JP4228894B2 - Hazardous location display system - Google Patents

Description

  The present invention relates to a danger location display system that provides accident prediction information to a driver.

  If it is determined that the vehicle has approached the past accident location using the data of the accident occurrence location and the occurrence situation in the past, and the driving situation of the vehicle is similar to the past accident occurrence situation, A warning message with information on the accident occurrence status was output.

JP 2003-14474 A

  Because information is provided only when the situation is similar to past accident situations, it is not possible to prevent oversight of things that must be confirmed at intersections where no accident has occurred, and for drivers who are careful There is also a problem that it may feel annoying because it gives warnings and warnings.

  The present invention has been made in order to solve the above-mentioned problems, and the danger that the driver can be aware of in advance the areas and objects where an accident related to the vehicle may occur even at an intersection where no accident has occurred. The object is to provide a location display system.

In order to achieve the above object, in the present invention, in a place that intersects or approaches a dangerous object, vehicle trajectory estimation means for estimating the vehicle trajectory from map information and vehicle behavior, and the map information at the location. A dangerous object trajectory estimating means for estimating the trajectory of the dangerous object, a dangerous area estimating means for estimating an intersection of the own vehicle trajectory and the dangerous object trajectory as a dangerous area, the dangerous area and the dangerous object And display means for displaying the map superimposed on the map of the place.

  According to the present invention, a dangerous area and a dangerous object are estimated from the course of the host vehicle and map information at a location that intersects or approaches the dangerous object, and the estimated dangerous area and the dangerous object are displayed on the map in advance. Thus, it is possible to take into consideration what kind of object the driver is likely to be in, and in which side.

Hereinafter, embodiments of the present invention will be described with reference to the drawings. In the drawings described below, components having the same function are denoted by the same reference numerals, and repeated description thereof is omitted.
An embodiment of the present invention will be described with reference to FIGS.

  FIG. 1 is a diagram showing the configuration of the present embodiment, and the configuration of the present embodiment will be described based on FIG.

  The navigation route guidance information device 101 that holds the route to the destination of the own vehicle and notifies the next intersection where the own vehicle reaches the next by the own vehicle position detected by the navigation device 109, the steering wheel, the blinker, the own vehicle Based on the information from the vehicle information acquisition device 102 that can see the operation state of the vehicle according to the driver's driving situation such as the vehicle speed, the vehicle's behavior that estimates the next operation of the vehicle such as turning left and right at the next intersection The behavior of the host vehicle is estimated by the estimation device 103. Intersection from the intersection information database 105 based on the own vehicle action estimated by the own vehicle action prediction device 103 and the next passing intersection (place where the dangerous object is crossed or approached) obtained from the navigation route guidance information device 101 From the information, the track that the vehicle will take is calculated by the vehicle track estimation device 104 (estimation of the vehicle track). At the next intersection, other vehicles, motorcycles, pedestrians, bicycles, etc. that may intersect with your vehicle except for neglecting signals, etc. The target predicted trajectory is estimated by the other vehicle trajectory estimation device 106 (trajectory estimation of the dangerous target). In the dangerous part estimation device 107 (means for estimating the dangerous region and means for calculating the recommended region for waiting for the vehicle to turn right), the own vehicle estimated by the own vehicle track estimation device 104 and the other vehicle track estimation device 106 The intersection of the estimated trajectory and the estimated trajectory of the dangerous object is estimated as a dangerous area. In the display content creation device 108, the own vehicle estimated trajectory estimated by the own vehicle trajectory estimation device 104 is superimposed and displayed in accordance with the map data from the navigation device 109, and the dangerous area estimated by the dangerous location estimation device 107, Overlay the display so that the danger object such as other vehicles, motorcycles, pedestrians, bicycles, etc. that may intersect with the host vehicle is linked to the estimated trajectory of the danger object in a form reminiscent of the danger object. Display on the display device (display means) 110.

  Next, the operation of the present embodiment will be described with reference to the flowchart of FIG. 2 and FIG. First, in S201, from the own vehicle position acquired by the navigation device 109, the intersection where the own vehicle passes next is specified by the navigation route guidance information device 101. In S202, vehicle information such as the steering wheel, turn signal, and vehicle speed of the own vehicle is acquired by the vehicle information acquisition device 102. In S203, the own vehicle behavior estimation device 103 uses the vehicle information acquired by the vehicle information acquisition device 102. Predict the next action. In S205, the next action of the own vehicle predicted by the own-vehicle action estimating device 103, or the navigation route guidance information device 101 in the case where the navigation route guidance is performed in S204, the information is used, or information on both of them. Further, the own vehicle behavior estimation device 103 estimates whether the vehicle moves to the right or left turn or straight ahead at the intersection specified in S201. In S206, the intersection information, that is, the shape, the number of lanes, the course restriction, and the like are acquired from the intersection information database 105 for the intersection specified in S201. In S207, the vehicle trajectory estimation device is determined from the next action of the vehicle estimated in S205. 104 estimates the lane that the vehicle should pass at the next intersection as a track. For example, when going straight, all straight lanes are considered as candidates for the path on which the vehicle is to pass, and from the viewpoint of safe driving, the inner lane where no pedestrian jumps out is estimated as the track on which the own vehicle passes. However, if the lane through which the vehicle passes can be identified, the lane through which the vehicle passes is estimated as a track. Further, the other vehicle track estimation device 106 estimates the other vehicle track related to the own vehicle without ignoring the signal from the oncoming lanes, the course restrictions on the intersecting lanes, and the like. For pedestrians, bicycles, etc., the trajectory is estimated from the position of the pedestrian crossing.

  In S208, the own vehicle trajectory estimated in S207 in the dangerous part estimation device 107, the trajectory of other vehicles, pedestrians, bicycles, and the like, and the overlapping region of these trajectories are estimated as dangerous regions. Also, the road width and signal movement pattern (right turn exclusive signal, etc.) are obtained from the intersection information database 105, taking into account the width of the vehicle, taking into account the heading restrictions and the right turn exclusive signal, etc. The area recommended for waiting for a right turn without entering the area is estimated from the trajectory, vehicle width, and road width of the host vehicle and the oncoming vehicle, and the recommended stop area is estimated within a range where the approximate position can be displayed in the intersection frame diagram.

  By estimating the trajectory of the own vehicle as described above and estimating other vehicles, motorcycles, pedestrians, and bicycles related to the own vehicle trajectory, it is possible to narrow down the objects that the driver must pay particular attention to.

  In S209, the display content creation device 108 acquires the intersection top view from the navigation device 109, and intersects the estimated vehicle trajectory estimated in S207 with the dangerous region and recommended stop region calculated in S208 according to the estimated vehicle trajectory. Overlaid on the top view, it is possible to know where the dangerous area is on the estimated vehicle trajectory and where the recommended stop area is. In addition, in accordance with the estimated trajectory of other vehicles, motorcycles, pedestrians, bicycles, etc. estimated in S207, on the intersection frame diagram, images using other vehicles, motorcycles, pedestrians, bicycles, etc. that can associate with the target Then, an animation display (moving display) of the display contents is created in such a way as to advance on the estimated trajectory of the target.

  In S210, the display content created in S209 is displayed.

  By putting the dangerous area on the estimated trajectory of the subject vehicle and the movement of the dangerous object on the same display as described above, it is easy to see from which direction the dangerous object is moving, such as a vehicle or a pedestrian. Can be recognized. In addition, when the navigation route guidance is used together with the intersection frame diagram displayed on the two screens, it is possible to recognize the dangerous object and the dangerous area without being troublesome and not troublesome.

  As described above, by displaying the danger object and the dangerous area on the intersection top view, you can display other vehicles, motorcycles, pedestrians, bicycles, etc. that may intersect with your vehicle at the intersection where your vehicle enters. The driver should be able to recognize before entering the intersection and know what kind of movement will be necessary for attention confirmation, so the driver should be careful where and how to move before entering the intersection Can be used to help determine whether or not mistakes have been made.

Next, the display content created by the display content creation device 108 described in S209 will be described in detail with reference to FIGS.
FIG. 3 shows a case where the own vehicle 301 is going to make a right turn at an intersection, and the own vehicle estimated trajectory 302 on which the own vehicle 301 will proceed is displayed on the intersection top view, and a right turn waiting stop in the intersection top view. A recommended area 303 and a dangerous area 304 are displayed so as to overlap the trajectory 302. A recommended turn stop waiting area 303 indicates a vehicle position 310 where the vehicle can stop. In addition, there is an oncoming vehicle 305 that runs in the opposite lane where the own vehicle 301 may make a right turn, a pedestrian 306 and a bicycle 307 crossing the pedestrian crossing, a traffic jam, and a traffic signal. A motorcycle 308 that may be in the shadow is displayed with movement (indicated by a broken line arrow).

  The display content at the left turn will be described with reference to FIG. A host vehicle estimated trajectory 402 along which the host vehicle 401 travels is displayed on the intersection frame diagram, and a danger area 406 is displayed so as to overlap the track 402 in the intersection frame diagram. In Fig. 4, there are two lanes on one side, so there is a high possibility that the tracks will not cross, but the opposite lane right turn car 403 that needs attention when turning left, the pedestrian 405 and the bicycle 407 that may cross the track, and entangled when turning left The motorcycle 404 on the left rear side of the vehicle that may cause the vehicle is displayed with movement. It is also conceivable to particularly emphasize the motorcycle 404 that is particularly dangerous when making a left turn by changing the color, the frequency of movement, and the like.

  The display contents during straight traveling will be described with reference to FIG. A host vehicle estimated trajectory 502 along which the host vehicle 501 travels is displayed on the intersection frame diagram, and a danger area 503 is displayed on the track 502 in the intersection frame diagram. Further, an oncoming lane right turn vehicle 504 that may cross the track 502 is displayed with movement.

  The display contents when exiting from the non-priority road to the priority road will be described with reference to FIG. A host vehicle estimated trajectory 602 along which the host vehicle 601 travels is displayed on the intersection frame diagram, and a danger area 603 is displayed so as to overlap the track 602 in the intersection frame diagram. In addition, a straight-ahead vehicle 606, a pedestrian 605, and a bicycle 607 from the right that may intersect with the host vehicle 601 are displayed with movement. In addition, in such a situation, it is expected that the vehicle 601 stops for a left turn and the motorcycle 604 that pulls out from the back to the right of the vehicle 601 is expected, and the target motorcycle 604 moves. Display with.

  The display contents when there is no priority / non-priority at an intersection without a signal will be described with reference to FIG. At an intersection without a signal, it is difficult to narrow down the vehicles related to the host vehicle 701 according to the track of the host vehicle 701. Therefore, considering that there are many accidents to meet without a signal, the vehicle 702 running on the intersecting road is used for display, and the driver is informed that the vehicle 702 may come from the right and left. In addition, since it is considered that the speed is reduced at the time of turning left and right, the pedestrian 703 and the bicycle 704 that are particularly related when going straight are displayed with movement. Even when the estimated vehicle trajectory is displayed, the vehicle 702, the pedestrian 703, and the bicycle 704 coming from the right and left are displayed at the intersection with no signal.

  3-7 used in the above description, the movements of the vehicle and the pedestrian are indicated by wavy arrows, but it is considered that it is easier to recognize the movement of the vehicle or the vehicle more than once instead of moving it only once. It is done. In addition, pedestrians, bicycles, etc. are used in circles, ellipses, etc., but it is also possible to use images such as other vehicles, motorcycles, pedestrians, bicycles, etc. that can associate with the object.

  As shown above, by displaying in advance the types of intersections and courses that have a high possibility of an accident, it is possible to recognize what the driver must pay particular attention to. Can reduce the expected driving of deafness and assist driving to check the attention by yourself.

  Next, the display content time created by the display content creation device 108 and the display resulting from the surrounding facilities will be described. For example, if there is a facility near the next intersection, such as an elementary school or a kindergarten, where there are many infants or children who may be outrageous, and it is usually close to the time when children and children are expected to attend school The driver displays that such facilities are nearby at the end of the intersection, or displays an image or animation that can imagine an elementary school or kindergarten, and a sudden jump may occur at the intersection. Reminiscent of As a display content, as shown in FIG. 8, a yellow hat 801 is displayed as a reminder of a kindergarten or a kindergarten child. It is also possible to draw attention by shaking the hat from side to side. It is also possible to display the direction and distance of the kindergarten using the arrow 802.

  As described above, when the dangerous object requiring special attention for safe driving changes due to time of day or surrounding facilities, a display reminiscent of the dangerous object requiring special attention for safe driving. By doing so, it is possible to assist the driver's attention check.

  Next, among the display contents created by the display content creation device 108, there are many vehicles that enter the intersection from the right or the left with no traffic lights etc., especially on narrow roads such as residential areas and urban areas, etc. Display in the case where it cannot be seen will be described with reference to FIGS. As shown in FIG. 9B, at an intersection having a corner (blind corner) where the left and right cannot be seen, the display content creation device 108 infers from the intersection shape on the intersection frame diagram (FIG. 9A). An intersection corner 902 is detected, a roughly blind spot area 903 considered from a normally considered stop line position 905 is superimposed on the intersection frame diagram, and a vehicle 904 coming from the right and left is displayed. It is also possible to display the estimated vehicle trajectory superimposed on this figure.

  As shown above, by predicting and displaying the blind spot area, it is possible to know which area is not visible, and to be aware that there may be other vehicles and pedestrians in the area that is not visible. It becomes easy.

The block diagram which shows this Embodiment. The flowchart which shows the operation | movement of this Embodiment. The figure which shows the display content at the time of the intersection right turn of this Embodiment. The figure which shows the display content at the time of the intersection left turn of this Embodiment. The figure which shows the display content at the time of the intersection straight line of this Embodiment. The figure which shows the display content when approaching a priority road from the non-priority road of this Embodiment. The figure which shows the display content when entering the intersection of the same width without a signal of this Embodiment. The figure which shows the display content when there exists a kindergarten near this Embodiment. The figure which shows the display content in the intersection with a bad closeout of this Embodiment.

Explanation of symbols

301, 401, 501, 601, 701, 901 Own vehicle 302, 402, 502, 602 Own vehicle estimated trajectory 303 Right turn waiting recommended stop region 304, 406, 503, 603 Danger region 305 Oncoming vehicle 306, 405, 605, 703 Walking Person 307, 407, 607, 704 Bicycle 308, 404, 604 Bike 310 Own vehicle position 403, 504 Right turn car 606, 702 Straight car 801 Yellow cap 802 Arrow 902 Corner 903 Blind spot area 904 Vehicle

Claims (6)

In locations that cross or approach dangerous objects
Own vehicle trajectory estimating means for estimating own vehicle trajectory from map information and own vehicle behavior;
Dangerous object trajectory estimating means for estimating the trajectory of the dangerous object at the location from the map information;
A dangerous area estimating means for estimating a crossing portion of the own vehicle track and the dangerous target track as a dangerous region;
Display means for displaying the dangerous area and the dangerous object on the map of the place;
Dangerous part display system characterized by having.
  2. The dangerous location according to claim 1, further comprising means for calculating a recommended area for the vehicle to wait for a right turn, and displaying the calculated area and the vehicle position superimposed on the map. Display system.   The said dangerous object WHEREIN: When the said dangerous object is overlapped and displayed on the said map for the thing with a movement, the movement imitating the prediction action which the said dangerous object can take is performed on display. Dangerous part indication system described.   The place where the possibility that the own vehicle estimated trajectory predicted by navigation route guidance and own vehicle headway prediction and the trajectory of the danger target intersect is displayed as the dangerous area on the map. Dangerous part display system.   If it is predicted that the number of dangerous objects will increase, especially in the nearby facilities and time zones where the vehicle is running, the letters or figures reminiscent of the dangerous objects may be used. The dangerous part display system according to claim 1, wherein the dangerous part display system is displayed in a superimposed manner on a map. The danger location display system according to claim 1, wherein when the vehicle approaches a blind corner, an area that is particularly difficult to see from the vehicle is displayed on the map.

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