JP2001101594A - In-vehicle information providing device for driving support, driving support device and method - Google Patents

Abstract

(57) [Summary] [Problem] To provide appropriate information in a driving support road system by coping with complex events that require simultaneous provision of a plurality of types of information. An in-vehicle device (1) includes a driving support road system (A).
It is a HS-mounted device. The road-to-vehicle communication device 14 receives service information from a transmitter installed on the road side. The lane marker detector 16 detects a lane marker installed on a road along a lane. The information providing ECU 10 provides obstacle information provision, curve information provision, and lane departure information using information obtained by road-to-vehicle communication and lane marker detection information.
A request may be made to provide both obstacle information and separate information. To deal with this complex event, the selection unit 36
, From multiple types of information,
Select as information to provide.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an in-vehicle device for obtaining service information from a road and providing driving support. The present invention preferably employs AHS (Advanced Cruise-Assist Hig).
hway Systems), but is not limited thereto.

[0002]

2. Description of the Related Art In recent years, ITS (Intelligent Transport)
Systems: The development of intelligent transportation systems is progressing, and one of the ITS is AHS (Advanced Cruise-As).
sist Highway Systems). In the AHS, a road-side system (infrastructure system) and an in-vehicle device are connected by communication, and they integrally provide driving support. The driving support is typically information provision and vehicle control (vehicle speed and the like). In the present invention, a warning to the driver is considered to be included in the information provision. Here, information provision will be mainly described.

At present, in the AHS, collision prevention of obstacles in front, prevention of danger of entering a curve, prevention of lane departure, prevention of collision at intersections (assistance when approaching an intersection and assistance during transmission), prevention of right-turn collision (right-turn vehicle support), pedestrian crossing Support functions such as pedestrian collision prevention have been proposed.

[0004]

In the AHS, a plurality of types of support functions may be provided at the same place. Therefore, a composite event may occur in which a request to provide a certain support and a request to provide another support occur simultaneously. When this composite event occurs, it is desired to provide appropriate assistance so as to avoid confusion of the driver. However, until now, AHS
No complex event of heterogeneous support was taken into account for the in-vehicle device.

Here, attention is paid to "prevention of collision with obstacles ahead". In this support function, the in-vehicle device receives information on an obstacle in front by communication and transmits the information to the driver. This is particularly effective in places with poor visibility such as curves. It is assumed that a composite event of the obstacle collision prevention function and another support function has occurred. Another support function is, for example, prevention of danger of entering a curve (notification of existence of a curve, proper speed, etc.), and prevention of lane departure (warning that a departure behavior occurs, for example).

When a plurality of types of information are provided to the driver as they are when such a composite event occurs, unclear information is transmitted instead, and the information provision may be inappropriate.

The present invention has been made in view of the above problems, and an object of the present invention is to provide an in-vehicle information providing apparatus capable of providing more appropriate information.

[0008]

(1) In order to achieve the above object, the present invention obtains service information from a road side in a service area set on a road, and provides an occupant with information provision for driving support. In-vehicle information providing device
Means for providing obstacle information relating to an obstacle in front of the vehicle, means for providing different information different from the obstacle information, and when provision of both the obstacle information and the different information is requested, And selecting means for selecting information having a high request level from the above information as information to be provided. A request to provide information means that the system is deemed to need to provide some form of information.

As described above, according to the present invention, when a complex event in which provision of both obstacle information and different information is required occurs, information having a higher requested level is prioritized from those information. Selected as the information to be provided. Therefore, necessary information can be transmitted more reliably, and more appropriate information can be provided, as compared with a case in which obstacle information and another information are provided as they are.

(2) Preferably, the different information is curve information on a curve ahead of the vehicle. More preferably, the deceleration required for the vehicle to cope with an obstacle and the deceleration required for the vehicle to cope with a curve are compared, and the information with the larger deceleration is selected. In providing the obstacle information, a required deceleration before reaching the obstacle is required. Even when providing curve information, a deceleration required for traveling at an appropriate speed is required. From the magnitude of these decelerations, we can compare the required level of information provision,
Highly requested information can be provided with priority.

By the way, the magnitude relationship between the required levels of the obstacle information and the curve information may frequently change (hunting occurs). In the above example, the magnitude of the deceleration changes frequently. In this case, it may be preferable to provide both pieces of information for a predetermined duration. That is, the information once output is continuously output until the predetermined duration elapses, even if the required level decreases. As a result, it is possible to avoid confusion of the driver due to frequent exchange of information. This is the same when the different information is other than the curve information.

(3) In another aspect of the present invention, the different information is lane departure information. Then, when the provision of both the obstacle information and the lane departure information is requested, the selection means selects the obstacle information. By providing the obstacle information, the driver is alerted. If attention is called, the driver can find the lane departure on his own. As described above, in the present embodiment, when a complex event of the obstacle information and the lane departure information occurs, the necessary functions of both information are effectively achieved by providing the obstacle information. Providing independent information, communication is clear.

[0013] Preferably, the obstacle information is selected when the obstacle is at a position that can be seen from the vehicle, and the obstacle information is provided and the lane departure information is not provided. Until the vehicle reaches a position where you can see the obstacle,
The obstacle information and the lane departure information are provided together. Whether or not the obstacle can be seen can be determined, for example, based on the road shape ahead of the vehicle.

In this aspect, both useful information, that is, the obstacle information and the lane departure information, are provided until the vehicle reaches the position where the obstacle can be seen. When the driver comes to a position where an obstacle can be seen, the driver shifts to an avoidance operation that goes out of the lane and voluntarily avoids the obstacle. At such a stage of the avoidance operation, the lane departure information contradicts an appropriate driving operation. Also, at the stage of the avoidance operation, the oncoming vehicle is also visible, and it is considered that the necessity of the lane departure information is reduced. In this regard, according to the present invention, the provision of the lane departure information is stopped at the position where the obstacle can be seen, so that rational and appropriate information can be provided.

(4) In the embodiments described above, information provision (including a warning) is considered as driving assistance. However, there is also driving support other than information provision, and representatively includes vehicle control such as vehicle speed and steering. The present invention is not limited to information provision,
It can be applied to any driving support.

In this regard, one embodiment of the present invention relates to a vehicle-mounted device that obtains service information from a road side in a service area set on a road and provides driving support using the obtained service information. Means for providing travel support for an obstacle, means for providing different travel support different from the obstacle travel support, and when provision of both the obstacle travel support and the different travel support is requested, Selection means for selecting, as the driving support to be provided, driving support having a higher request level from the driving support. One driving support may be information provision and the other driving support may be vehicle control.

Further, the embodiments of the present invention are not limited to the information providing device or the driving support device described above. Another embodiment of the present invention relates to, for example, a driving support method. In this aspect, in a method for obtaining service information from a road side in a service area set on a road and providing driving support using the obtained service information, providing driving support for an obstacle in front of the vehicle; Providing different driving support different from the obstacle driving support, and when the provision of both the obstacle driving support and the different driving support is requested, the driving support with a higher requested level from the driving support is provided. Selecting as driving assistance to be provided.

[0018]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Preferred embodiments of the present invention (hereinafter, referred to as embodiments) will be described below with reference to the drawings. In the present embodiment, the present invention relates to an AHS (Advanced Cru
ise-Assist Highway Systems)
Applied to

FIG. 1 shows the configuration of a vehicle-mounted device for driving assistance according to the present embodiment. The in-vehicle device performs an information providing process as driving assistance. In the present invention, the information provision includes a warning. FIG. 2 shows an "infrastructure system" for providing service information to an in-vehicle device, that is, a roadside system. The infrastructure system and the in-vehicle device in both figures function as an AHS as a unit.

First, the infrastructure system will be described. The infrastructure equipment illustrated in FIG. 2 is provided in a curve part with poor visibility. This equipment provides useful information for preventing collision of obstacles ahead, preventing danger of entering a curve, and preventing lane departure.

In FIG. 2, the measurement range 50 is set at a place where visibility is poor (at the end of a curve). An obstacle 52 within the measurement range 50 is detected by the road condition detection device 54. The detection device 54 is, for example, a visible camera, an infrared camera, or an infrared sensor. The transmission information generation unit 58 of the infrastructure control device 56 specifies an obstacle within the measurement range 50 based on the information sent from the detection device 54. For example, image processing is performed on an image obtained from a visible camera, and a vehicle or the like in the image is obtained.

The transmission information generation section 58 transmits transmission information to be transmitted to the vehicle to the transmitter 60. The transmission information includes obstacle information and road alignment information. The obstacle information preferably includes the presence / absence, position, size, and speed of the obstacle. The road alignment information is read from the road alignment storage unit 62. The transmission information is
Further, it is preferable to include useful information such as road surface conditions. The transmission information is transmitted from the transmitter 60 to the information communication range 64. The transmission interval currently set in AHS is 10
It is 0 msec.

A service in marker 66 is provided at the start of the information communication range 64. The service-in marker 66 is a radio wave marker and has a role of instructing the vehicle to enter the service providing area. Service in marker 66
Provides further necessary information to the vehicle. Further, the vehicle can use the service-in marker 66 to specify the position along the lane direction and to specify the own vehicle traveling lane.

In the example of FIG. 2, the vehicle is about to pass the service-in marker 66. When the vehicle passes the service-in marker 66, the in-vehicle device receives information sent from the infrastructure and provides information to the driver.

Further, as a part of the infrastructure system,
Many lane markers are installed at equal intervals along the lane. Two rows of lane markers are provided, each having a predetermined distance (for example, 50 cm) from the left and right ends of the vehicle.
Are located in The lane marker is, for example, a magnetic marker, and is used to prevent lane departure.

Next, returning to FIG. 1, the configuration of the vehicle-mounted device 1 will be described. The in-vehicle device 1 includes an information providing ECU 10, a base marker detector 12, a road-vehicle communication device 14, and a lane marker detector 16.

Base marker detector 12 (marker sensor)
Detects a service-in marker and a service-out marker (base marker) installed on the road. The base marker detector 12 has a receiver and receives radio waves emitted by the base marker. The road-to-vehicle communication device 14 is a transmitter (60 in FIG. 2) installed on the road side in association with the service-in marker.
Receive service information from. The lane marker detector 16 has a magnetic sensor, and is a lane marker (a magnetic marker composed of a permanent magnet) installed in a row on the road along the lane.
Is detected.

Further, vehicle information is input from the vehicle speed sensor 18 to the information providing ECU 10. Vehicle speed sensor 18
Generates a pulse signal indicating, for example, the wheel rotation speed. The vehicle speed information may be obtained from a configuration other than the vehicle speed sensor 18, for example, from another ECU.

When the service providing marker is detected, the information providing ECU 10 adds the service information obtained by the road-to-vehicle communication,
Information is provided for driving support using the lane marker detection information and the vehicle speed information. The display 20 and the speaker 22 as output means are used for providing information to the driver. Character information may be displayed on the display 20, and an image representing a road, an intersection shape, or the like may be displayed. From the speaker 22, a notification sound may be output, or audio information may be output.

The information providing ECU 10 has various AHS information providing functions. FIG. 1 shows “obstacle information providing unit 30” which is three of the information providing functions.
"Curve information providing unit 32""Lane departure information providing unit 34"
It is shown.

Further, the information providing unit ECU 10 is provided with a selecting unit 36. When a composite event in which the provision of two types of information is required occurs, the selection unit 36 has a function of selecting information having a high requested level from the information as information to be provided. A request to provide information means that the system is deemed to need to provide some form of information. The selection unit 36 further selects an <obstacle-curve> selection unit 38 corresponding to a composite event of obstacle information and curve information, and a <obstacle-deviation> selection corresponding to a composite event of obstacle information and lane departure information. Unit 40.

Hereinafter, the functions of the information providing units and the selecting units will be described.

[Provision of Obstacle Information] An example of provision of obstacle information will be described. When the presence of an obstacle is notified from the infrastructure side, a screen for obstacle information is displayed. The road shape is displayed, obstacles are superimposed on it, and further deceleration is encouraged.

The current position based on the service-in marker is obtained from the traveling distance. The running distance is obtained from the vehicle speed. Then, the deceleration (obstacle deceleration) required to stop before the obstacle is calculated from the current position and the obstacle position. The required deceleration is compared with the actual deceleration of the vehicle. If the actual deceleration is insufficient, the driver is prompted to further decelerate. This process is periodically repeated at short intervals.

[Provision of Curve Information] Next, an example of providing curve information will be described. Curve shape obtained from road alignment information,
The appropriate traveling speed of the curve is displayed on the display. The appropriate running speed is a speed calculated from the curve shape, and is a speed at which the centrifugal force acting on the vehicle at the curve is equal to or less than a predetermined upper limit.

Further, the current position based on the service-in marker is obtained from the traveling distance. The running distance is obtained from the vehicle speed. Then, a deceleration (curve deceleration) required for decelerating to the appropriate traveling speed at the curve entry position at the curve entry position is obtained from the current position and the curve entry position. The required deceleration is compared with the actual deceleration of the vehicle. If the actual deceleration is insufficient, the driver is prompted to further decelerate. This process is periodically repeated at short intervals.

[Lane departure information] In the lane departure information provision,
The information detected by the lane marker sensor is used. As described above, the lane marker is provided at a predetermined distance from the end of the lane. Therefore, by detecting the lane marker, the lateral position of the vehicle can be determined, and particularly, how close the vehicle is to the lane edge can be determined.

The position of the vehicle in the lane is displayed on the display. When the vehicle approaches, reaches, or crosses the lane edge, information indicating the fact is displayed, and a trajectory correction is instructed.

[Composite Event: Obstacle Information and Curve Information] When an obstacle exists in a curve, both the provision of the obstacle information and the provision of the curve information are required. At this time, an appropriate selection process is performed by the selection unit as described below.

Referring to FIG. 3, in S10, it is determined whether provision of obstacle information is requested. S10
Is NO, it is determined in S12 whether provision of curve information is requested. If S12 is NO, S10
Returning to S12, if S12 is YES, curve information is provided as usual in S14.

On the other hand, if the provision of the obstacle information is requested in S10, it is determined in S16 whether the provision of the curve information is requested. If S16 is NO, S1
At 8, the obstacle information is provided as usual.

If S16 is YES, provision of both the obstacle information and the curve information is requested. Therefore, S20
Then, the required levels of both pieces of information are compared to determine whether the required level of the obstacle information is higher.

In S20, the required deceleration a for the obstacle a
1 is compared with the required deceleration a2 for entering the curve. If the obstacle deceleration is equal to or larger than the curve deceleration, it is determined that the required level of the obstacle information is high, and
It becomes S.

If S20 is YES, the process proceeds to S22, where obstacle information is provided. On the other hand, if S20 is NO, that is, if the curve deceleration is greater than the obstacle deceleration, the process proceeds to S24, and the curve information is provided.

The above processing for "hunting prevention" is repeatedly performed at short control cycles. Therefore, the magnitude relationship between the deceleration for the obstacle and the deceleration for the curve may be frequently switched. At this time, a hunting phenomenon in which the display of information is frequently switched may occur.

In consideration of this point, in the present embodiment, the selected information is provided continuously until a predetermined duration has elapsed. For example, assume that the obstacle deceleration is large and obstacle information is provided. Next, it is assumed that the curve deceleration increases and switching to curve information provision is performed. Immediately thereafter, it is assumed that the deceleration for the obstacle increases again. At this time, both the obstacle information and the curve information are provided until the predetermined duration elapses. Then, when the predetermined duration has elapsed, the provision of the curve information is stopped.

By using such a predetermined duration, it is possible to avoid a situation in which information provision becomes difficult to understand due to hunting. The predetermined duration is set to an appropriate length (for example, several seconds) so that the driver can appropriately receive information even when the information is switched, and does not feel troublesome.

"Complex event: Obstacle information and lane departure information"
When an obstacle is present and the vehicle is going to deviate from the lane, both the provision of the obstacle information and the provision of the lane departure information are required. At this time, an appropriate selection process is performed by the selection unit as described below.

Referring to FIG. 4, in S30, it is determined whether provision of obstacle information is requested. S30
Is NO, it is determined in S32 whether provision of the lane departure information has been requested. If S32 is NO, S3
Returning to 0, if S32 is YES, lane departure information is provided as usual in S34.

On the other hand, when the provision of the obstacle information is requested in S30, it is determined in S36 whether the provision of the lane departure information is requested. If S36 is NO, S
At 38, obstacle information is provided as usual.

When S36 is YES, provision of both the obstacle information and the lane departure information is requested. When this composite event occurs, the selection unit of the information providing ECU selects obstacle information in S40. This is because obstacle information is considered to have a higher required level. Then, the obstacle information is provided in S42.

Regarding the selection judgment, the obstacle information and the lane departure information are both important information. However, comparing the two types of information, the feature of the lane departure information is that "if the driver's attention can be obtained, most of the purpose of information provision can be achieved". This is because the alerted driver can perform an appropriate driving operation while watching the lane by himself.

Focusing on the nature of such information, the present embodiment provides obstacle information when a complex event that needs to provide both obstacle information and lane departure information occurs. By providing the obstacle information, the driver is alerted and warned of lane departure. Therefore, in the present embodiment, by providing the obstacle information as a response to the complex event, the necessary functions of both information are effectively achieved. Providing independent information, communication is clear.

"Complex event: Obstacle information and lane departure information"
Next, another preferred processing example when a composite event of obstacle information and lane departure information has occurred will be described with reference to FIG. 5, steps S30 to S38 are the same as those in FIG.

When S30 and S36 are YES, that is, when provision of both the obstacle information and the lane departure information is requested, the process proceeds to S50. In S50, the selection unit of the information providing ECU determines whether or not the obstacle is at a position that can be seen from the vehicle. Here, the road shape (curve shape in this case), the driver's viewpoint, and information on the position and size of the obstacle are used. Preferably, information on the type of obstacle is also obtained from the infrastructure equipment. Further, the vehicle may be provided with a front camera, and it may be determined whether or not an obstacle taught by the infrastructure is captured by the camera.

If S50 is NO, that is, if the obstacle cannot be seen from the vehicle, both obstacle information and lane departure information are provided in S54. On the other hand, S50 is YE
S, that is, when the obstacle can be seen from the lane, the obstacle information is provided in S52, and the provision of the lane departure information is stopped.

In the example of FIG. 2, since the obstacle is not visible until the vehicle travels for a while after passing through the service-in marker, both information are provided when a complex event occurs. When a vehicle reaches a curve through a straight section, an obstacle can be seen, so that only the obstacle information is provided when a complex event occurs.

As described above, in this embodiment, both useful information, that is, the obstacle information and the lane departure information, are provided until the vehicle reaches the position where the obstacle can be seen. When the driver comes to a position where an obstacle can be seen, the driver shifts to an avoidance operation that goes out of the lane and voluntarily avoids the obstacle. At such a stage of the avoidance operation, the lane departure information contradicts an appropriate driving operation. Also, at the stage of the avoidance operation, the oncoming vehicle is also visible, and it is considered that the necessity of the lane departure information is reduced. Focusing on this point, in the present embodiment, the provision of the lane departure information is stopped at the position where the obstacle can be seen, so that rational and appropriate information can be provided.

FIG. 2 shows an infrastructure system at a curved portion. However, there are places where both the obstacle information and the lane departure information are provided in portions other than the curve. The present embodiment functions similarly in such a place.

The preferred embodiment of the present invention has been described above. In the present embodiment, as a form of information provision, display on a display has been mainly described. As a form of information provision, a notification sound and voice guidance are also conceivable. Regarding the notification sound, it is conceivable to use a common notification sound regardless of the type of information when an AHS in-vehicle device is actually created. In this case, it is not necessary to select information for the notification sound, but only for the display. On the other hand, for voice guidance, the selection processing described in the above embodiment is particularly effective. This is because, unlike a display, it is difficult to provide various information at once.

In this embodiment, information is provided as driving support. As described above, the present invention considers an alarm as a part of information provision. In AHS, vehicle control (AHS-c, AHS-a) has been proposed as further driving support. And the present invention is not limited to information provision,
It can be applied to any driving support. When a complex event occurs, an appropriate one may be selected from obstacle-related driving support and another driving support (curve or lane departure, etc.).

In the present embodiment, the present invention is applied to AHS, but the present invention is not limited to this. The present invention may be applied to a driving support system other than the AHS. It is also preferable to apply the present invention to a system in another country corresponding to the AHS system in Japan.

[0063]

According to the present invention, when a complex event occurs in which it is required to provide both the obstacle information and the separate information (curve or lane departure), information having a high request level is obtained from the information. , As information to be provided. Therefore, necessary information can be transmitted more reliably, and more appropriate information can be provided, as compared with a case in which obstacle information and another information are provided as they are. As a result, the intended safety of the AHS can be further improved.

[Brief description of the drawings]

FIG. 1 is a block diagram showing a vehicle-mounted device for driving assistance according to an embodiment of the present invention.

FIG. 2 is a diagram showing infrastructure equipment of a driving support system.

FIG. 3 is a flowchart illustrating an information providing process when a complex event of providing obstacle information and providing curve information occurs.

FIG. 4 is a first flowchart illustrating an information providing process when a combined event of providing obstacle information and providing lane departure information occurs.

FIG. 5 is a second flowchart illustrating an information providing process when a combined event of providing obstacle information and providing lane departure information occurs.

[Explanation of symbols]

1 in-vehicle device, 10 information providing ECU, 12 base point marker detector, 14 road-vehicle communication device, 16 lane marker detector, 30 obstacle information providing unit, 32 curve information providing unit, 34 lane departure information providing unit, 36 selecting unit, 38
Obstacle-curve selector, 40 Obstacle-deviation selector.

Continued on the front page (72) Inventor Toshiaki Matsumoto 1 Toyota Town, Toyota City, Aichi Prefecture Inside Toyota Motor Corporation (72) Inventor Yoshito Hori 1 Toyota Town Toyota City, Toyota City Aichi Prefecture Inside Toyota Motor Corporation (72) Invention Person Tsuneji Ito 1 Toyota Town, Toyota City, Aichi Prefecture Toyota Motor Corporation (72) Inventor Makoto Nishida 1 Toyota Town, Toyota City, Aichi Prefecture Toyota Motor Corporation F-term (reference) 2F029 AA02 AB12 AC02 AC09 AC13 AC16 AC18 5H180 AA01 CC02 CC04 CC17 CC24 LL01 LL02 LL06 LL07 LL08 LL15

Claims (9)

[Claims] 1. An in-vehicle information providing device for obtaining service information from a road side in a service area set on a road and providing information for driving assistance to an occupant, comprising: Means for providing different information different from the obstacle information, and when the provision of both the obstacle information and the different information is requested, information having a higher request level from the information. To
And a selecting means for selecting as information to be provided. 2. The in-vehicle information providing apparatus according to claim 1, wherein the separate information is curve information on a curve ahead of the vehicle. 3. The in-vehicle information providing device according to claim 2, wherein a deceleration required for the vehicle to cope with an obstacle and a deceleration required for the vehicle to cope with a curve are compared. An in-vehicle information providing device, wherein information of a larger deceleration is selected. 4. The in-vehicle information providing apparatus according to claim 1, wherein the different information is lane departure information, and the selecting unit is configured to request the provision of both the obstacle information and the lane departure information. And an on-board information providing apparatus for selecting the obstacle information. 5. The on-vehicle information providing device according to claim 4, wherein the obstacle information is selected when the obstacle is at a position that can be seen from a vehicle, the obstacle information is provided, and the lane deviation information is provided. An in-vehicle information providing device not provided. 6. The on-vehicle information providing device according to claim 5, wherein both the obstacle information and the lane departure information are provided until the vehicle reaches a position where the obstacle can be seen. Providing device. 7. The on-vehicle information providing device according to claim 5, wherein whether or not the obstacle can be seen is determined based on a road shape ahead of the vehicle. 8. An in-vehicle device that obtains service information from a road side in a service area set on a road and provides driving support using the obtained service information, comprising: means for providing driving support for an obstacle ahead of the vehicle. Means for providing different travel support different from the obstacle travel support, and when the provision of both the obstacle travel support and the different travel support is requested, traveling at a higher request level from the travel support Selecting means for selecting support as drive support to be provided; and a vehicle-mounted device for drive support. 9. A method for obtaining service information from a road side in a service area set on a road and providing driving support using the obtained service information, comprising: providing driving support for an obstacle in front of the vehicle; Providing different driving support different from the obstacle driving support; and when providing both the obstacle driving support and the different driving support is requested, the driving support requested at a higher level from the driving supports is provided. Selecting a driving assistance to be provided, and a driving assistance method.