JP4952533B2 - Driving support device - Google Patents

Description

  The present invention relates to a driving support device that supports driving of a vehicle, and more particularly to a driving support device that guides a vehicle to change lanes.

In recent years, various driving support devices that support driving of vehicles have been proposed. For example, Patent Document 1 proposes a vehicle that guides a lane to be traveled according to the course of the vehicle. Here, Patent Document 1 describes that, when there is a point where the designated travel lane is not allowed to pass, when the vehicle approaches a point where the vehicle cannot pass, voice guidance is performed so as to change the lane.
JP 2006-329832 A

  By the way, a traffic light capable of instructing to travel only to a specific route other than a straight route among a plurality of routes, for example, a right turn arrow type traffic light having a blue right turn arrow light (arrow lamp) capable of instructing only a right turn is installed. If a straight-ahead vehicle enters a specific lane where you can go straight and turn right at the intersection, the next vehicle that is scheduled to turn right behind it can immediately turn right even if the blue right turn arrow light is lit. At least the blue right turn arrow light must wait until the next lighting.

  For this reason, a right turn vehicle will be congested on the specific lane of an intersection, and the smooth traffic flow of an intersection will be inhibited. In this regard, the travel support device described in Patent Document 1 cannot smooth the traffic flow at the intersection.

  Then, this invention makes it a subject to provide the driving assistance apparatus which can smooth the traffic flow in an intersection.

The driving support apparatus according to the present invention guides a lane change to a straight vehicle approaching an intersection where a traffic signal capable of instructing to travel only to a specific route excluding a straight route among a plurality of routes is installed. a drive assist system, when the straight route and traveling possible specific lane on a particular route is straight vehicle acquires the lighting timing of the traffic signal from the outside, the progression to only specific route by traffic it is determined whether the immediately preceding that will be indicated, straight vehicle just before the progression to only a specific route is designated, as a condition that there is a following vehicle to schedule the progress of a particular route on a particular lane It is configured to guide the lane change.

In the driving support device according to the present invention, when a straight vehicle approaching the intersection is on a specific lane that can proceed to a straight route and a specific route, immediately before the traffic light is instructed to travel only to the specific route, A lane change is guided to a straight-ahead vehicle on the condition that there is a succeeding vehicle on the specific lane scheduled to travel to a specific route . For this reason, a straight-ahead vehicle can change the lane easily and smoothly and can leave the specific lane, and a subsequent vehicle on the specific lane can smoothly pass through the intersection toward the specific route. Further, unnecessary lane changes of the straight-ahead vehicle are avoided, and the specific lane is effectively used for traveling of the straight-ahead vehicle.

  Here, when the navigation system and the inter-vehicle communication system are mounted on the straight vehicle and the following vehicle, the presence / absence of the following vehicle scheduled to travel to the specific route is registered in advance in the navigation system of the subsequent vehicle. It can be determined by acquiring and referring to information on the planned travel route by the inter-vehicle communication system. In addition, the presence or absence of a subsequent vehicle scheduled to travel to a specific route can be determined by acquiring and referring to the route change information based on the winker operation of the subsequent vehicle through the inter-vehicle communication system.

In the driving support device of the present invention, by referring to the information on the planned traveling route registered in advance in the navigation system of the straight traveling vehicle, it is possible to maintain the specific lane when the straight traveling vehicle on the specific lane travels on the planned traveling route. When it is necessary, it is preferable to avoid lane change guidance for a straight ahead vehicle. In this case, an unreasonable lane change of the straight vehicle on the specific lane is avoided, and the specific lane is effectively used for traveling of the straight vehicle.

  According to the driving support apparatus according to the present invention, when a straight vehicle approaching the intersection is on a specific lane that can travel to a straight route and a specific route, the traffic signal instructs the travel to the specific route only. The lane change is guided to the straight-ahead vehicle in advance, so it is possible for the straight-ahead vehicle to change lanes easily and smoothly and to leave the specific lane. Can pass smoothly. Therefore, according to the present invention, the traffic flow at the intersection can be smoothed.

  Here, according to the traveling support device of the present invention configured to guide the lane change to the straight traveling vehicle on the condition that there is a succeeding vehicle on the specific lane scheduled to travel to the specific route, the straight traveling vehicle Since the unnecessary lane change is avoided and the specific lane is effectively used for the traveling of the straight-ahead vehicle, the traffic flow at the intersection can be smoothed.

  In addition, with reference to the planned traveling route information of the straight-ahead vehicle, when a specific lane needs to be maintained when the straight-ahead vehicle travels on the planned traveling route, guidance for changing the lane to the straight-ahead vehicle is avoided. According to the driving support device of the present invention, since the forcible lane change of the straight vehicle is avoided and the specific lane is effectively used for driving the straight vehicle, the traffic flow at the intersection can be smoothed.

  DESCRIPTION OF EXEMPLARY EMBODIMENTS Hereinafter, the best embodiment of a driving assistance apparatus according to the invention will be described with reference to the drawings. Here, in the drawings to be referred to, FIG. 1 is a schematic diagram of a road near an intersection where a driving support device according to an embodiment of the present invention supports driving of the vehicle, and FIG. 2 is mounted on the host vehicle shown in FIG. FIG. 3 is a flowchart showing a processing procedure of the driving support ECU shown in FIG. 2.

  The travel support apparatus according to an embodiment guides an appropriate lane change to a straight vehicle approaching the intersection in order to smooth traffic flow at a road intersection as shown in FIG. 1, for example. To help.

  Here, the road illustrated in FIG. 1 has two T-shaped intersections T1 and T2 where a two-lane road with one lane intersects a four-lane road with two lanes on one side in a T-shape. At one T-shaped intersection T1, a traffic light S1 corresponding to a vehicle traveling on two lanes on one side of a four-lane road toward the upper side of FIG. 1 and two lanes on the opposite side of the four-lane road are on the lower side of FIG. A traffic light S2 corresponding to a vehicle traveling toward the vehicle and a traffic light S3 corresponding to a vehicle traveling on one lane on one side of the two-lane road toward the left in FIG. 1 are installed. Similar traffic lights S1 to S3 are installed at the other T-shaped intersection T2.

  The traffic light S1 is a right turn arrow type traffic light having a blue light, a yellow light, a red light and a blue right turn arrow light. When the blue light is lit, the vehicle S1 is instructed to travel straight and right turn (specific route). At the same time, the red light and the blue right turn arrow light are turned on simultaneously to instruct the vehicle to travel only to the right turn route (specific route) excluding the straight route.

  On the other hand, the traffic lights S1 and S2 are standard traffic lights having a blue light, a yellow light, and a red light. And the roadside machine B which transmits information, such as a form of these traffic lights S1-S3, a lighting cycle, and a lighting timing, to a nearby vehicle by an electric wave beacon (or optical beacon) is installed in each of the T-shaped intersections T1 and T2. ing.

  Here, the travel support device according to the embodiment is, for example, the own vehicle C1 that travels straight on the lane near the center line CL of the four-lane road shown in FIG. 1 toward the T-shaped intersection T1 in FIG. At the T-shaped intersection T1, the host vehicle C1 is traveling straight on a right turnable lane (specific lane) close to the center line CL that can travel to a straight road and a right turn route (specific route).

  As shown in FIG. 2, the travel support apparatus includes a travel support ECU (Electric Control Unit) 1 that starts operation when an ignition switch is turned on, a navigation system 2, a communication system 3, and the like.

  The driving support ECU 1 includes an input / output interface I / O, an A / D converter, a ROM (Read Only Memory) that stores programs and data, a RAM (Random Access Memory) that temporarily stores input data and the like, and a CPU ( It consists of a microcomputer equipped with Central Processing Unit) as hardware.

  The navigation system 2 includes a GPS (Global Positioning System) receiver and an autonomous navigation device for acquiring information on the current position of the host vehicle C1, a DVD drive that reads map data, the current position of the host vehicle C1, and a registered vehicle A display that displays an image of the planned travel route of the vehicle C superimposed on a map, a speaker that emits guidance voice according to the planned travel route of the host vehicle C, and the like are provided.

  The navigation system 2 outputs the current position information of the host vehicle C1 acquired by the GPS receiver and the autonomous navigation device and the position information of the intersection near the current position obtained from the map data to the driving support ECU 1.

  The communication system 3 includes a road-to-vehicle communication unit 3A and a vehicle-to-vehicle communication unit 3B. The road-to-vehicle communication unit 3A acquires information such as the type, lighting cycle, and lighting timing of the traffic light S1 by communicating with the roadside machine B shown in FIG. Information is output to driving assistance ECU1.

  On the other hand, the inter-vehicle communication unit 3B performs two-way communication with a communication system (not shown) installed in the succeeding vehicle C2 located behind the host vehicle C1 shown in FIG. Information on whether or not there is a right turn plan at the T-shaped intersection T1 of the following vehicle C2 is acquired, and the information is output to the driving support ECU 1.

  In this case, the inter-vehicle communication unit 3B obtains information on the planned traveling route of the subsequent vehicle C2 and information on the operating direction of the winker of the subsequent vehicle C2 registered in advance in a navigation system (not shown) installed in the subsequent vehicle C2. get.

  Here, the driving support ECU 1 includes a host vehicle information acquisition unit 1A, a traffic light information acquisition unit 1B, a following vehicle information acquisition unit 1C, a driving support determination unit 1D, and a message output unit 1E.

  The own vehicle information acquisition unit 1A constitutes own vehicle information acquisition means in cooperation with the navigation system 2, and information on the current position of the own vehicle C1 from the navigation system 2 and the nearest intersection near the current position. The position information and the information on the planned travel route of the host vehicle C1 registered in advance are acquired, and the information signal is sent to the travel support determination unit 1D.

  The traffic signal information acquisition unit 1B constitutes a traffic signal information acquisition unit in cooperation with the road-to-vehicle communication unit 3A of the communication system 3, and includes the type, lighting cycle, lighting timing, etc. of the traffic light S1 from the road-to-vehicle communication unit 3A. Information is acquired and the information signal is sent to the driving support determination unit 1D.

  The subsequent vehicle information acquisition unit 1C constitutes a subsequent vehicle information acquisition unit in cooperation with the inter-vehicle communication unit 3B of the communication system 3, and includes information on the scheduled travel route of the subsequent vehicle C2 from the inter-vehicle communication unit 3B and Information on the operating direction of the blinker of the following vehicle C2 is acquired, and the information signal is sent to the driving support determination unit 1D.

  The driving support determination unit 1D determines conditions for driving support based on the information signals transmitted from the own vehicle information acquisition unit 1A, the traffic signal information acquisition unit 1B, and the subsequent vehicle information acquisition unit 1C, and T is determined according to the determination result. It is determined whether or not to perform driving support that prompts the host vehicle C1 approaching the character intersection T1 to change lanes. When the driving support determination unit 1D determines to execute driving support, the driving support determination unit 1D sends the support determination signal to the driving support output unit 1E.

  When the information signal of the current position of the host vehicle C1 and the information signal of the position of the nearest intersection near the current position are input from the host vehicle information acquiring unit 1A, the driving support determining unit 1D It is determined whether or not it is within a range of a predetermined distance before the T-shaped intersection T1 illustrated in FIG. That is, it is determined whether or not the host vehicle C1 has approached the nearest intersection.

  In addition, the driving support determination unit 1D can travel on the straight road and the right turn (specific route) through the T-shaped intersection T1 illustrated in FIG. 1 by the own vehicle C1 based on the information signal of the current position of the own vehicle C1. It is determined whether or not the vehicle is on a right turnable lane near the center line CL of a four-lane road. That is, it is determined whether or not the host vehicle C1 is on a specific lane where the vehicle can travel on a straight road and a specific route.

  Furthermore, when the information signal of the planned travel route of the host vehicle C1 is input from the host vehicle information acquisition unit 1A, the travel support determination unit 1D turns right at the T-shaped intersection T2 next to the T-shaped intersection T1. Determine if there is a plan.

  When an information signal such as the type of the traffic light S1, the lighting cycle, and the lighting timing is input from the traffic signal information acquisition unit 1B, the driving support determination unit 1D, when the traffic light S1 is a right-turn arrow type traffic signal, It is determined whether or not the lighting timing is the end of lighting of the blue light and the own vehicle C1 is at a timing at which the vehicle C1 can leave the right turnable lane and easily change to the left lane. That is, it is determined whether or not it is time to change the lane so that the host vehicle C1 leaves the specific lane.

  When the information signal of the scheduled travel route of the following vehicle C2 and the information signal of the blinker operation of the following vehicle C2 are input from the following vehicle information acquiring unit 1C, the driving support determining unit 1D is connected to the nearest T-shaped intersection T1 of the following vehicle C2. Determine if you want to turn right. That is, it is determined whether or not the subsequent vehicle C2 proceeds to the specific route at the nearest intersection.

  In this determination, when the driving support determination unit 1D receives information on a right turn scheduled at the nearest intersection on the planned driving route of the following vehicle C2 or information on a winker operation instructing a right turn of the following vehicle C2. Then, it is determined that the following vehicle C2 turns right at the nearest T-shaped intersection T1.

  Here, the driving support output unit 1E outputs a predetermined message signal to the navigation system 2 when the driving determination signal is input from the driving support determination unit 1D, thereby prompting the host vehicle C1 to change the lane to the left lane. A predetermined message image is displayed on the display screen, and a predetermined message sound for prompting the host vehicle C1 to change the lane to the left lane is generated from the speaker.

  Hereinafter, the processing procedure of the control executed by the driving support ECU 1 will be sequentially described with reference to the flowchart shown in FIG. First, in step S1, the own vehicle information acquisition unit 1A of the driving support ECU 1 is registered in advance as information on the current position of the own vehicle C1 from the navigation system 2 and the position information of the nearest intersection near the current position. The information on the planned travel route of the host vehicle C1 is acquired.

  In the next step S2, the driving support determination unit 1D determines whether or not the host vehicle C1 has approached the nearest intersection. Here, as shown in FIG. 1, when the host vehicle C1 is within a predetermined distance range before the T-shaped intersection T1, it is determined as YES and proceeds to the next step S3. It returns to step S1.

  In step S3, the driving support determination unit 1D determines whether or not the host vehicle C1 is on a specific lane that can travel to a straight road and a specific route at the nearest intersection. Here, as shown in FIG. 1, the host vehicle C1 is on a right turnable lane near the center line CL of a four-lane road that can travel on a T-shaped intersection T1 to a straight road and a right turn road (specific road). In this case, it is determined as YES and the process proceeds to the next step S4. Otherwise, it is determined as NO and the process returns to step S1.

  In the next step S4, the traffic signal information acquisition unit 1B acquires information such as the type, lighting cycle, and lighting timing of the traffic light S1 from the road-vehicle communication unit 3A of the communication system 3. In the following step S5, when the type of the traffic light S1 is a right turn arrow type traffic light, the lighting timing of the traffic light S1 is the end of lighting of the blue light, and the own vehicle C1 leaves the right turn possible lane shown in FIG. The driving support determination unit 1D determines whether or not it is time to easily change the lane to the left lane. Here, if the traffic light S1 is at the end of lighting of the blue light, it is determined as YES and the process proceeds to the next step S6. Otherwise, it is determined as NO and the process proceeds to return.

  In the next step S6, the subsequent vehicle information acquisition unit 1C acquires information on the planned travel route of the subsequent vehicle C2 and information on the blinker operation of the subsequent vehicle C2 from the inter-vehicle communication unit 3B of the communication system 3. In the subsequent step S7, the driving support determination unit 1D determines whether or not the subsequent vehicle C2 makes a right turn toward the right turn direction (specific route) at the nearest T-shaped intersection T1.

  Here, the driving support determination unit 1D determines YES when the information on the right turn plan on the planned driving route of the following vehicle C2 or the information on the winker operation instructing the right turn of the following vehicle C2 is input. If not, it is determined as NO. And if the determination result of step S7 by driving assistance determination part 1D is YES, it will progress to the following step S8, but if it is NO, it will progress to a return.

  In the next step S8, based on the information signal of the planned travel route of the host vehicle C1 sent from the host vehicle information acquisition unit 1A, it is determined whether the host vehicle C1 is scheduled to turn right at the next T-shaped intersection T2. The support determination unit 1D determines. Here, if the host vehicle C1 does not plan to turn right at the next T-shaped intersection T2, it is determined as YES and the process proceeds to the next step S9. Otherwise, it is determined as NO and the process proceeds to return.

  In step S <b> 9, the driving support output unit 1 </ b> E outputs a predetermined message signal to the navigation system 2 by inputting a driving determination signal from the driving support determination unit 1 </ b> D to the driving support output unit 1 </ b> E. As a result, a predetermined message image that prompts the host vehicle C1 to change the lane to the left lane is displayed on the display screen of the navigation system 2, and a predetermined message voice that prompts the host vehicle C1 to change the lane to the left lane is displayed. Emitted from the system 2 speaker. Thus, guidance for changing the lane to the left lane for the host vehicle C1 is provided.

  As described above, in the driving support device according to the embodiment, as shown in FIG. 1, a right-turnable lane near the center line CL when the host vehicle C1 is within a predetermined distance before the nearest T-shaped intersection T1. When it is determined that the vehicle C1 is not scheduled to turn right at the next T-shaped intersection T2 and the vehicle C2 following the vehicle C1 turns right at the T-shaped intersection T1. At the end of lighting of the blue light prior to the lighting of the blue right turn arrow light of the traffic light S1, a predetermined message prompting the host vehicle C1 to change the lane to the left lane is given by the display screen and the speaker of the navigation system 2.

  For this reason, the own vehicle C1 going straight ahead at the T-shaped intersection T1 can easily and smoothly change the lane to the left lane and leave the right turnable lane (specific lane), and can turn right (specific lane). The succeeding vehicle C2 on the upper side can smoothly turn right at the T-shaped intersection T1 toward the right turn route (specific route). Therefore, according to the driving support device of one embodiment, it is possible to alleviate the traffic jam of the right turn vehicle on the right turn possible lane at the T-shaped intersection T1 and smooth the traffic flow.

  Here, when it is determined that the following vehicle C2 of the host vehicle C1 does not turn right at the T-shaped intersection T1, a predetermined message for prompting the host vehicle C1 to change the lane to the left lane is not given. Unnecessary lane changes of a given vehicle C1 are avoided. Therefore, in this case, the right turnable lane (specific lane) can be effectively used for traveling the host vehicle C1, and the traffic flow at the T-shaped intersection T1 can be smoothed from this point as well.

  Similarly, when the host vehicle C1 is scheduled to turn right at the next T-shaped intersection T2 and the host vehicle C1 determines that it is necessary to maintain a right-turnable lane (specific lane), the host vehicle C1 also Since a predetermined message that prompts the vehicle C1 to change to the left lane is not issued, unnecessary lane change of the host vehicle C1 is avoided. Accordingly, in this case as well, the right-turnable lane (specific lane) can be effectively used for traveling the host vehicle C1, and the traffic flow at the T-shaped intersection T1 can be smoothed from this point as well.

  The driving support apparatus according to the present invention is not limited to the above-described embodiment. For example, the driving support output unit 1E shown in FIG. 2 may be configured to output a predetermined message signal to the meter unit 4 and the speaker 5 equipped in the host vehicle C1. In this case, a predetermined message image that prompts the host vehicle C 1 to change the lane to the left lane is displayed on a predetermined display unit provided in the meter unit 4, and a predetermined message sound is emitted from the speaker 5.

  The processing procedure shown in the flowchart of FIG. 3 can be changed to the processing procedure shown in the flowchart of FIG. 4 or can be changed to the processing procedure shown in the flowchart of FIG.

  The processing procedure shown in the flowchart of FIG. 4 is a modification of the processing procedure shown in the flowchart of FIG. 3 so that if the determination result in step S8 is NO, the process proceeds to return through the processing in step S10. .

  Here, in step S10, the driving support output unit 1E outputs a predetermined message signal that prompts the host vehicle C1 to change the vehicle to the navigation system 2. That is, as shown in FIG. 6, the vehicle C1 is urged to retreat from the right turnable lane near the center line CL to the left lane so that the following vehicle C2 can turn right and then return to the right turn possible lane again. A predetermined message signal is output to the navigation system 2.

  In the driving support device in which the driving support ECU 1 executes the processing of step S10 as described above, there is a plan to make a right turn at the next T-shaped intersection T2 and try to go straight on the right turnable lane (specific lane) before the T-shaped intersection T1. The host vehicle C1 can easily and smoothly retreat to the left lane to allow the subsequent vehicle C2 to turn right and then return to the right turn lane again. Therefore, in this case, the traffic flow can be smoothed by reducing the traffic congestion of the right turn vehicle on the right turn possible lane at the T-shaped intersection T1, and the own vehicle C1 is also smoothly at the next T-shaped intersection T2. It is possible to turn right.

  On the other hand, the processing procedure shown in the flowchart of FIG. 5 is obtained by omitting the processes of steps S6 to S8 from the processing procedure shown in the flowchart of FIG. In this case, regardless of whether there is a succeeding vehicle that turns right at the T-shaped intersection T1 behind the host vehicle C1, and whether the host vehicle C1 has a plan to turn right at the next T-shaped intersection T2. First, the host vehicle C1 is guided to change the lane to the left lane.

  Therefore, in the travel support device in which the travel support ECU 1 executes the processing shown in the flowchart of FIG. 5, at least traffic congestion of the right turn vehicle on the right turn possible lane behind the host vehicle C1 at the T-shaped intersection T1 is reduced. Can be smoothed.

It is a mimetic diagram of a road near an intersection where a driving support device concerning one embodiment of the present invention supports driving of vehicles. It is a functional block diagram which shows the structure of the driving assistance device which concerns on one Embodiment mounted in the own vehicle shown in FIG. It is a flowchart which shows the process sequence of driving assistance ECU shown in FIG. FIG. 4 is a partial flowchart illustrating a modification example of the flowchart illustrated in FIG. 3. It is a flowchart which shows the other example of a change of the flowchart shown in FIG. FIG. 5 is a schematic diagram of a road corresponding to FIG. 1 for explaining a driving support mode of the vehicle by the processing of the flowchart shown in FIG. 4.

Explanation of symbols

  DESCRIPTION OF SYMBOLS 1 ... Driving assistance ECU, 1A ... Own vehicle information acquisition part, 1B ... Traffic light information acquisition part, 1C ... Subsequent vehicle information acquisition part, 1D ... Driving assistance determination part, 1E ... Driving assistance output part, 2 ... Navigation system, 3 ... Communication system, 3A ... Road-to-vehicle communication unit, 3B ... Vehicle-to-vehicle communication unit, 4 ... Meter unit, 5 ... Speaker, B ... Roadside unit, C1 ... Own vehicle, C2 ... Subsequent vehicle, S1-S3 ... Traffic light, T1, T2 ... T-shaped intersection.

Claims (3)

A driving support device for guiding a lane change to a straight vehicle approaching an intersection where a traffic signal capable of instructing to travel only to a specific route other than a straight route among a plurality of routes is provided,
Wherein when the straight route and traveling possible specific lane on a particular route is the straight vehicle acquires the lighting timing of the traffic signal from the outside, the progression to only specific route Ru instructed by said traffic Straight ahead on the condition that there is a succeeding vehicle on the specific lane that is scheduled to advance to the specific route immediately before being instructed to advance only to the specific route. A travel support device configured to guide a vehicle to change lanes. The travel support according to claim 1 , wherein the presence or absence of a subsequent vehicle scheduled to travel to the specific route is determined with reference to planned travel route information of the subsequent vehicle. apparatus. Referring to the planned travel route information of the straight-ahead vehicle, when the straight-line vehicle on the specific lane needs to maintain the specific lane for traveling on the planned travel route, avoid the guidance for changing the lane. It is comprised as follows, The driving assistance apparatus of Claim 1 or 2 characterized by the above-mentioned.

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