie, when the possibility that the pedestrian or bicycle which exists in the vehicle periphery and a vehicle will collide becomes high, to a driver | operator. Notification or vehicle operation control can be performed appropriately.
　車載情報装置２における、情報取得部２０、指標値算出部２１および制御部２２の機能は、処理回路によって実現される。すなわち、車載情報装置２は、図２におけるステップＳＴ１からステップＳＴ３までの処理を実行するための処理回路を備えている。この処理回路は、専用のハードウェアであってもよいが、メモリに記憶されたプログラムを実行するＣＰＵ（Ｃｅｎｔｒａｌ　Ｐｒｏｃｅｓｓｉｎｇ　Ｕｎｉｔ）であってもよい。 The functions of the information acquisition unit 20, the index value calculation unit 21, and the control unit 22 in the in-vehicle information device 2 are realized by a processing circuit. That is, the in-vehicle information device 2 includes a processing circuit for executing the processing from step ST1 to step ST3 in FIG. This processing circuit may be dedicated hardware, or may be a CPU (Central Processing Unit) that executes a program stored in a memory.
　図６Ａは、車載情報装置２の機能を実現するハードウェア構成を示すブロック図である。図６Ｂは、車載情報装置２の機能を実現するソフトウェアを実行するハードウェア構成を示すブロック図である。図６Ａおよび図６Ｂにおいて、カメラ１００は、図１に示した撮像部３０であり、車両の周辺を撮像する。ＧＰＳ（全地球測位システム）受信機１０１は、図１に示した位置検出部３１であり、車両の位置の緯度経度を検出する。ＤＢインタフェース１０２は、地図ＤＢ１０３から車載情報装置２へ入力される地図データを中継する。地図ＤＢ１０３は、図１に示した地図ＤＢ３２である。例えば、情報取得部２０は、ＤＢインタフェース１０２を介して、地図ＤＢ３２から地図データを取得する。受信装置１０４は、図１に示した通信部３３である。受信装置１０４は、路側機と通信して交差点に設置された信号機の信号機情報を受信する。 FIG. 6A is a block diagram showing a hardware configuration for realizing the functions of the in-vehicle information device 2. FIG. 6B is a block diagram illustrating a hardware configuration for executing software that implements the functions of the in-vehicle information device 2. 6A and 6B, the camera 100 is the imaging unit 30 shown in FIG. 1, and images the periphery of the vehicle. The GPS (Global Positioning System) receiver 101 is the position detector 31 shown in FIG. 1 and detects the latitude and longitude of the position of the vehicle. The DB interface 102 relays map data input from the map DB 103 to the in-vehicle information device 2. The map DB 103 is the map DB 32 shown in FIG. For example, the information acquisition unit 20 acquires map data from the map DB 32 via the DB interface 102. The receiving device 104 is the communication unit 33 illustrated in FIG. The receiving device 104 communicates with the roadside device and receives the traffic signal information of the traffic signal installed at the intersection.
　ディスプレイ１０５は、図１に示した表示装置４０である。ディスプレイ１０５には、例えば、図５に示した警告画面６ａが表示される。スピーカ１０６は、図１に示した音出力装置４１である。スピーカ１０６は、例えば、図５に示した警告音声７ａを出力する。制御インタフェース１０７は、車載情報装置２から車両制御装置１０８へ出力される制御情報を中継する。車両制御装置１０８は、図１に示した車両制御装置５である。例えば、制御部２２は、制御インタフェース１０７を介して、車両の減速指令を車両制御装置５に出力する。車両制御装置５は、この減速指令に従って車両を減速させる。 The display 105 is the display device 40 shown in FIG. On the display 105, for example, the warning screen 6a shown in FIG. 5 is displayed. The speaker 106 is the sound output device 41 shown in FIG. The speaker 106 outputs, for example, the warning sound 7a shown in FIG. The control interface 107 relays control information output from the in-vehicle information device 2 to the vehicle control device 108. The vehicle control device 108 is the vehicle control device 5 shown in FIG. For example, the control unit 22 outputs a vehicle deceleration command to the vehicle control device 5 via the control interface 107. The vehicle control device 5 decelerates the vehicle according to this deceleration command.
　上記処理回路が図６Ａに示す専用のハードウェアの処理回路１０９である場合に、処理回路１０９は、例えば、単一回路、複合回路、プログラム化したプロセッサ、並列プログラム化したプロセッサ、ＡＳＩＣ（Ａｐｐｌｉｃａｔｉｏｎ　Ｓｐｅｃｉｆｉｃ　Ｉｎｔｅｇｒａｔｅｄ　Ｃｉｒｃｕｉｔ）、ＦＰＧＡ（Ｆｉｅｌｄ－Ｐｒｏｇｒａｍｍａｂｌｅ　Ｇａｔｅ　Ａｒｒａｙ）、またはこれらを組み合わせたものが該当する。車載情報装置２における、情報取得部２０、指標値算出部２１および制御部２２の機能を別々の処理回路で実現してもよく、これらの機能をまとめて１つの処理回路で実現してもよい。 When the processing circuit is the dedicated hardware processing circuit 109 shown in FIG. 6A, the processing circuit 109 may be, for example, a single circuit, a composite circuit, a programmed processor, a parallel programmed processor, an ASIC (Application Specific). An integrated circuit (FP), a field-programmable gate array (FPGA), or a combination thereof is applicable. The functions of the information acquisition unit 20, the index value calculation unit 21, and the control unit 22 in the in-vehicle information device 2 may be realized by separate processing circuits, or these functions may be realized by a single processing circuit. .
　上記処理回路が図６Ｂに示すプロセッサ１１０である場合、車載情報装置２における、情報取得部２０、指標値算出部２１および制御部２２の機能は、ソフトウェア、ファームウェアまたはソフトウェアとファームウェアとの組み合わせによって実現される。なお、ソフトウェアまたはファームウェアは、プログラムとして記述されてメモリ１１１に記憶される。 When the processing circuit is the processor 110 shown in FIG. 6B, the functions of the information acquisition unit 20, the index value calculation unit 21, and the control unit 22 in the in-vehicle information device 2 are realized by software, firmware, or a combination of software and firmware. Is done. The software or firmware is described as a program and stored in the memory 111.
　プロセッサ１１０は、メモリ１１１に記憶されたプログラムを読み出して実行することにより、車載情報装置２における、情報取得部２０、指標値算出部２１および制御部２２の機能を実現する。すなわち、車載情報装置２は、プロセッサ１１０によって実行されるときに、図２に示したステップＳＴ１からステップＳＴ３までの処理が結果的に実行されるプログラムを記憶するためのメモリ１１１を備える。これらのプログラムは、情報取得部２０、指標値算出部２１および制御部２２の手順または方法をコンピュータに実行させる。メモリ１１１は、コンピュータを、情報取得部２０、指標値算出部２１および制御部２２として機能させるためのプログラムが記憶されたコンピュータ可読記憶媒体であってもよい。 The processor 110 implements the functions of the information acquisition unit 20, the index value calculation unit 21, and the control unit 22 in the in-vehicle information device 2 by reading and executing a program stored in the memory 111. That is, the in-vehicle information device 2 includes a memory 111 for storing a program that, when executed by the processor 110, results from the processing from step ST1 to step ST3 shown in FIG. These programs cause the computer to execute the procedures or methods of the information acquisition unit 20, the index value calculation unit 21, and the control unit 22. The memory 111 may be a computer-readable storage medium in which a program for causing a computer to function as the information acquisition unit 20, the index value calculation unit 21, and the control unit 22 is stored.
　メモリ１１１には、例えば、ＲＡＭ（Ｒａｎｄｏｍ　Ａｃｃｅｓｓ　Ｍｅｍｏｒｙ）、ＲＯＭ（Ｒｅａｄ　Ｏｎｌｙ　Ｍｅｍｏｒｙ）、フラッシュメモリ、ＥＰＲＯＭ（Ｅｒａｓａｂｌｅ　Ｐｒｏｇｒａｍｍａｂｌｅ　Ｒｅａｄ　Ｏｎｌｙ　Ｍｅｍｏｒｙ）、ＥＥＰＲＯＭ（Ｅｌｅｃｔｒｉｃａｌｌｙ－ＥＰＲＯＭ）などの不揮発性または揮発性の半導体メモリ、磁気ディスク、フレキシブルディスク、光ディスク、コンパクトディスク、ミニディスク、ＤＶＤなどが該当する。 The memory 111 includes, for example, a nonvolatile memory such as a RAM (Random Access Memory), a ROM (Read Only Memory), a flash memory, an EPROM (Erasable Programmable Read Only Memory), an EEPROM (Electrically-EPROM), or a volatile memory such as an EEPROM (Electrically-EPROM). Magnetic disks, flexible disks, optical disks, compact disks, mini disks, DVDs, and the like are applicable.
　情報取得部２０、指標値算出部２１、および制御部２２の機能は、一部を専用のハードウェアで実現し、一部をソフトウェアまたはファームウェアで実現してもよい。
　例えば、情報取得部２０は、専用のハードウェアである処理回路で機能を実現して、指標値算出部２１および制御部２２は、プロセッサ１１０がメモリ１１１に記憶されたプログラムを読み出して実行することによって機能を実現する。このように、処理回路は、ハードウェア、ソフトウェア、ファームウェアまたはこれらの組み合わせにより上記機能を実現することができる。 The functions of the information acquisition unit 20, the index value calculation unit 21, and the control unit 22 may be partially realized by dedicated hardware and partially realized by software or firmware.
For example, the information acquisition unit 20 realizes the function by a processing circuit that is dedicated hardware, and the index value calculation unit 21 and the control unit 22 read and execute a program stored in the memory 111 by the processor 110. By realizing the function. As described above, the processing circuit can realize the above functions by hardware, software, firmware, or a combination thereof.
　以上のように、実施の形態１に係る車載情報装置２が、指標値が閾値よりも大きい場合に、運転者への警告情報の通知または車両の動作制御を行う。指標値は、車両の進行方向に存在する交差点の信号機に異常が検出された状態、車両の周辺に移動体が存在する状態および移動体と車両との距離が閾値以下である状態のうちの少なくとも一つの状態である場合に増加される。信号機に異常があると、交差点における交通の指示が信号機から適切に得られないため、事故が発生する可能性が高くなる。さらに、異常が検出された信号機が設置された交差点に運転支援対象の車両が進行し、この車両の周辺に歩行者または自転車が存在すると、車両と歩行者または自転車とが衝突する可能性が高くなる。
　そこで、車載情報装置２では、上記３つの状態のうちの少なくとも一つの状態であると判定されたときに指標値を増加させる。これにより、車載情報装置２は、運転支援対象の車両とその周辺に存在する歩行者または自転車とが衝突する可能性が高い場合に、運転者への通知または車両の動作制御を適切に行うことができるという効果が得られる。
　なお、車載情報装置２を備える運転支援システム１においても上記効果は得られ、図２に示した運転支援方法を実行しても上記効果は得られる。 As described above, when the index value is larger than the threshold value, the in-vehicle information device 2 according to Embodiment 1 notifies the driver of warning information or controls the operation of the vehicle. The index value is at least one of a state in which an abnormality is detected in a traffic signal at an intersection existing in the traveling direction of the vehicle, a state in which a moving body exists around the vehicle, and a state in which the distance between the moving body and the vehicle is equal to or less than a threshold value. Increased when in one state. If there is an abnormality in the traffic light, traffic instructions at the intersection cannot be properly obtained from the traffic signal, and the possibility of an accident increases. Furthermore, if a vehicle subject to driving assistance travels at an intersection where a traffic light where an abnormality is detected travels and there is a pedestrian or bicycle around the vehicle, there is a high possibility that the vehicle will collide with the pedestrian or bicycle. Become.
Therefore, the in-vehicle information device 2 increases the index value when it is determined that the state is at least one of the three states. Thereby, the vehicle-mounted information device 2 appropriately performs notification to the driver or operation control of the vehicle when there is a high possibility that the vehicle to be supported for driving and a pedestrian or bicycle existing in the vicinity will collide. The effect of being able to be obtained.
In addition, the said effect is acquired also in the driving assistance system 1 provided with the vehicle-mounted information apparatus 2, and the said effect is acquired even if the driving assistance method shown in FIG. 2 is performed.
　車載情報装置２が、情報取得部２０、指標値算出部２１および制御部２２を備える場合を示したが、これらは、車載装置とは別に設けられた外部装置が備える構成要素であってもよい。例えば、情報取得部２０、指標値算出部２１および制御部２２は、車両に搭載された検出部３、出力部４および車両制御装置５と通信可能なサーバ装置が備えてもよい。　　　 Although the case where the in-vehicle information device 2 includes the information acquisition unit 20, the index value calculation unit 21, and the control unit 22 has been shown, these may be components included in an external device provided separately from the in-vehicle device. . For example, the information acquisition unit 20, the index value calculation unit 21, and the control unit 22 may be provided in a server device that can communicate with the detection unit 3, the output unit 4, and the vehicle control device 5 mounted on the vehicle. *
　上記サーバ装置において、情報取得部２０は、通信ネットワークを介して、車両の状態に関する情報および車両周辺の状況に関する情報を検出部３から取得する。指標値算出部２１は、情報取得部２０によって取得された上記情報に基づいて指標値を算出する。制御部２２は、上記指標値が閾値よりも大きい場合に、通信ネットワークを介して、警告情報を出力部４に送信するか、車両の制御情報を車両制御装置５に送信する。車両の出力部４は、サーバ装置から受信された警告情報を出力し、車両制御装置５は、サーバ装置からの制御情報に従って車両の動作を制御する。これにより、運転支援対象の車両とその周辺に存在する歩行者または自転車とが衝突する可能性が高い場合に運転者への通知または車両の動作制御を適切に行うことができる。 In the server device, the information acquisition unit 20 acquires information on the state of the vehicle and information on the situation around the vehicle from the detection unit 3 via the communication network. The index value calculation unit 21 calculates an index value based on the information acquired by the information acquisition unit 20. When the index value is greater than the threshold value, the control unit 22 transmits warning information to the output unit 4 or transmits vehicle control information to the vehicle control device 5 via the communication network. The output unit 4 of the vehicle outputs warning information received from the server device, and the vehicle control device 5 controls the operation of the vehicle according to the control information from the server device. Thereby, when there is a high possibility that a vehicle to be driven assisting and a pedestrian or bicycle existing in the vicinity will collide, it is possible to appropriately perform notification to the driver or operation control of the vehicle.
実施の形態２．
　実施の形態２に係る運転支援システムは、運転支援対象の車両の周辺に存在する歩行者または自転車が、この車両の進行方向に存在する交差点に向けて進行していると、指標値を増加させる。これにより、歩行者または自転車と車両との衝突の可能性が高い状態であるときに、運転者への通知または車両の動作制御を適切に行うことができる。 Embodiment 2. FIG.
The driving support system according to Embodiment 2 increases the index value when a pedestrian or a bicycle existing in the vicinity of the driving support target vehicle is traveling toward an intersection existing in the traveling direction of the vehicle. . Thereby, when the possibility of a collision between a pedestrian or a bicycle and a vehicle is high, notification to the driver or operation control of the vehicle can be appropriately performed.
　実施の形態２に係る車載情報装置は、運転支援対象の車両の進行方向に存在する交差点に向けて歩行者または自転車が進行する状態であるときに指標値を増加させる点で実施の形態１と異なるが、構成要素の基本的な機能は図１と同じである。従って、実施の形態２に係る運転支援システムおよび車載情報装置の構成については、図１を用いて説明する。 The in-vehicle information device according to the second embodiment is different from the first embodiment in that the index value is increased when a pedestrian or a bicycle is traveling toward an intersection existing in the traveling direction of the driving support target vehicle. Although different, the basic functions of the components are the same as in FIG. Therefore, the configuration of the driving support system and the in-vehicle information device according to the second embodiment will be described with reference to FIG.
　図７は、実施の形態２における指標値算出処理を示すフローチャートであって、図２のステップＳＴ３の処理の詳細を示している。図７におけるステップＳＴ１ｃからステップＳＴ６ｃまでの処理は、図３に示したステップＳＴ１ａからステップＳＴ６ａまでの処理と同じであるので説明を省略する。 FIG. 7 is a flowchart showing the index value calculation process in the second embodiment, and shows details of the process in step ST3 in FIG. The processing from step ST1c to step ST6c in FIG. 7 is the same as the processing from step ST1a to step ST6a shown in FIG.
　ステップＳＴ６ｃの処理が完了すると、指標値算出部２１は、運転支援対象の車両の周辺に存在する歩行者または自転車が、運転支援対象の車両の進行方向に存在する交差点に向けて進行しているか否かを判定する（ステップＳＴ７ｃ）。例えば、指標値算出部２１は、情報取得部２０によって取得された情報のうち、車両の周辺に存在する歩行者または自転車の進行方向に関する情報と上記交差点の地図データとを用いて、歩行者または自転車が上記交差点に向けて進行しているか否かを判定する。 When the process of step ST6c is completed, the index value calculation unit 21 determines whether a pedestrian or a bicycle existing around the driving support target vehicle is moving toward an intersection existing in the traveling direction of the driving support target vehicle. It is determined whether or not (step ST7c). For example, the index value calculation unit 21 uses information on the traveling direction of a pedestrian or bicycle existing around the vehicle and the map data of the intersection among the information acquired by the information acquisition unit 20, It is determined whether or not the bicycle is traveling toward the intersection.
　歩行者または自転車が上記交差点に向けて進行していなければ（ステップＳＴ７ｃ；ＮＯ）、指標値算出部２１は、図７の処理を終了する。例えば、指標値の初期値を“０”とし、信号機に異常が検出された状態での指標値の増加分を“１”とし、運転支援対象の車両の周辺に歩行者または自転車が存在する状態での指標値の増加分を“２”とし、車両と歩行者または自転車との距離が閾値以下の状態での指標値の増加分を“３”とする。 If the pedestrian or the bicycle is not moving toward the intersection (step ST7c; NO), the index value calculation unit 21 ends the process of FIG. For example, the initial value of the index value is “0”, the increment of the index value when an abnormality is detected in the traffic light is “1”, and there are pedestrians or bicycles around the driving support target vehicle The increment of the index value at “2” is “2”, and the increment of the index value when the distance between the vehicle and the pedestrian or bicycle is equal to or less than the threshold is “3”.
　このとき、信号機に異常が検出されなかったが、車両周辺に歩行者または自転車が存在し、車両と歩行者または自転車との距離が閾値以下であれば、指標値算出部２１は、車両周辺に歩行者または自転車が存在する状態についての増加分“＋２”を初期値“０”に加算した指標値“＋２”に対して車両と歩行者または自転車との距離が閾値以下である状態についての増加分“＋３”を加算した指標値“＋５”を、制御部２２に出力する。 At this time, no abnormality was detected in the traffic light, but if there is a pedestrian or bicycle around the vehicle and the distance between the vehicle and the pedestrian or bicycle is equal to or less than the threshold value, the index value calculation unit 21 Increase in the state where the distance between the vehicle and the pedestrian or the bicycle is below the threshold with respect to the index value “+2” obtained by adding “+2” to the initial value “0” for the state where the pedestrian or the bicycle is present The index value “+5” obtained by adding the minute “+3” is output to the control unit 22.
　また、信号機に異常が検出され、車両周辺に歩行者または自転車が存在し、かつ車両と歩行者または自転車との距離が閾値以下である場合、指標値算出部２１は、信号機に異常が検出された状態についての増加分“＋１”を初期値“０”に加算した指標値“＋１”に対して、車両周辺に歩行者または自転車が存在する状態についての増加分“＋２”と車両と歩行者または自転車との距離が閾値以下である状態についての増加分“＋３”とを加算した指標値“＋６”を、制御部２２に出力する。 In addition, when an abnormality is detected in the traffic light, a pedestrian or a bicycle is present around the vehicle, and the distance between the vehicle and the pedestrian or the bicycle is equal to or less than a threshold value, the index value calculation unit 21 detects an abnormality in the traffic light. In contrast to the index value “+1” obtained by adding the increment “+1” to the initial value “0” to the initial value “0”, the increment “+2” and the vehicle and the pedestrian when the pedestrian or bicycle exists around the vehicle Alternatively, an index value “+6” obtained by adding the increment “+3” when the distance from the bicycle is equal to or less than the threshold value is output to the control unit 22.
　一方、歩行者または自転車が上記交差点に向けて進行している場合（ステップＳＴ７ｃ；ＹＥＳ）、指標値算出部２１は、指標値に対して一定の増加分を加算する（ステップＳＴ８ｃ）。上記増加分は、運転支援対象の車両の周辺に存在する歩行者または自転車が上記交差点に向けて進行している状態に対して事前に設定された値である。例えば、この増加分を“＋４”とした場合、指標値算出部２１は、ステップＳＴ６ｃまでに算出された指標値に対して上記増加分“＋４”を加算した指標値を算出する。 On the other hand, when the pedestrian or the bicycle is traveling toward the intersection (step ST7c; YES), the index value calculation unit 21 adds a constant increment to the index value (step ST8c). The increase is a value set in advance with respect to a state in which a pedestrian or a bicycle existing in the vicinity of the driving support target vehicle is traveling toward the intersection. For example, when this increment is set to “+4”, the index value calculation unit 21 calculates an index value obtained by adding the increment “+4” to the index value calculated up to step ST6c.
　ステップＳＴ８ｃの処理が完了すると、指標値算出部２１は、図７の処理を終了する。例えば、信号機に異常が検出されなかったが、車両の周辺に歩行者または自転車が存在し、車両と歩行者または自転車との距離が閾値以下であり、さらに、歩行者または自転車が交差点に向けて進行している場合を考える。この場合、指標値算出部２１は、車両の周辺に歩行者または自転車が存在する状態での増加分“＋２”を初期値“０”に加算した指標値“＋２”に対して、車両と歩行者または自転車との距離が閾値以下である状態での増加分“＋３”と、歩行者または自転車が交差点に向けて進行している状態での増加分“＋４”とを加算した指標値“＋９”を、制御部２２に出力する。 When the process of step ST8c is completed, the index value calculation unit 21 ends the process of FIG. For example, no abnormality is detected in the traffic light, but there are pedestrians or bicycles around the vehicle, the distance between the vehicle and the pedestrians or bicycles is below a threshold, and the pedestrians or bicycles are moving toward the intersection. Consider the case of progress. In this case, the index value calculation unit 21 walks with the vehicle with respect to the index value “+2” obtained by adding “+2” to the initial value “0” when the pedestrian or the bicycle is present around the vehicle. An index value “+9” obtained by adding the increment “+3” when the distance to the person or the bicycle is equal to or less than the threshold and the increment “+4” when the pedestrian or the bicycle is moving toward the intersection. "Is output to the control unit 22.
　また、信号機に異常が検出され、車両周辺に歩行者または自転車が存在し、車両と歩行者または自転車との距離が閾値以下であり、さらに歩行者または自転車が交差点に向けて進行している場合を考える。この場合、指標値算出部２１は、信号機に異常が検出された状態での増加分“＋１”を初期値“０”に加算した指標値“＋１”に対して、車両周辺に歩行者または自転車が存在する状態での増加分“＋２”と、車両と歩行者または自転車との距離が閾値以下である状態での増加分“＋３”と、歩行者または自転車が交差点に向けて進行している状態での増加分“＋４”とを加算した指標値“＋１０”を、制御部２２に出力する。 Also, when an abnormality is detected in the traffic light, there are pedestrians or bicycles around the vehicle, the distance between the vehicle and the pedestrians or bicycles is less than the threshold, and the pedestrians or bicycles are moving toward the intersection think of. In this case, the index value calculation unit 21 uses a pedestrian or bicycle around the vehicle with respect to the index value “+1” obtained by adding “+1” to the initial value “0” when an abnormality is detected in the traffic light. The pedestrian or bicycle is moving toward the intersection with the increase “+2” when the vehicle is present and the increase “+3” when the distance between the vehicle and the pedestrian or bicycle is below the threshold. The index value “+10” obtained by adding the increment “+4” in the state is output to the control unit 22.
　制御部２２は、指標値算出部２１によって算出された指標値“＋９”または“＋１０”が第１の閾値ＴＨ＿ａよりも大きく、かつ第２の閾値ＴＨ＿ｂ以下である場合、音および画面表示によって警告情報を運転者に通知する。図８は、実施の形態２における警告情報の通知例を示す図であり、運転支援対象の車両の周辺に存在する自転車が交差点に向けて進入している状態を示している。制御部２２は、自転車が交差点に向けて進行していることを示す警告情報を、表示装置４０および音出力装置４１に出力する。 When the index value “+9” or “+10” calculated by the index value calculation unit 21 is larger than the first threshold value TH_a and less than or equal to the second threshold value TH_b, the control unit 22 warns by sound and screen display. Notify the driver of information. FIG. 8 is a diagram illustrating a notification example of warning information according to the second embodiment, and illustrates a state in which a bicycle existing around a driving support target vehicle is approaching an intersection. The control unit 22 outputs warning information indicating that the bicycle is traveling toward the intersection to the display device 40 and the sound output device 41.
　表示装置４０は、制御部２２から入力した上記警告情報に基づいて警告画面６ｂを表示する。例えば、警告画面６ｂには、運転支援対象の車両の進行方向にある交差点に自転車が進入することを示すテキスト情報６ｂ－１が表示され、自転車を示すアイコン６ｂ－２の進行方向を示す矢印が交差点の地図上に表示されている。さらに、音出力装置４１は、制御部２２から入力した警告情報に基づいて警告音声７ｂを出力する。運転者は、警告情報に基づいて、車両の進行方向にある交差点に向けて、車両周辺の自転車も進入しようとしていることを認識できる。 The display device 40 displays the warning screen 6b based on the warning information input from the control unit 22. For example, the warning screen 6b displays text information 6b-1 indicating that a bicycle enters an intersection in the traveling direction of the driving support target vehicle, and an arrow indicating the traveling direction of the icon 6b-2 indicating the bicycle. It is displayed on the intersection map. Furthermore, the sound output device 41 outputs a warning sound 7b based on the warning information input from the control unit 22. Based on the warning information, the driver can recognize that a bicycle around the vehicle is also approaching an intersection in the traveling direction of the vehicle.
　また、指標値算出部２１によって算出された指標値“＋９”または“＋１０”が第２の閾値ＴＨ＿ｂよりも大きい場合、制御部２２は、音および画面表示による警告情報の通知に加え、車両の動作を制御する。例えば、制御部２２は、表示装置４０を制御して警告画面６ｂを表示させ、音出力装置４１を制御して警告音声７ｂを出力させる。さらに、制御部２２は、車両制御装置５に制御情報を送信することにより、車両制御装置５は、制御部２２の制御情報に従って、交差点へ進入する車両を自動で減速させるか、あるいは自転車を自動で回避する運転操作を行う。 When the index value “+9” or “+10” calculated by the index value calculation unit 21 is larger than the second threshold value TH_b, the control unit 22 notifies the warning information by sound and screen display, Control the behavior. For example, the control unit 22 controls the display device 40 to display the warning screen 6b and controls the sound output device 41 to output the warning sound 7b. Further, the control unit 22 transmits the control information to the vehicle control device 5 so that the vehicle control device 5 automatically decelerates the vehicle entering the intersection or automatically uses the bicycle according to the control information of the control unit 22. Do the driving operation to avoid.
　なお、信号機に異常が検出された状態、車両周辺に歩行者または自転車が存在する状態、車両と歩行者または自転車との距離が閾値以下である状態、および歩行者または自転車が交差点に向けて進行している状態での指標値の増加分を順に大きくした場合を示したが、これらの状態での指標値の増加分は一定であってもよい。例えば、指標値の増加分を全ての状態で“＋１”としてもよい。 It should be noted that an abnormality is detected in the traffic light, a pedestrian or a bicycle is present around the vehicle, a distance between the vehicle and the pedestrian or the bicycle is less than a threshold value, and the pedestrian or the bicycle proceeds toward the intersection. Although the case where the increment of the index value in the state of being increased is sequentially increased is shown, the increment of the index value in these states may be constant. For example, the increment of the index value may be “+1” in all states.
　以上のように、実施の形態２に係る車載情報装置２において、指標値算出部２１が、運転支援対象の車両の周辺に存在する移動体（歩行者または自転車）が上記車両の進行方向に存在する交差点に向けて進行している状態であると判定された場合に、指標値を増加させる。これにより、車載情報装置２は、運転支援対象の車両とその周辺に存在する移動体とが衝突する可能性が高い場合に、運転者への通知または車両の動作制御を適切に行うことができるという効果が得られる。 As described above, in the in-vehicle information device 2 according to the second embodiment, the index value calculation unit 21 has a moving body (pedestrian or bicycle) existing around the driving support target vehicle in the traveling direction of the vehicle. The index value is increased when it is determined that the vehicle is traveling toward the intersection. As a result, the in-vehicle information device 2 can appropriately perform notification to the driver or operation control of the vehicle when there is a high possibility that the vehicle to be driven assists and a moving body existing in the vicinity thereof will collide. The effect is obtained.
実施の形態３．
　実施の形態３に係る運転支援システムでは、運転支援対象の車両が片側一車線の道路を走行している状態であると判定された場合に、指標値を増加させる。これにより、歩行者または自転車と車両との衝突の可能性が高い状態であるときに、運転者への通知または車両の動作制御を適切に行うことができる。 Embodiment 3 FIG.
In the driving support system according to Embodiment 3, the index value is increased when it is determined that the vehicle to be driven is driving on a one-lane road. Thereby, when the possibility of a collision between a pedestrian or a bicycle and a vehicle is high, notification to the driver or operation control of the vehicle can be appropriately performed.
　実施の形態３に係る車載情報装置は、運転支援対象の車両が片側一車線の道路を走行している状態であるときに指標値を増加させる点で、実施の形態１と異なるが、構成要素の基本的な機能は図１と同じである。従って、実施の形態３に係る運転支援システムおよび車載情報装置の構成については、図１を用いて説明する。 The in-vehicle information device according to the third embodiment differs from the first embodiment in that the index value is increased when the vehicle to be driven is driving on a one-lane road. The basic functions are the same as those in FIG. Therefore, the configuration of the driving support system and the in-vehicle information device according to Embodiment 3 will be described with reference to FIG.
　図９は、実施の形態３における指標値算出処理を示すフローチャートであって、図２のステップＳＴ３の処理の詳細を示している。図９におけるステップＳＴ１ｄからステップＳＴ６ｄまでの処理は、図３に示したステップＳＴ１ａからステップＳＴ６ａまでの処理と同じであるので説明を省略する。 FIG. 9 is a flowchart showing the index value calculation process in the third embodiment, and shows details of the process in step ST3 in FIG. The processing from step ST1d to step ST6d in FIG. 9 is the same as the processing from step ST1a to step ST6a shown in FIG.
　ステップＳＴ６ｄの処理が完了すると、指標値算出部２１は、運転支援対象の車両が片側一車線の道路を走行している状態であるか否かを判定する（ステップＳＴ７ｄ）。
　例えば、指標値算出部２１は、情報取得部２０によって取得された情報のうち、車両が走行している道路の道路情報を用いて、車両が片側一車線の道路を走行しているか否かを判定する。 When the process of step ST6d is completed, the index value calculation unit 21 determines whether or not the driving support target vehicle is traveling on a one-lane road (step ST7d).
For example, the index value calculation unit 21 uses the road information of the road on which the vehicle is traveling among the information acquired by the information acquisition unit 20 to determine whether the vehicle is traveling on a one-lane road. judge.
　車両が片側複数車線の道路を走行している場合（ステップＳＴ７ｄ；ＮＯ）、指標値算出部２１は、図９の処理を終了する。例えば、指標値の初期値を“０”とし、信号機に異常が検出された状態での指標値の増加分を“１”とし、運転支援対象の車両の周辺に歩行者または自転車が存在する状態での指標値の増加分を“２”とし、車両と歩行者または自転車との距離が閾値以下の状態での指標値の増加分を“３”とする。 When the vehicle is traveling on a road with one side of multiple lanes (step ST7d; NO), the index value calculation unit 21 ends the process of FIG. For example, the initial value of the index value is “0”, the increment of the index value when an abnormality is detected in the traffic light is “1”, and there are pedestrians or bicycles around the driving support target vehicle The increment of the index value at “2” is “2”, and the increment of the index value when the distance between the vehicle and the pedestrian or bicycle is equal to or less than the threshold is “3”.
　このとき、信号機に異常が検出されなかったが、車両周辺に歩行者または自転車が存在し、車両と歩行者または自転車との距離が閾値以下であれば、指標値算出部２１は、車両周辺に歩行者または自転車が存在する状態についての増加分“＋２”を初期値“０”に加算した指標値“＋２”に対して車両と歩行者または自転車との距離が閾値以下である状態についての増加分“＋３”を加算した指標値“＋５”を、制御部２２に出力する。 At this time, no abnormality was detected in the traffic light, but if there is a pedestrian or bicycle around the vehicle and the distance between the vehicle and the pedestrian or bicycle is equal to or less than the threshold value, the index value calculation unit 21 Increase in the state where the distance between the vehicle and the pedestrian or the bicycle is below the threshold with respect to the index value “+2” obtained by adding “+2” to the initial value “0” for the state where the pedestrian or the bicycle is present The index value “+5” obtained by adding the minute “+3” is output to the control unit 22.
　また、信号機に異常が検出され、車両周辺に歩行者または自転車が存在し、かつ車両と歩行者または自転車との距離が閾値以下である場合、指標値算出部２１は、信号機に異常が検出された状態についての増加分“＋１”を初期値“０”に加算した指標値“＋１”に対して、車両周辺に歩行者または自転車が存在する状態についての増加分“＋２”と車両と歩行者または自転車との距離が閾値以下である状態についての増加分“＋３”とを加算した指標値“＋６”を、制御部２２に出力する。 In addition, when an abnormality is detected in the traffic light, a pedestrian or a bicycle is present around the vehicle, and the distance between the vehicle and the pedestrian or the bicycle is equal to or less than a threshold value, the index value calculation unit 21 detects an abnormality in the traffic light. In contrast to the index value “+1” obtained by adding the increment “+1” to the initial value “0” to the initial value “0”, the increment “+2” and the vehicle and the pedestrian when the pedestrian or bicycle exists around the vehicle Alternatively, an index value “+6” obtained by adding the increment “+3” when the distance from the bicycle is equal to or less than the threshold value is output to the control unit 22.
　車両が片側一車線の道路を走行している場合（ステップＳＴ７ｄ；ＹＥＳ）、指標値算出部２１は、指標値に対して一定の増加分を加算する（ステップＳＴ８ｄ）。上記増加分は、運転支援対象の車両が片側一車線の道路を走行している状態に対して事前に設定された値である。例えば、この増加分を“＋４”とした場合、指標値算出部２１は、ステップＳＴ６ｄまでに算出された指標値に対して上記増加分“＋４”を加算した指標値を、制御部２２に出力する。ステップＳＴ８ｄの処理が完了すると、指標値算出部２１は、図９の処理を終了する。 When the vehicle is traveling on a one-lane road (step ST7d; YES), the index value calculation unit 21 adds a constant increment to the index value (step ST8d). The increase is a value set in advance with respect to a state in which the driving support target vehicle is traveling on a one-lane road. For example, when this increase is set to “+4”, the index value calculation unit 21 outputs an index value obtained by adding the increase “+4” to the index value calculated up to step ST6d to the control unit 22. To do. When the process of step ST8d is completed, the index value calculation unit 21 ends the process of FIG.
　制御部２２は、指標値算出部２１によって算出された指標値が第１の閾値ＴＨ＿ａよりも大きく、かつ第２の閾値ＴＨ＿ｂ以下である場合、音および画面表示によって警告情報を運転者に通知する。例えば、制御部２２は、運転支援対象の車両が片側一車線の道路を走行していることを示す警告情報を表示装置４０および音出力装置４１に出力する。表示装置４０は、制御部２２から入力した上記警告情報に基づいて警告画面を表示する。音出力装置４１は、制御部２２から入力した警告情報に基づいて警告音声を出力する。 When the index value calculated by the index value calculation unit 21 is greater than the first threshold value TH_a and less than or equal to the second threshold value TH_b, the control unit 22 notifies the driver of warning information by sound and screen display. . For example, the control unit 22 outputs warning information indicating that the driving support target vehicle is traveling on a one-lane road to the display device 40 and the sound output device 41. The display device 40 displays a warning screen based on the warning information input from the control unit 22. The sound output device 41 outputs a warning sound based on the warning information input from the control unit 22.
　また、指標値算出部２１によって算出された指標値が第２の閾値ＴＨ＿ｂよりも大きい場合、制御部２２は、音および画面表示による警告情報の通知に加え、車両の動作を制御する。例えば、制御部２２は、表示装置４０に警告画面を表示させ、音出力装置４１に警告音声を出力させた状態で、車両制御装置５に制御情報を送信することにより、車両制御装置５は、制御部２２の制御情報に従って車両を自動で減速させる。 Further, when the index value calculated by the index value calculation unit 21 is larger than the second threshold TH_b, the control unit 22 controls the operation of the vehicle in addition to the notification of the warning information by sound and screen display. For example, the control unit 22 transmits a control information to the vehicle control device 5 in a state in which a warning screen is displayed on the display device 40 and a warning sound is output from the sound output device 41, whereby the vehicle control device 5 The vehicle is automatically decelerated according to the control information of the control unit 22.
　信号機に異常が検出された状態、車両周辺に歩行者または自転車が存在する状態、車両と歩行者または自転車との距離が閾値以下である状態、および、車両が片側一車線の道路を走行している状態における指標値の増加分を順に大きくした場合を示したが、これらの状態での指標値の増加分は一定であってもよい。例えば、指標値の増加分を全ての状態で“＋１”としてもよい。 A state in which an abnormality has been detected in the traffic light, a state in which there are pedestrians or bicycles around the vehicle, a state in which the distance between the vehicle and the pedestrians or bicycles is less than a threshold, and a vehicle traveling on a single lane road Although the case where the increment of the index value in the state of being increased is sequentially increased is shown, the increment of the index value in these states may be constant. For example, the increment of the index value may be “+1” in all states.
　以上のように、実施の形態３に係る車載情報装置２において、指標値算出部２１は、運転支援対象の車両が片側一車線の道路を走行している状態であると判定された場合、指標値を増加させる。これにより、車載情報装置２は、運転支援対象の車両とその周辺に存在する移動体とが衝突する可能性が高い場合に、運転者への通知または車両の動作制御を適切に行うことができるという効果が得られる。 As described above, in the in-vehicle information device 2 according to Embodiment 3, when the index value calculation unit 21 determines that the driving support target vehicle is traveling on a one-lane road, the indicator Increase the value. As a result, the in-vehicle information device 2 can appropriately perform notification to the driver or operation control of the vehicle when there is a high possibility that the vehicle to be driven assists and a moving body existing in the vicinity thereof will collide. The effect is obtained.
実施の形態４．
　実施の形態４に係る運転支援システムでは、第１の車両（運転支援対象の車両）の進行方向に存在する交差点に向けて第１の車両以外の第２の車両（以下、周辺車両と記載する）が進行している状態であると判定された場合に、指標値を増加させる。これによって、運転支援対象の車両とその周辺車両との衝突の可能性が高い状態であるときに、運転者への通知または車両の動作制御を適切に行うことができる。 Embodiment 4 FIG.
In the driving support system according to Embodiment 4, a second vehicle other than the first vehicle (hereinafter referred to as a surrounding vehicle) is described toward an intersection existing in the traveling direction of the first vehicle (vehicle to be driven). ) Is increased, the index value is increased. This makes it possible to appropriately perform notification to the driver or control of the operation of the vehicle when the possibility of a collision between the vehicle to be driven and the surrounding vehicle is high.
　実施の形態４に係る車載情報装置は、周辺車両が上記交差点に向けて進行している状態であるときに指標値を増加させる点で実施の形態１と異なるが、構成要素の基本的な機能は図１と同じである。従って、実施の形態４に係る運転支援システムおよび車載情報装置の構成については、図１を用いて説明する。 The in-vehicle information device according to the fourth embodiment differs from the first embodiment in that the index value is increased when the surrounding vehicle is traveling toward the intersection, but the basic functions of the constituent elements Is the same as FIG. Therefore, the configuration of the driving support system and the in-vehicle information device according to the fourth embodiment will be described with reference to FIG.
　図１０は、実施の形態４における指標値算出処理を示すフローチャートであり、図２のステップＳＴ３の処理の詳細を示している。なお、図１０におけるステップＳＴ１ｅからステップＳＴ６ｅまでの処理は、図３に示したステップＳＴ１ａからステップＳＴ６ａまでの処理と同じであるので説明を省略する。 FIG. 10 is a flowchart showing the index value calculation process in the fourth embodiment, and shows details of the process in step ST3 in FIG. Note that the processing from step ST1e to step ST6e in FIG. 10 is the same as the processing from step ST1a to step ST6a shown in FIG.
　ステップＳＴ６ｅの処理が完了すると、指標値算出部２１は、交差点に向けて進行している周辺車両が存在するか否かを判定する（ステップＳＴ７ｅ）。例えば、指標値算出部２１は、情報取得部２０によって取得された情報のうち、周辺車両の位置情報、速度情報および進行方向に関する情報と交差点の地図データとを用いて、周辺車両が交差点に向けて進行しているか否かを判定する。 When the processing of step ST6e is completed, the index value calculation unit 21 determines whether or not there is a surrounding vehicle traveling toward the intersection (step ST7e). For example, the index value calculation unit 21 uses the information about the position information, speed information, and traveling direction of the surrounding vehicle, and the map data of the intersection among the information acquired by the information acquisition unit 20 to turn the surrounding vehicle toward the intersection. To determine whether it is progressing.
　交差点に向けて進行する周辺車両が存在しない場合（ステップＳＴ７ｅ；ＮＯ）、指標値算出部２１は、図１０の処理を終了する。例えば、指標値の初期値を“０”とし、信号機に異常が検出された状態での指標値の増加分を“１”とし、運転支援対象の車両の周辺に歩行者または自転車が存在する状態での指標値の増加分を“２”とし、車両と歩行者または自転車との距離が閾値以下の状態での指標値の増加分を“３”とする。 When there is no surrounding vehicle traveling toward the intersection (step ST7e; NO), the index value calculation unit 21 ends the process of FIG. For example, the initial value of the index value is “0”, the increment of the index value when an abnormality is detected in the traffic light is “1”, and there are pedestrians or bicycles around the driving support target vehicle The increment of the index value at “2” is “2”, and the increment of the index value when the distance between the vehicle and the pedestrian or bicycle is equal to or less than the threshold is “3”.
　このとき、信号機に異常が検出されなかったが、車両周辺に歩行者または自転車が存在し、車両と歩行者または自転車との距離が閾値以下であれば、指標値算出部２１は、車両周辺に歩行者または自転車が存在する状態についての増加分“＋２”を初期値“０”に加算した指標値“＋２”に対して車両と歩行者または自転車との距離が閾値以下である状態についての増加分“＋３”を加算した指標値“＋５”を、制御部２２に出力する。 At this time, no abnormality was detected in the traffic light, but if there is a pedestrian or bicycle around the vehicle and the distance between the vehicle and the pedestrian or bicycle is equal to or less than the threshold value, the index value calculation unit 21 Increase in the state where the distance between the vehicle and the pedestrian or the bicycle is below the threshold with respect to the index value “+2” obtained by adding “+2” to the initial value “0” for the state where the pedestrian or the bicycle is present The index value “+5” obtained by adding the minute “+3” is output to the control unit 22.
　また、信号機に異常が検出され、車両周辺に歩行者または自転車が存在し、かつ車両と歩行者または自転車との距離が閾値以下である場合、指標値算出部２１は、信号機に異常が検出された状態についての増加分“＋１”を初期値“０”に加算した指標値“＋１”に対して、車両周辺に歩行者または自転車が存在する状態についての増加分“＋２”と車両と歩行者または自転車との距離が閾値以下である状態についての増加分“＋３”とを加算した指標値“＋６”を、制御部２２に出力する。 In addition, when an abnormality is detected in the traffic light, a pedestrian or a bicycle is present around the vehicle, and the distance between the vehicle and the pedestrian or the bicycle is equal to or less than a threshold value, the index value calculation unit 21 detects an abnormality in the traffic light. In contrast to the index value “+1” obtained by adding the increment “+1” to the initial value “0” to the initial value “0”, the increment “+2” and the vehicle and the pedestrian when the pedestrian or bicycle exists around the vehicle Alternatively, an index value “+6” obtained by adding the increment “+3” when the distance from the bicycle is equal to or less than the threshold value is output to the control unit 22.
　交差点に向けて進行する周辺車両が存在する場合（ステップＳＴ７ｅ；ＹＥＳ）、指標値算出部２１は、指標値に対して一定の増加分を加算する（ステップＳＴ８ｅ）。
　上記増加分は、交差点に向けて進行する周辺車両が存在する状態に対して事前に設定された値である。例えば、増加分を“＋４”とした場合に、指標値算出部２１は、ステップＳＴ６ｅまでに算出された指標値に対して増加分“＋４”を加算した指標値を制御部２２に出力する。ステップＳＴ８ｅの処理が完了すると、指標値算出部２１は図１０の処理を終了する。 When there is a surrounding vehicle traveling toward the intersection (step ST7e; YES), the index value calculation unit 21 adds a constant increase to the index value (step ST8e).
The increase is a value set in advance for a state in which there is a surrounding vehicle traveling toward the intersection. For example, when the increment is set to “+4”, the index value calculation unit 21 outputs to the control unit 22 an index value obtained by adding the increment “+4” to the index value calculated up to step ST6e. When the process of step ST8e is completed, the index value calculation unit 21 ends the process of FIG.
　なお、交差点に設置された信号機が正常に動作していれば、運転支援対象の車両の進行方向に対する左側または右側から上記交差点に向けて進行する周辺車両は、運転支援対象の車両が上記交差点に進入するときに赤信号で停車している。一方、運転支援対象の車両の対向方向を走行している周辺車両は、運転支援対象の車両と同じタイミングで交差点に進入することになる。このため、運転支援対象の車両の対向方向から交差点に向けて進行する周辺車両の方が、運転支援対象の車両の左側または右側から交差点に向けて進行する周辺車両よりも、運転支援対象の車両と衝突する可能性が高い。 In addition, if the traffic light installed at the intersection is operating normally, the surrounding vehicle traveling toward the intersection from the left side or the right side with respect to the traveling direction of the vehicle as the driving assistance target is the driving assistance target vehicle at the intersection. The car stops at a red light when entering. On the other hand, surrounding vehicles that are traveling in the opposite direction of the driving support target vehicle enter the intersection at the same timing as the driving support target vehicle. For this reason, driving support target vehicles are more likely to travel toward the intersection from the opposite direction of the driving support target vehicle than to surrounding vehicles traveling toward the intersection from the left or right side of the driving support target vehicle. There is a high possibility of collision.
　そこで、指標値算出部２１は、周辺車両が運転支援対象の車両の進行方向に対する左側または右側から交差点に向けて進行している状態における指標値の増加分よりも、周辺車両が運転支援対象の車両の対向方向から交差点に向けて進行している状態における指標値の増加分を多くしてもよい。指標値算出部２１は、周辺車両の位置情報、速度情報および進行方向に関する情報と、交差点の地図データとを用いて、周辺車両がどの方向から交差点に進行しているかを確認する。 Therefore, the index value calculation unit 21 determines that the surrounding vehicle is a target for driving assistance rather than the increase in the index value in a state where the surrounding vehicle is traveling from the left side or the right side toward the intersection with respect to the traveling direction of the driving target vehicle. You may increase the increment of the index value in the state which is advancing toward the intersection from the opposing direction of a vehicle. The index value calculation unit 21 confirms from which direction the surrounding vehicle is traveling to the intersection by using the position information, speed information, information on the traveling direction of the surrounding vehicle, and map data of the intersection.
　例えば、運転支援対象の車両の進行方向に対する左側または右側から交差点に向けて進行する周辺車両が存在する状態での指標値の増加分を“＋４”とした場合、運転支援対象の車両の対向方向から交差点に向けて進行する周辺車両が存在する状態での指標値の増加分を“＋６”とする。この指標値の大きさに応じて運転者への通知または車両の動作制御が行われるので、車載情報装置２は、運転支援対象の車両と周辺車両とが衝突する可能性が高い場合に、運転者への通知または車両の動作制御を適切に行うことができる。 For example, when the increment of the index value in the state where there is a surrounding vehicle that proceeds from the left or right side to the intersection with respect to the traveling direction of the driving support target vehicle is “+4”, the opposite direction of the driving support target vehicle The increment of the index value in a state where there is a surrounding vehicle traveling from to the intersection is “+6”. Since the notification to the driver or the vehicle operation control is performed according to the magnitude of the index value, the in-vehicle information device 2 can drive the vehicle when the driving support target vehicle and the surrounding vehicle are likely to collide. Notification to the person or vehicle operation control can be performed appropriately.
　制御部２２は、指標値算出部２１によって算出された指標値が第１の閾値ＴＨ＿ａよりも大きく、かつ第２の閾値ＴＨ＿ｂ以下である場合、音および画面表示によって警告情報を運転者に通知する。例えば、制御部２２は、交差点に向けて進行する周辺車両が存在することを示す警告情報を、表示装置４０および音出力装置４１に出力する。表示装置４０は、制御部２２から入力した上記警告情報に基づいて警告画面を表示する。音出力装置４１は、制御部２２から入力した警告情報に基づいて警告音声を出力する。 When the index value calculated by the index value calculation unit 21 is greater than the first threshold value TH_a and less than or equal to the second threshold value TH_b, the control unit 22 notifies the driver of warning information by sound and screen display. . For example, the control unit 22 outputs warning information indicating that there is a surrounding vehicle traveling toward the intersection to the display device 40 and the sound output device 41. The display device 40 displays a warning screen based on the warning information input from the control unit 22. The sound output device 41 outputs a warning sound based on the warning information input from the control unit 22.
　また、指標値算出部２１によって算出された指標値が第２の閾値ＴＨ＿ｂよりも大きい場合、制御部２２は、音および画面表示による警告情報の通知に加え、車両の動作を制御する。例えば、制御部２２は、表示装置４０に警告画面を表示させ、音出力装置４１に警告音声を出力させた状態で、車両制御装置５に制御情報を送信することにより、車両制御装置５は、制御部２２の制御情報に従って車両を自動で減速させる。 Further, when the index value calculated by the index value calculation unit 21 is larger than the second threshold TH_b, the control unit 22 controls the operation of the vehicle in addition to the notification of the warning information by sound and screen display. For example, the control unit 22 transmits a control information to the vehicle control device 5 in a state in which a warning screen is displayed on the display device 40 and a warning sound is output from the sound output device 41, whereby the vehicle control device 5 The vehicle is automatically decelerated according to the control information of the control unit 22.
　以上のように、実施の形態４に係る車載情報装置２において、指標値算出部２１は、運転支援対象の車両以外の周辺車両が、運転支援対象の車両の進行方向に存在する交差点に向けて進行している状態であると判定された場合に、指標値を増加させる。これにより、車載情報装置２は、運転支援対象の車両と周辺車両とが衝突する可能性が高い場合に、運転者への通知または車両の動作制御を適切に行うことができるという効果が得られる。 As described above, in the in-vehicle information device 2 according to the fourth embodiment, the index value calculation unit 21 is directed toward an intersection where peripheral vehicles other than the driving support target vehicle exist in the traveling direction of the driving support target vehicle. When it is determined that the state is advancing, the index value is increased. As a result, the in-vehicle information device 2 can appropriately perform notification to the driver or vehicle operation control when there is a high possibility of collision between the vehicle to be driven and the surrounding vehicle. .
　実施の形態４に係る車載情報装置２において、指標値算出部２１は、周辺車両が運転支援の車両の進行方向に対する左側または右側から交差点に向けて進行している状態における指標値の増加分よりも、周辺車両が運転支援対象の車両の対向方向から交差点に向けて進行している状態における指標値の増加分を多くする。これにより、車載情報装置２は、運転支援対象の車両と周辺車両とが衝突する可能性が高い場合に、運転者への通知または車両の動作制御を適切に行うことができるという効果が得られる。 In the in-vehicle information device 2 according to the fourth embodiment, the index value calculation unit 21 is based on an increase in the index value in a state in which the surrounding vehicle is traveling toward the intersection from the left side or the right side with respect to the traveling direction of the driving assistance vehicle. In addition, the increase in the index value in the state where the surrounding vehicle is traveling from the facing direction of the vehicle to be driven to the intersection toward the intersection is increased. As a result, the in-vehicle information device 2 can appropriately perform notification to the driver or vehicle operation control when there is a high possibility of collision between the vehicle to be driven and the surrounding vehicle. .
実施の形態５．
　実施の形態５に係る運転支援システムでは、異常が検出された信号機と運転支援対象の車両との距離が閾値以下の状態であると判定された場合に、指標値を増加させる。これによって、運転支援対象の車両と、異常が検出された信号機周辺の歩行者、自転車あるいは運転支援対象の車両以外の別の車両との衝突の可能性が高い状態であるときに運転者への通知または車両の動作制御を適切に行うことができる。 Embodiment 5. FIG.
In the driving support system according to the fifth embodiment, the index value is increased when it is determined that the distance between the traffic signal in which the abnormality is detected and the driving support target vehicle is equal to or less than the threshold value. As a result, the driver is in a state where there is a high possibility of a collision between the driving support target vehicle and a pedestrian, bicycle or other vehicle other than the driving support target vehicle around which the abnormality is detected. Notification or vehicle operation control can be appropriately performed.
　実施の形態５に係る車載情報装置は、異常が検出された信号機と運転支援対象の車両との距離が閾値以下の状態であるときに指標値を増加させる点で実施の形態１と異なるが、構成要素の基本的な機能については図１と同じである。従って、実施の形態５に係る運転支援システムおよび車載情報装置の構成については、図１を用いて説明する。 The in-vehicle information device according to the fifth embodiment is different from the first embodiment in that the index value is increased when the distance between the traffic signal in which an abnormality is detected and the vehicle that is the driving support target is equal to or less than a threshold value. The basic functions of the components are the same as in FIG. Therefore, the configuration of the driving support system and the in-vehicle information device according to Embodiment 5 will be described with reference to FIG.
　図１１は、実施の形態５における指標値算出処理を示すフローチャートであり、図２のステップＳＴ３の処理の詳細を示している。なお、図１１におけるステップＳＴ１ｆからステップＳＴ２ｆおよびステップＳＴ５ｆからステップＳＴ８ｆまでの処理は、図３におけるステップＳＴ１ａからステップＳＴ２ａおよびステップＳＴ３ａからステップＳＴ６ａまでの処理と同じであるので説明を省略する。 FIG. 11 is a flowchart showing the index value calculation process in the fifth embodiment, and shows details of the process in step ST3 of FIG. Note that the processing from step ST1f to step ST2f and step ST5f to step ST8f in FIG. 11 is the same as the processing from step ST1a to step ST2a and step ST3a to step ST6a in FIG.
　ステップＳＴ２ｆの処理が完了すると、指標値算出部２１は、異常が検出された信号機と運転支援対象の車両との距離が閾値以下であるか否かを判定する（ステップＳＴ３ｆ）。例えば、指標値算出部２１は、情報取得部２０によって取得された情報のうち、運転支援対象の車両の位置情報、速度情報および進行方向に関する情報と、信号機の位置情報を含む信号機情報とを用いて、上記信号機と運転支援対象の車両との間の距離を算出する。そして、指標値算出部２１は、算出した上記距離と事前に設定された閾値との比較結果に基づいて上記距離が閾値以下であるか否かを判定する。なお、事前に設定された閾値は、例えば、信号機の位置からの距離範囲のうち、運転支援対象の車両が徐行すべき距離範囲の境界値である。 When the processing of step ST2f is completed, the index value calculation unit 21 determines whether or not the distance between the traffic signal in which the abnormality is detected and the vehicle that is the driving support target is equal to or less than the threshold (step ST3f). For example, the index value calculation unit 21 uses, among the information acquired by the information acquisition unit 20, the position information, the speed information, and the traveling direction information of the driving support target vehicle, and the traffic signal information including the traffic signal position information. Thus, the distance between the traffic light and the vehicle that is the driving support target is calculated. Then, the index value calculation unit 21 determines whether or not the distance is equal to or less than the threshold based on a comparison result between the calculated distance and a preset threshold value. Note that the threshold value set in advance is, for example, a boundary value of a distance range that the driving support target vehicle should decelerate among the distance range from the position of the traffic light.
　異常が検出された信号機と運転支援対象の車両との距離が閾値よりも大きい場合（ステップＳＴ３ｆ；ＮＯ）、指標値算出部２１は、指標値を増加させずに、ステップＳＴ５ｆの処理に移行する。なお、信号機に異常が検出された状態での指標値の増加分を“＋１”とした場合、指標値算出部２１は、ステップＳＴ２ｆにおいて、指標値の初期値“０”に対して上記増加分“＋１”を加算した指標値“＋１”を算出している。 When the distance between the traffic light in which the abnormality is detected and the vehicle to be driven is larger than the threshold (step ST3f; NO), the index value calculation unit 21 proceeds to the process of step ST5f without increasing the index value. . In addition, when the increment of the index value in a state in which an abnormality is detected in the traffic light is “+1”, the index value calculation unit 21 increases the increment with respect to the initial value “0” of the index value in step ST2f. An index value “+1” obtained by adding “+1” is calculated.
　一方、異常が検出された信号機と運転支援対象の車両との距離が閾値以下である場合（ステップＳＴ３ｆ；ＹＥＳ）、指標値算出部２１は、指標値に対して一定の増加分を加算する（ステップＳＴ４ｆ）。上記増加分は、異常が検出された信号機と運転支援対象の車両との距離が閾値以下である状態に対して事前に設定された値である。例えば、信号機に異常が検出された状態での指標値の増加分が“＋１”である場合、この信号機と運転支援対象の車両との距離が閾値以下である状態での指標値の増加分を“＋２”とする。指標値算出部２１は、ステップＳＴ２ｆで算出した指標値“＋１”に対して、異常が検出された信号機と運転支援対象の車両との距離が閾値以下である状態での増加分“＋２”を加算した指標値“＋３”を算出する。この後、指標値算出部２１は、ステップＳＴ５ｆの処理に移行する。 On the other hand, when the distance between the traffic signal in which the abnormality is detected and the vehicle to be driven is equal to or less than the threshold value (step ST3f; YES), the index value calculation unit 21 adds a constant increase to the index value ( Step ST4f). The increase is a value set in advance for a state in which the distance between the traffic signal in which an abnormality has been detected and the vehicle that is the driving support target is equal to or less than a threshold value. For example, if the increase in the index value in a state where an abnormality is detected in the traffic light is “+1”, the increase in the index value in the state where the distance between the traffic light and the vehicle that is the driving support target is equal to or less than the threshold value. “+2”. The index value calculation unit 21 calculates an increase “+2” in a state in which the distance between the traffic signal in which the abnormality is detected and the vehicle to be driven is equal to or less than the threshold with respect to the index value “+1” calculated in step ST2f. The added index value “+3” is calculated. Thereafter, the index value calculation unit 21 proceeds to the process of step ST5f.
　制御部２２は、指標値算出部２１によって算出された指標値が第１の閾値ＴＨ＿ａよりも大きく、かつ第２の閾値ＴＨ＿ｂ以下である場合、音および画面表示によって警告情報を運転者に通知する。図１２は実施の形態５における警告情報の通知例を示す図であり、異常が検出された信号機と運転支援対象の車両との距離が閾値以下の状態を示している。制御部２２は、異常が検出された信号機と運転支援対象の車両との距離が閾値以下であることを示す警告情報を、表示装置４０および音出力装置４１に出力する。 When the index value calculated by the index value calculation unit 21 is greater than the first threshold value TH_a and less than or equal to the second threshold value TH_b, the control unit 22 notifies the driver of warning information by sound and screen display. . FIG. 12 is a diagram showing a notification example of warning information in the fifth embodiment, and shows a state in which the distance between the traffic signal in which an abnormality has been detected and the vehicle that is the driving assistance target is equal to or less than the threshold value. The control unit 22 outputs, to the display device 40 and the sound output device 41, warning information indicating that the distance between the traffic signal in which the abnormality is detected and the driving support target vehicle is equal to or less than the threshold value.
　表示装置４０は、制御部２２から入力した上記警告情報に基づいて警告画面６ｃを表示する。例えば、警告画面６ｃには、異常が検出された信号機に対して運転支援対象の車両が接近していることを示すテキスト情報６ｃ－１が表示され、信号機を示すアイコンが、信号機に異常があることを示すアイコン６ｃ－２に変更されている。また、警告画面６ｃには、運転支援対象の車両を示すアイコン６ｃ－３が表示されている。
　音出力装置４１は、制御部２２から入力した警告情報に基づいて警告音声７ｃを出力する。運転者は、これらの警告情報に基づいて、異常が検出された信号機に車両が接近していることを認識できる。 The display device 40 displays the warning screen 6 c based on the warning information input from the control unit 22. For example, the warning screen 6c displays text information 6c-1 indicating that a vehicle to be driven is approaching the traffic signal for which an abnormality is detected, and an icon indicating the traffic signal indicates that the traffic signal is abnormal. The icon 6c-2 is changed. The warning screen 6c displays an icon 6c-3 indicating a vehicle that is a driving support target.
The sound output device 41 outputs a warning sound 7 c based on the warning information input from the control unit 22. Based on the warning information, the driver can recognize that the vehicle is approaching the traffic signal where the abnormality is detected.
　また、指標値算出部２１によって算出された指標値が第２の閾値ＴＨ＿ｂよりも大きい場合、制御部２２は、音および画面表示による警告情報の通知に加え、車両の動作を制御する。例えば、制御部２２は、表示装置４０を制御して警告画面６ｃを表示させ、音出力装置４１を制御して警告音声７ｃを出力させる。さらに、制御部２２は、車両制御装置５に制御情報を送信することにより、車両制御装置５は、制御部２２の制御情報に従って、異常が検出された信号機に向けて進行する車両を自動で減速させる。 Further, when the index value calculated by the index value calculation unit 21 is larger than the second threshold TH_b, the control unit 22 controls the operation of the vehicle in addition to the notification of the warning information by sound and screen display. For example, the control unit 22 controls the display device 40 to display the warning screen 6c, and controls the sound output device 41 to output the warning sound 7c. Further, the control unit 22 transmits the control information to the vehicle control device 5, so that the vehicle control device 5 automatically decelerates the vehicle traveling toward the traffic signal in which the abnormality is detected according to the control information of the control unit 22. Let
　以上のように、実施の形態５に係る車載情報装置２において、指標値算出部２１は、異常が検出された信号機と運転支援対象の車両との距離が閾値以下の状態であると判定された場合に、指標値を増加させる。これにより、車載情報装置２は、異常が検出された信号機周辺の歩行者、自転車あるいは運転支援対象の車両以外の別の車両と運転支援対象の車両とが衝突する可能性が高い場合に、運転者への通知または車両の動作制御を適切に行うことができるという効果が得られる。 As described above, in the in-vehicle information device 2 according to the fifth embodiment, the index value calculation unit 21 determines that the distance between the traffic signal in which an abnormality has been detected and the driving support target vehicle is equal to or less than the threshold value. If the index value is increased. Thereby, the in-vehicle information device 2 is operated when there is a high possibility that a vehicle other than the pedestrian, bicycle, or driving support target vehicle around which the abnormality is detected collides with the driving support target vehicle. The effect that notification to a person or operation control of a vehicle can be performed appropriately is acquired.
実施の形態６．
　実施の形態６に係る運転支援システムでは、運転支援対象の車両の進行方向で次に存在する信号機（以下、次の信号機と記載する）に異常が検出された状態であると判定された場合に、指標値を増加させる。これにより、運転支援対象の車両と、異常が検出された次の信号機周辺の歩行者、自転車または運転支援対象の車両以外の別の車両との衝突の可能性が高い状態であるときに、運転者への通知または車両の動作制御を適切に行うことができる。 Embodiment 6 FIG.
In the driving support system according to the sixth embodiment, when it is determined that an abnormality has been detected in the next traffic signal (hereinafter referred to as the next traffic signal) in the traveling direction of the vehicle that is the driving support target. , Increase the indicator value. As a result, when there is a high possibility of a collision between the driving support target vehicle and a pedestrian, bicycle, or another vehicle other than the driving support target vehicle around the next traffic light where an abnormality is detected, Notification to the person or vehicle operation control can be performed appropriately.
　実施の形態６に係る車載情報装置は、次の信号機に異常が検出された状態であるときに指標値を増加させる点で実施の形態１と異なるが、構成要素の基本的な機能については、図１と同じである。従って、実施の形態６に係る運転支援システムおよび車載情報装置の構成については、図１を用いて説明する。 The in-vehicle information device according to the sixth embodiment is different from the first embodiment in that the index value is increased when an abnormality is detected in the next traffic light, but the basic functions of the constituent elements are as follows. The same as FIG. Therefore, the configuration of the driving support system and the in-vehicle information device according to the sixth embodiment will be described with reference to FIG.
　図１３は、実施の形態６における指標値算出処理を示すフローチャートであり、図２のステップＳＴ３の処理の詳細を示している。なお、図１３におけるステップＳＴ１ｇからステップＳＴ２ｇおよびステップＳＴ７ｇからステップＳＴ１０ｇまでの処理は、図３におけるステップＳＴ１ａからステップＳＴ２ａおよびステップＳＴ３ａからステップＳＴ６ａまでの処理と同じであるので説明を省略する。 FIG. 13 is a flowchart showing the index value calculation process in the sixth embodiment, and shows the details of the process in step ST3 in FIG. The processing from step ST1g to step ST2g and step ST7g to step ST10g in FIG. 13 is the same as the processing from step ST1a to step ST2a and step ST3a to step ST6a in FIG.
　ステップＳＴ２ｇの処理が完了すると、指標値算出部２１は、運転支援対象の車両の進行方向に存在する次の信号機に異常が検出されたか否かを判定する（ステップＳＴ３ｇ）。例えば、指標値算出部２１は、情報取得部２０によって映像情報から認識された信号機の灯色状態と路側機から受信された信号機情報における灯色状態とを比較して両者が整合していない場合、次の信号機に異常が発生していると判定する。また、指標値算出部２１は、情報取得部２０から入力した信号機の映像情報から信号機の無灯状態が認識された場合、次の信号機に異常が発生していると判定してもよい。 When the process of step ST2g is completed, the index value calculation unit 21 determines whether or not an abnormality has been detected in the next traffic light that exists in the traveling direction of the driving support target vehicle (step ST3g). For example, the index value calculation unit 21 compares the light color state of the traffic light recognized from the video information by the information acquisition unit 20 with the light color state in the traffic light information received from the roadside device, and the two are not matched. It is determined that an abnormality has occurred in the next traffic light. The index value calculation unit 21 may determine that an abnormality has occurred in the next traffic signal when the no-light state of the traffic signal is recognized from the video information of the traffic signal input from the information acquisition unit 20.
　次の信号機に異常が検出されなかった場合（ステップＳＴ３ｇ；ＮＯ）、指標値算出部２１は、指標値を増加させずに、ステップＳＴ７ｇの処理に移行する。なお、信号機に異常が検出された状態での指標値の増加分を“＋１”とした場合、指標値算出部２１は、ステップＳＴ２ｇにおいて、指標値の初期値“０”に対して上記増加分“＋１”を加算した指標値“＋１”を算出している。 If no abnormality is detected in the next traffic light (step ST3g; NO), the index value calculation unit 21 proceeds to the process of step ST7g without increasing the index value. In addition, when the increment of the index value in a state where an abnormality is detected in the traffic light is “+1”, the index value calculation unit 21 increases the increment with respect to the initial value “0” of the index value in step ST2g. An index value “+1” obtained by adding “+1” is calculated.
　一方、次の信号機に異常が検出された場合（ステップＳＴ３ｇ；ＹＥＳ）、指標値算出部２１は、指標値に一定の増加分を加算する（ステップＳＴ４ｇ）。上記増加分は、運転支援対象の車両の進行方向に存在する次の信号機に異常が検出された状態に対して事前に設定された値である。例えば、次の信号機に異常が検出された状態での指標値の増加分が“＋１”である場合、指標値算出部２１は、ステップＳＴ２ｇで算出した指標値“＋１”に対して、次の信号機に異常が検出された状態における増加分“＋１”を加算した指標値“＋２”を算出する。この後、指標値算出部２１は、ステップＳＴ７ｇに移行する。 On the other hand, when an abnormality is detected in the next traffic light (step ST3g; YES), the index value calculation unit 21 adds a constant increment to the index value (step ST4g). The increase is a value set in advance for a state in which an abnormality is detected in the next traffic light that exists in the traveling direction of the vehicle to be driven. For example, when the increment of the index value in a state where an abnormality is detected in the next traffic light is “+1”, the index value calculation unit 21 performs the next to the index value “+1” calculated in step ST2g. An index value “+2” is calculated by adding the increment “+1” in a state where an abnormality is detected in the traffic light. Thereafter, the index value calculation unit 21 proceeds to step ST7g.
　次に、指標値算出部２１は、異常が検出された次の信号機と運転支援対象の車両との距離が閾値以下であるか否かを判定する（ステップＳＴ５ｇ）。例えば、指標値算出部２１は、情報取得部２０によって取得された情報のうち、運転支援対象の車両の位置情報、速度情報および進行方向に関する情報と、次の信号機の位置情報を含む信号機情報とを用いて、次の信号機と運転支援対象の車両との間の距離を算出する。指標値算出部２１は、算出した上記距離と事前に設定された閾値との比較結果に基づいて上記距離が閾値以下であるか否かを判定する。なお、事前に設定された閾値は、例えば、次の信号機の位置からの距離範囲のうち、運転支援対象の車両が徐行すべき距離範囲の境界値である。 Next, the index value calculation unit 21 determines whether or not the distance between the next traffic light in which an abnormality has been detected and the driving support target vehicle is equal to or less than a threshold value (step ST5g). For example, the index value calculation unit 21 includes signal information including information on the position information, speed information, and traveling direction of the driving support target vehicle among the information acquired by the information acquisition unit 20, and position information of the next traffic light. Is used to calculate the distance between the next traffic light and the driving support target vehicle. The index value calculation unit 21 determines whether or not the distance is equal to or less than the threshold based on a comparison result between the calculated distance and a preset threshold value. Note that the threshold set in advance is, for example, a boundary value of a distance range that the driving support target vehicle should decelerate among the distance range from the position of the next traffic light.
　異常が検出された次の信号機と運転支援対象の車両との距離が閾値よりも大きい場合（ステップＳＴ５ｇ；ＮＯ）、指標値算出部２１は、指標値を増加させずに、ステップＳＴ７ｇの処理に移行する。一方、異常が検出された次の信号機と運転支援対象の車両との距離が閾値以下である場合（ステップＳＴ５ｇ；ＹＥＳ）、指標値算出部２１は、指標値に対して一定の増加分を加算する（ステップＳＴ６ｇ）。上記増加分は、異常が検出された次の信号機と運転支援対象の車両との距離が閾値以下である状態に対して事前に設定された値である。 When the distance between the next traffic light in which an abnormality is detected and the vehicle to be driven is larger than the threshold (step ST5g; NO), the index value calculation unit 21 performs the process of step ST7g without increasing the index value. Transition. On the other hand, when the distance between the next traffic light in which an abnormality is detected and the vehicle to be driven is equal to or less than the threshold (step ST5g; YES), the index value calculation unit 21 adds a constant increment to the index value. (Step ST6g). The increase is a value set in advance for a state in which the distance between the next traffic light in which an abnormality has been detected and the vehicle that is the driving support target is equal to or less than the threshold value.
　例えば、次の信号機に異常が検出された状態における指標値の増加分が“＋１”である場合、この信号機と運転支援対象の車両との距離が閾値以下である状態における指標値の増加分を“＋２”とする。このとき、指標値算出部２１は、ステップＳＴ４ｇで算出した指標値“＋２”に対して、異常が検出された次の信号機と運転支援対象の車両との距離が閾値以下である状態での増加分“＋２”を加算した指標値“＋４”を算出する。この後、指標値算出部２１は、ステップＳＴ７ｇの処理に移行する。 For example, if the increase in the index value in a state where an abnormality is detected in the next traffic light is “+1”, the increase in the index value in a state where the distance between the traffic light and the vehicle to be driven is equal to or less than the threshold value. “+2”. At this time, the index value calculation unit 21 increases the index value “+2” calculated in step ST4g in a state where the distance between the next traffic light in which an abnormality is detected and the vehicle to be driven is equal to or less than the threshold value. An index value “+4” obtained by adding the minute “+2” is calculated. Thereafter, the index value calculation unit 21 proceeds to the process of step ST7g.
　制御部２２は、指標値算出部２１によって算出された指標値が第１の閾値ＴＨ＿ａよりも大きく、かつ第２の閾値ＴＨ＿ｂ以下である場合、音および画面表示によって警告情報を運転者に通知する。図１４は実施の形態６における警告情報の通知例を示す図であり、次の信号機に異常が検出された状態を示している。制御部２２は、次の信号機に異常が検出されたことを示す警告情報を、表示装置４０および音出力装置４１に出力する。 When the index value calculated by the index value calculation unit 21 is greater than the first threshold value TH_a and less than or equal to the second threshold value TH_b, the control unit 22 notifies the driver of warning information by sound and screen display. . FIG. 14 is a diagram showing a notification example of warning information in the sixth embodiment, and shows a state in which an abnormality is detected in the next traffic light. The control unit 22 outputs warning information indicating that an abnormality has been detected in the next traffic light to the display device 40 and the sound output device 41.
　表示装置４０は、制御部２２から入力した上記警告情報に基づいて警告画面６ｄを表示する。例えば、警告画面６ｄには、異常が検出された次の信号機に運転支援対象の車両が接近していることを示すテキスト情報６ｄ－１が表示され、前方の信号機を示すアイコンが、信号機に異常があることを示すアイコン６ｄ－２に変更され、次の信号機を示すアイコンが、信号機に異常があることを示すアイコン６ｄ－３に変更されている。矢印Ａは、運転支援対象の車両の進行方向を示している。また、音出力装置４１は、制御部２２から入力した警告情報に基づいて警告音声７ｄを出力する。運転者は、これらの警告情報に基づいて、異常が検出された次の信号機に車両が接近していることを認識できる。 The display device 40 displays a warning screen 6d based on the warning information input from the control unit 22. For example, on the warning screen 6d, text information 6d-1 indicating that the vehicle to be supported for driving is approaching the next traffic light where an abnormality is detected is displayed, and an icon indicating a traffic light ahead indicates that the traffic light is abnormal. The icon indicating that there is a traffic light is changed to an icon 6d-2, and the icon indicating the next traffic light is changed to an icon 6d-3 indicating that the traffic light is abnormal. An arrow A indicates the traveling direction of the vehicle that is the driving assistance target. The sound output device 41 outputs a warning sound 7d based on the warning information input from the control unit 22. Based on the warning information, the driver can recognize that the vehicle is approaching the next traffic light from which an abnormality has been detected.
　また、指標値算出部２１によって算出された指標値が第２の閾値ＴＨ＿ｂよりも大きい場合、制御部２２は、音および画面表示による警告情報の通知に加え、車両の動作を制御する。例えば、制御部２２は、表示装置４０を制御して警告画面６ｄを表示させ、音出力装置４１を制御して警告音声７ｄを出力させる。さらに、制御部２２は、車両制御装置５に制御情報を送信することにより、車両制御装置５は、制御部２２の制御情報に従って、次の信号機に向けて進行する車両を自動で減速させる。 Further, when the index value calculated by the index value calculation unit 21 is larger than the second threshold TH_b, the control unit 22 controls the operation of the vehicle in addition to the notification of the warning information by sound and screen display. For example, the control unit 22 controls the display device 40 to display the warning screen 6d, and controls the sound output device 41 to output the warning sound 7d. Furthermore, the control unit 22 transmits control information to the vehicle control device 5 so that the vehicle control device 5 automatically decelerates the vehicle traveling toward the next traffic light according to the control information of the control unit 22.
　以上のように、実施の形態６に係る車載情報装置２において、指標値算出部２１は、運転支援対象の車両の進行方向で次に存在する信号機に異常が検出された状態であると判定された場合に、指標値を増加させる。これにより、車載情報装置２は、運転支援対象の車両と、異常が検出された次の信号機周辺の歩行者、自転車または運転支援対象の車両以外の別の車両との衝突の可能性が高い状態であるときに、運転者への通知または車両の動作制御を適切に行うことができる。 As described above, in the in-vehicle information device 2 according to the sixth embodiment, the index value calculation unit 21 is determined to be in a state in which an abnormality is detected in the next traffic signal in the traveling direction of the driving support target vehicle. In the case of an increase, the index value is increased. As a result, the in-vehicle information device 2 has a high possibility of a collision between the driving support target vehicle and another vehicle other than the pedestrian, bicycle, or driving support target vehicle around the next traffic light where the abnormality is detected. When this is the case, notification to the driver or vehicle operation control can be appropriately performed.
　実施の形態６に係る車載情報装置２において、指標値算出部２１は、運転支援対象の車両の進行方向の次に存在して異常が検出された信号機と、運転支援対象の車両との距離が閾値以下の状態であると判定された場合に、指標値を増加させる。これにより、車載情報装置２は、異常が検出された次の信号機周辺の歩行者、自転車あるいは運転支援対象の車両以外の別の車両と運転支援対象の車両とが衝突する可能性がさらに高い場合に、運転者への通知または車両の動作制御を適切に行うことができるという効果が得られる。 In the in-vehicle information device 2 according to the sixth embodiment, the index value calculation unit 21 determines the distance between the traffic light that is present next to the driving direction of the driving support target vehicle and the abnormality is detected, and the driving support target vehicle. When it is determined that the state is equal to or lower than the threshold value, the index value is increased. As a result, the in-vehicle information device 2 is more likely to collide with another vehicle other than the pedestrian, bicycle or driving support target vehicle around the next traffic light where the abnormality is detected and the driving support target vehicle. In addition, it is possible to appropriately perform notification to the driver or operation control of the vehicle.
　なお、本発明は上記実施の形態に限定されるものではなく、本発明の範囲内において、実施の形態のそれぞれの自由な組み合わせまたは実施の形態のそれぞれの任意の構成要素の変形もしくは実施の形態のそれぞれにおいて任意の構成要素の省略が可能である。 It should be noted that the present invention is not limited to the above-described embodiment, and within the scope of the present invention, each free combination of the embodiments or any component modification or embodiment of the embodiments. It is possible to omit arbitrary components in each of the above.
　この発明に係る車載情報装置は、適切なタイミングで運転者への通知または車両の動作制御を行うことができるので、各種の運転支援装置に利用可能である。 Since the in-vehicle information device according to the present invention can perform notification to the driver or control the operation of the vehicle at an appropriate timing, it can be used for various driving support devices.
　１　運転支援システム、２　車載情報装置、３　検出部、４　出力部、５，１０８　車両制御装置、６ａ，６ｂ，６ｃ，６ｄ　警告画面、６ａ－１，６ｂ－１，６ｃ－１，６ｄ－１　テキスト情報、６ａ－２，６ｂ－２，６ｃ－２，６ｃ－３，６ｄ－２，６ｄ－３　アイコン、７ａ，７ｂ，７ｃ，７ｄ　警告音声、２０　情報取得部、２１　指標値算出部、２２　制御部、３０　撮像部、３１　位置検出部、３２，１０３　地図ＤＢ、３３　通信部、３４　車両情報取得部、４０　表示装置、４１　音出力装置、１００　カメラ、１０１　ＧＰＳ受信機、１０２　ＤＢインタフェース、１０４　受信装置、１０５　ディスプレイ、１０６　スピーカ、１０７　制御インタフェース、１０９　処理回路、１１０　プロセッサ、１１１　メモリ。 1 driving support system, 2 onboard information device, 3 detection unit, 4 output unit, 5,108 vehicle control device, 6a, 6b, 6c, 6d warning screen, 6a-1, 6b-1, 6c-1, 6d-1 Text information, 6a-2, 6b-2, 6c-2, 6c-3, 6d-2, 6d-3 icon, 7a, 7b, 7c, 7d warning voice, 20 information acquisition unit, 21 index value calculation unit, 22 Control unit, 30 imaging unit, 31 position detection unit, 32, 103 map DB, 33 communication unit, 34 vehicle information acquisition unit, 40 display device, 41 sound output device, 100 camera, 101 GPS receiver, 102 DB interface, 104 Receiving device, 105 display, 106 speaker, 107 control interface, 109 processing circuit, 110 processor, 111 memory

Claims (10)

  1. 　第１の車両の状態に関する情報および前記第１の車両の周辺の状況に関する情報を取得する情報取得部と、
    　前記情報取得部によって取得された情報に基づいて、前記第１の車両の進行方向に存在する交差点の信号機に異常が検出された状態、前記第１の車両の周辺に移動体が存在する状態および前記第１の車両の周辺に存在する移動体と前記第１の車両との距離が閾値以下である状態のうちの少なくとも一つの状態であると判定された場合に、前記第１の車両と移動体が衝突する可能性の指標値を増加させる指標値算出部と、
    　前記指標値算出部から入力した前記指標値が閾値よりも大きい場合に、前記第１の車両の運転者への通知または前記第１の車両の動作制御を行う制御部とを備えたこと
    　を特徴とする車載情報装置。     An information acquisition unit that acquires information about a state of the first vehicle and information about a situation around the first vehicle;
    Based on the information acquired by the information acquisition unit, a state in which an abnormality is detected in a traffic light at an intersection existing in the traveling direction of the first vehicle, a state in which a moving body is present around the first vehicle, and When it is determined that the distance between the moving body existing around the first vehicle and the first vehicle is at least one of the states where the distance is equal to or less than a threshold, the vehicle moves with the first vehicle. An index value calculation unit for increasing an index value of the possibility that the body will collide,
    A control unit that performs notification to the driver of the first vehicle or operation control of the first vehicle when the index value input from the index value calculation unit is greater than a threshold value. In-vehicle information device.
  2. 　前記指標値算出部は、前記第１の車両の周辺に存在する移動体が前記第１の車両の進行方向に存在する交差点に向けて進行している状態であると判定された場合に、前記指標値を増加させること
    　を特徴とする請求項１記載の車載情報装置。     When it is determined that the mobile object existing around the first vehicle is traveling toward an intersection existing in the traveling direction of the first vehicle, the index value calculation unit The in-vehicle information device according to claim 1, wherein the index value is increased.
  3. 　前記指標値算出部は、前記第１の車両が片側一車線の道路を走行している状態であると判定された場合に、前記指標値を増加させること
    　を特徴とする請求項１記載の車載情報装置。     2. The vehicle-mounted vehicle according to claim 1, wherein the index value calculation unit increases the index value when it is determined that the first vehicle is traveling on a one-lane road. Information device.
  4. 　前記指標値算出部は、前記第１の車両以外の第２の車両が前記第１の車両の進行方向に存在する交差点に向けて進行している状態であると判定された場合に、前記指標値を増加させること
    　を特徴とする請求項１記載の車載情報装置。     When the index value calculation unit determines that a second vehicle other than the first vehicle is traveling toward an intersection existing in the traveling direction of the first vehicle, the index value calculation unit The in-vehicle information device according to claim 1, wherein the value is increased.
  5. 　前記指標値算出部は、前記第２の車両が前記第１の車両の進行方向に対する左側または右側から交差点に向けて進行している状態における前記指標値の増加分よりも、前記第２の車両が前記第１の車両の対向方向から交差点に向けて進行している状態における前記指標値の増加分を多くすること
    　を特徴とする請求項４記載の車載情報装置。     The index value calculation unit is configured so that the second vehicle is more than the increment of the index value in a state where the second vehicle is traveling toward the intersection from the left side or the right side with respect to the traveling direction of the first vehicle. The in-vehicle information device according to claim 4, wherein an increase in the index value in a state where the vehicle is traveling from the facing direction of the first vehicle toward an intersection is increased.
  6. 　前記指標値算出部は、異常が検出された信号機と前記第１の車両との距離が閾値以下の状態であると判定された場合に、前記指標値を増加させること
    　を特徴とする請求項１記載の車載情報装置。     The index value calculation unit increases the index value when it is determined that the distance between the traffic signal in which an abnormality has been detected and the first vehicle is equal to or less than a threshold value. The on-vehicle information device described.
  7. 　前記指標値算出部は、前記第１の車両の進行方向で次に存在する信号機に異常が検出された状態であると判定された場合に、前記指標値を増加させること
    　を特徴とする請求項１記載の車載情報装置。     The index value calculation unit increases the index value when it is determined that an abnormality is detected in the next traffic signal in the traveling direction of the first vehicle. The vehicle-mounted information device according to 1.
  8. 　前記指標値算出部は、前記第１の車両の進行方向の次に存在して異常が検出された信号機と前記第１の車両との距離が閾値以下の状態であると判定された場合に、前記指標値を増加させること
    　を特徴とする請求項７記載の車載情報装置。     The index value calculation unit, when it is determined that the distance between the traffic signal that exists next to the traveling direction of the first vehicle and an abnormality is detected and the first vehicle is equal to or less than a threshold value, The in-vehicle information device according to claim 7, wherein the index value is increased.
  9. 　第１の車両の状態および前記第１の車両の周辺の状況を検出する検出部と、
    　前記検出部によって検出された前記第１の車両の状態に関する情報および前記第１の車両の周辺の状況に関する情報を取得する情報取得部と、
    　前記情報取得部によって取得された情報に基づいて、前記第１の車両の進行方向に存在する交差点の信号機に異常が検出された状態、前記第１の車両の周辺に移動体が存在する状態および前記第１の車両の周辺に存在する移動体と前記第１の車両との距離が閾値以下である状態のうちの少なくとも一つの状態であると判定された場合に、前記第１の車両と移動体が衝突する可能性の指標値を増加させる指標値算出部と、
    　前記指標値算出部から入力した前記指標値が閾値よりも大きい場合に、前記第１の車両の運転者への通知または前記第１の車両の動作制御を行う制御部と、
    　前記第１の車両の運転者への情報を出力する出力部とを備えたこと
    　を特徴とする運転支援システム。     A detection unit for detecting a state of the first vehicle and a situation around the first vehicle;
    An information acquisition unit for acquiring information on the state of the first vehicle detected by the detection unit and information on a situation around the first vehicle;
    Based on the information acquired by the information acquisition unit, a state in which an abnormality is detected in a traffic light at an intersection existing in the traveling direction of the first vehicle, a state in which a moving body is present around the first vehicle, and When it is determined that the distance between the moving body existing around the first vehicle and the first vehicle is at least one of the states where the distance is equal to or less than a threshold, the vehicle moves with the first vehicle. An index value calculation unit for increasing an index value of the possibility that the body will collide,
    A control unit that performs notification to the driver of the first vehicle or operation control of the first vehicle when the index value input from the index value calculation unit is larger than a threshold;
    A driving support system comprising: an output unit that outputs information to a driver of the first vehicle.
  10. 　情報取得部が、第１の車両の状態に関する情報および前記第１の車両の周辺の状況に関する情報を取得するステップと、
    　指標値算出部が、前記情報取得部によって取得された情報に基づいて、前記第１の車両の進行方向に存在する交差点の信号機に異常が検出された状態、前記第１の車両の周辺に移動体が存在する状態および前記第１の車両の周辺に存在する移動体と前記第１の車両との距離が閾値以下である状態のうちの少なくとも一つの状態であると判定された場合に、前記第１の車両と移動体が衝突する可能性の指標値を増加させるステップと、
    　制御部が、前記指標値算出部から入力した前記指標値が閾値よりも大きい場合に、前記第１の車両の運転者への通知または前記第１の車両の動作制御を行うステップとを備えたこと
    　を特徴とする運転支援方法。     An information acquisition unit acquiring information relating to a state of the first vehicle and information relating to a situation around the first vehicle;
    Based on the information acquired by the information acquisition unit, the index value calculation unit moves to the vicinity of the first vehicle in a state where an abnormality is detected in the traffic signal at the intersection existing in the traveling direction of the first vehicle When it is determined that the body is present and at least one of a state where a distance between the first vehicle and a moving body existing around the first vehicle is equal to or less than a threshold, Increasing an index value of a possibility of collision between the first vehicle and the moving body;
    And a step of notifying a driver of the first vehicle or controlling the operation of the first vehicle when the index value input from the index value calculation unit is larger than a threshold value. A driving support method characterized by the above.
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