JP5040554B2 - Driving support device, driving support method, driving support program - Google Patents

Description

  The present invention relates to a driving support device, a driving support method, and a driving support program that support a driver.

  Conventionally, for example, as disclosed in Patent Document 1 below, there is a technique for performing a predetermined warning when an intention to enter in a direction in which entry is prohibited is detected.

JP-A-9-126792

  Although the above-mentioned technique can prevent entry into a road that causes a traffic violation, there is a problem that it is not possible to receive guidance on future driving reflecting the driver's intention.

  The present invention provides a driving support device, a driving support method, and a driving support program capable of solving the above-described problems and notifying an alternative road when an approach to a road that cannot be entered is predicted. Objective.

In order to achieve the above object, the invention according to claim 1 is a driving support device comprising a road information storage means for storing road information, an intention detection means for detecting a driver's intention of turning right or left, An own vehicle position detecting means for detecting a position; an intersection specifying means for specifying an intersection that is located in front of the own vehicle and is closest to the own vehicle using the road information and the own vehicle position; and the road Using the information and the driver's intention, of the roads connected to the identified intersection, the approach road prediction means for predicting the road where the vehicle is expected to enter, and whether the approach to the predicted road is possible A determination means for determining whether the alternative road is based on a search result of the search means and a search result of the search means when it is determined that entry to the predicted road is impossible. Whether it exists When the alternative road determining means determines that the alternative road exists, the alternative road notifying means for notifying information on the alternative road, and the alternative road determining means Warning means for warning that the predicted approach to the road is impossible when it is determined that the vehicle does not exist .

  According to a second aspect of the present invention, in the driving support device according to the first aspect, the search means detects an intersection existing ahead of the traveling direction of the host vehicle and ahead of the specified intersection, and the detection is performed. It is determined whether or not there is a road that can be entered in the direction intended by the driver and the road that can be entered. It is characterized by doing.

  According to a third aspect of the present invention, in the driving support apparatus according to the first aspect, the search means sets a target point on the predicted road and searches for a route to the target point.

  According to a fourth aspect of the present invention, in the driving support device according to the first aspect, the search means detects an intersection existing ahead of the vehicle in the traveling direction and ahead of the specified intersection, and the detection is performed. It is determined whether there is a road that can be entered in the direction intended by the driver, and if there is a road that can be entered, a target point is set on the predicted road. Then, a route through which the own vehicle passes the accessible road and reaches the target point is searched, and the searched route is used as an alternative road.

According to a fifth aspect of the present invention, in the driving support method, an intention detection step for detecting a driver's right turn or left turn intention, a vehicle position detection step for detecting the position of the vehicle, road information, and the vehicle Using the position, the intersection identifying step that identifies the nearest intersection in front of the own vehicle and in the approach direction of the own vehicle, and the road information and the driver's intention are used to connect to the identified intersection. Of the roads, an approach road prediction step for predicting a road on which the vehicle is expected to enter, a judgment step for determining whether or not the predicted road can be entered, and an entrance to the predicted road are impossible If it is determined that a search step of searching for a substitute road, based on the search result of the searching step, and determining an alternate road determination step whether the alternative road is present, the upper When the alternative road determination step determines that the alternative road exists, the alternative road notification step for notifying information on the alternative road, and the alternative road determination step determines that the alternative road does not exist, A warning step for warning that the predicted approach to the road is impossible .

According to a sixth aspect of the present invention, in the driving support program, the computer detects an intention detection step for detecting the driver's right or left turn, a vehicle position detection step for detecting the vehicle position, road information, and the above Using the location of the vehicle, the intersection identification step that identifies the intersection that is in front of the vehicle and that is closest to the vehicle, and the identified intersection using the road information and the driver's intention An approach road prediction step for predicting a road that is predicted to enter the vehicle, a determination step for determining whether the vehicle can enter the predicted road, and an entry to the predicted road when it is determined that it is not possible, a search step of searching for a substitute road, based on the search result of the searching step determines alternative whether the alternative road is present When it is determined by the road determination step and the alternative road determination step that the alternative road exists, an alternative road notification step for notifying information on the alternative road and the alternative road determination step if the alternative road does not exist When it is determined, a warning step for warning that the predicted approach to the road is impossible is executed.

  According to the first aspect of the present invention, when detecting the intention of the driver to turn right or left, the intersection existing in the traveling direction of the own vehicle is identified, and the approach to the road where entry is predicted at the identified intersection When it is determined that the vehicle is impossible, the alternative road is searched for and information on the result of the search is notified, so that the driver can easily determine what kind of driving should be performed in the future.

  According to the invention according to claim 2, since the road that is connected to the intersection existing ahead of the specified intersection and can enter the direction intended by the driver is used as the alternative road, the entry is impossible. The road connected to the intersection ahead of the intersection can be notified, and future travel can be performed with a margin.

  According to the third aspect of the present invention, since a route for reaching the road predicted to enter is further searched, information that can surely reach the road predicted to enter can be notified.

  According to the invention of claim 4, the vehicle further reaches a road that is connected to an intersection existing ahead of the specified intersection and that has predicted to enter through a road that can enter the direction intended by the driver. Since the route for searching is searched, it is possible to notify the optimum information for reaching the road where the approach is predicted.

The inventions according to claims 5 and 6 can also achieve the effects described above .

  A driving support apparatus according to an embodiment of the present invention will be described in detail with reference to the drawings. First, the system configuration of the driving support apparatus according to the present embodiment will be described with reference to FIG. FIG. 1 is a block diagram showing an outline of the main part of the system configuration of the driving support apparatus according to the present embodiment. As shown in FIG. 1, the driving support device according to the present embodiment is basically composed of an ECU 1, a GPS 2, a map DB 3, a direction indicator 4, a display device 5, and a speaker 6. Note that the configuration shown in FIG. 1 describes portions necessary for the description of the present invention, and it goes without saying that various elements (not shown) are present in the driving support apparatus according to the present embodiment.

  An ECU (electronic control unit) 1 performs electronic control of the entire vehicle. The ECU 1 mainly includes an input interface that converts input signals from various devices, a computer unit (microcomputer) that calculates input data according to a predetermined procedure, an output interface that converts the calculation results into actuator operation signals, and Consists of Various elements connected to the ECU 1 are controlled. Various programs are executed by the ECU 1.

  A GPS (global positioning system) 2 is a system that knows the position of the vehicle by measuring the arrival time of radio waves emitted from artificial satellites and calculating the distance from the satellite. GPS2 is a component of a navigation system (not shown). In detecting the position of the host vehicle, a gyro sensor (not shown) may be used in combination.

  The map DB 3 stores various map data necessary for route guidance, traffic information guidance, and map display. The map DB 3 is used in a navigation system (not shown). Road information is memorize | stored in map DB3. The road information includes node data, link data, and intersection data. The node data is data indicating a point on the road, and has coordinates as position information of the point. The link data is data indicating a road connecting the node data, and includes data such as a link length and a road type of the link (for example, an expressway, a general road, a narrow street, etc.). The intersection data has node data indicating the intersection for each intersection and link data indicating the road connected to the node, and can enter for each combination of the entrance link to the intersection and the exit link from the intersection, or , Data indicating that entry is impossible. The link data includes data such as travel restrictions (one-way traffic, time zone restrictions) of the link itself.

  The direction indicator 4 is used when changing the direction of the own vehicle. When the direction indicator 4 is operated, information indicating the instructed direction is transmitted to the ECU 1 and a lamp installed at a predetermined position of the vehicle blinks. In the present embodiment, it is used to detect the driver's intention.

  The display device 5 is also configured as a part of navigation (not shown), and displays the position of the vehicle and the road. It is also used when various warnings are given to the user. It may be composed of a liquid crystal display or may be compatible with a touch panel.

  The speaker 6 is also configured as a part of navigation (not shown), and is used for outputting voice information such as traffic guidance and warning. Further, it may be used as a speaker of a music playback device (not shown).

  The above-described configuration is merely an example for realizing the present invention, and the present invention is not limited to this internal configuration. Moreover, you may perform the deletion of a part of element mentioned above, and the addition of the element which has a new function as needed. In addition, the above-described elements can be installed at appropriate positions on the vehicle as long as they are applicable.

  Next, the driving assistance process in this embodiment is demonstrated, referring FIG. FIG. 2 is a flowchart of the driving support process. This process is executed at predetermined intervals (for example, 20 ms) while the host vehicle is traveling. It is also possible to manually switch the execution of this process on and off. A program for executing the driving support process is stored in a RAM or ROM (not shown) and is executed by the ECU 1.

  In S1, it is determined whether or not the direction indicator is turned on. That is, it is determined whether or not an operation for notifying a left turn or a right turn has been performed. If it is determined that the direction indicator is not turned on, the driving support process is terminated.

If it is determined that the direction indicator is turned on (S1: YES), the process proceeds to S2. In the following, the direction designated in S1 is simply referred to as “designated direction”.
In S2, a predicted approach road is specified. Specifically, using the own vehicle position specified by the GPS 2 and the road information stored in the map DB 3, an intersection that is ahead of the own vehicle position in the traveling direction and is closest to the own vehicle position is determined. Identify. Then, using the road information stored in the map DB 3, the road corresponding to the indicated direction among the roads connected to the specified intersection is specified as the road whose entry is predicted. In the following, a road on which the specified approach is predicted is referred to as a “predicted approach road”.

  In S3, it is determined whether or not it is possible to enter the predicted approach road identified in S2 using the road information stored in the map DB3. If it is determined that the entry is possible (S3: YES), the driving support process is terminated because there is no need to perform an entry prohibition warning and a notification regarding the alternative road.

  On the other hand, if it is determined that entry is impossible (S3: NO), the process proceeds to S4. In S4, an alternative road is searched. Details of the process for searching for an alternative road will be described later.

  In S5, it is determined whether or not an alternative road exists. If it is determined that an alternative road exists (S5: YES), the process proceeds to S6. If it is determined that there is no alternative road (S5: NO), the process proceeds to S7.

In S6, a warning is given that entry into the predicted approach road is prohibited. For this warning, the display device 5 and / or the speaker 6 is used. Moreover, you may perform by light, a vibration, etc. using the other alerting | reporting means which is not shown in figure.
In addition to the warning, information on the alternative road searched in S4 is notified. The display device 5 and / or the speaker 6 is also used for notification of information regarding the alternative road. The information regarding the alternative road may be a list of intersection names connected to the alternative road together with the distance to the intersection, or the alternative road itself can be identified on the map of the display device 5 from other roads. It may be displayed. The number of alternative roads to be presented can be set as appropriate.

  In S7, a warning is given that entry into the predicted approach road is prohibited.

[Determination of alternative road (first example)]
Next, the alternative road search process in S4 will be described in detail with reference to the drawings. FIG. 3 is an explanatory diagram showing the vehicle and the road condition. In the following, let us consider a case where the vehicle is turning left at intersection A and entering the road L1. As shown in FIG. 3, since entry to the road L1 is prohibited, an alternative road is searched. And the intersection which exists ahead of the advancing direction of the own vehicle and is ahead of an intersection (A) is detected using the own vehicle position specified by GPS2 and the road information memorize | stored in map DB3. Furthermore, using the road information stored in the map DB 3, it is determined whether or not there is a road that is connected to the detected intersection and can be turned to the left. If there is a road that can turn left, the road is determined as an alternative road.

  Therefore, in the road situation shown in FIG. 3, the road L2 connected to the intersection (B) and the road L3 connected to the intersection (C) are alternative roads. Here, the number of alternative roads to be notified can be set as appropriate. Moreover, although the left turn was demonstrated as an example, even if it is the case of a right turn, an alternative route can be searched similarly.

In addition, as shown in FIG. 4, it is assumed that the confluence to the road La (shaded portion) connected to the road L1 is the intention of the driver, and the fact that this road La can be reached is added to the condition of the alternative road Can do. Hereinafter, the road on which the merge is estimated is referred to as a “predicted merge road”. That is, in the road situation shown in FIG.
-Connect to an intersection that is ahead of the direction of your vehicle and ahead of the intersection (A),
-A left turn is possible,
-After entering the road, you can join the predicted junction road La,
A road can be determined as an alternative road. According to this configuration, in the road situation as shown in FIG. 4, since the road L2 is under construction and it is impossible to enter the predicted junction road La, only the road L3 connected to the intersection (C) is an alternative road. As determined.

  Here, the state of each road is stored in the map DB 3. The state of each road can also be configured to be received from a center (not shown) using a wireless communication network or the like. Further, in the above embodiment, the fact that the road La can be reached is added to the condition of the alternative road, but in another embodiment, as an alternative road condition, the end point of the alternative road is not a dead end, It can also be added that the end point of the alternative road is not a toll gate (that is, an entrance to the IC) of a highway or a toll road.

[Determination of alternative road (second example)]
In the first example of the alternative route determination described above, the alternative route is set based on the predicted junction road. However, as shown in FIG. 5, a predetermined position of the predicted approach road L1 (shaded portion), for example, an intersection Using the end point (node) opposite to (A) as a virtual target point, a route from the vehicle position to the virtual target point can be searched, and the route can be determined as an alternative road. Specifically, first, as in the first example, since entry to the road L1 is prohibited, the vehicle position is identified using GPS2, and the road information stored in the map DB3 is used. Thus, an intersection that is ahead of the traveling direction of the host vehicle and that is ahead of the intersection (A) is detected, and it is determined whether or not there is a road that is connected to the detected intersection and that can turn left. . If there is a road that can turn left, the road is determined as an alternative road. Therefore, in the road situation shown in FIG. 5, the road L2 connected to the intersection (B) and the road L3 connected to the intersection (C) are alternative roads. Next, using the road information stored in the map DB 3, an end point opposite to the intersection (A) of the road L <b> 1 is set as a virtual target point. Then, the route from the vehicle position through the alternative road L2 to the target point is searched, and the searched road is determined as the alternative road. The same process is performed for L3, and an alternative road is specified.
Therefore, in the example shown in FIG. 5, as shown by the dotted line, a road that can reach the virtual target point from the vehicle position can be used as an alternative road.

  The flowchart described above is merely an example, and the present invention is not limited to the processing shown in the flowchart. In addition, the order change, deletion, replacement, and addition of some steps in the above-described flowcharts can be appropriately performed as necessary within a range not departing from the gist of the present invention.

  As described above, in the driving support device according to the present embodiment, when an approach to a road that cannot be entered is predicted, information on the alternative road can be notified, so that the driver can travel in the future. Can be easily determined.

  In the above description, the driving support device has been described. However, the present invention can also be realized as a driving support method for executing the above-described processing. Furthermore, the present invention can also be realized as a program for causing a computer to execute the method and a recording medium on which the program is recorded.

  In addition, this invention is not limited to the said embodiment, Of course, various improvement and deformation | transformation are possible within the range which does not deviate from the summary of this invention.

It is the figure which showed the principal part outline of the system configuration. It is a flowchart of a driving assistance process. It is the figure which showed the road condition and the alternative route. It is the figure which showed the road condition and the alternative route. It is the figure which showed the road condition and the alternative route.

Explanation of symbols

1 ECU
2 GPS
3 Map DB
4 Direction indicator 5 Display device 6 Speaker

Claims (6)

Road information storage means for storing road information;
Intention detection means for detecting the driver's intention of turning right or left;
Own vehicle position detecting means for detecting the position of the own vehicle;
Using the road information and the vehicle position, an intersection specifying means for specifying an intersection that is present in the forward direction of the vehicle and that is closest to the vehicle;
Using the road information and the driver's intention, an approach road prediction means for predicting a road where the vehicle is expected to enter among roads connected to the identified intersection;
A judging means for judging whether the predicted approach to the road is possible,
A search means for searching for an alternative road when it is determined that entry to the predicted road is impossible;
An alternative road determination means for determining whether or not the alternative road exists based on a search result of the search means;
When the alternative road determination means determines that the alternative road exists, the alternative road notification means for notifying information on the alternative road;
Warning means for warning that the predicted road cannot be entered when the alternative road determining means determines that the alternative road does not exist;
A driving support apparatus comprising: The searching means is
Detecting an intersection existing ahead of the vehicle in the traveling direction and ahead of the identified intersection,
Determine whether there is a road that connects to the detected intersection and can enter in the direction intended by the driver,
When it is determined that there is an accessible road, the accessible road is used as the alternative road.
The driving support apparatus according to claim 1. The searching means is
Set a target point on the predicted road,
Search for the route to the target point,
The driving support apparatus according to claim 1. The searching means is
Detecting an intersection existing ahead of the vehicle in the traveling direction and ahead of the identified intersection,
Determine whether there is a road that connects to the detected intersection and can enter in the direction intended by the driver,
If you decide that there is a road you can enter,
Set a target point on the predicted road,
Search for a route through which the vehicle passes the accessible road and reaches the target point, and the searched route is used as an alternative road.
The driving support apparatus according to claim 1. An intent detection step for detecting the driver's intention to turn right or left;
A vehicle position detection step for detecting the position of the vehicle;
Using the road information and the position of the vehicle, an intersection specifying step for specifying an intersection that is in front of the vehicle and that is closest to the vehicle;
Using the road information and the driver's intention, an approach road prediction step for predicting a road where an own vehicle is expected to enter among roads connected to the identified intersection,
A determination step for determining whether the predicted approach to the road is possible;
A search step for searching for an alternative road when it is determined that entry to the predicted road is impossible;
An alternative road determination step for determining whether or not the alternative road exists based on the search result of the search step;
When it is determined that the alternative road exists by the alternative road determination step, an alternative road notification step for notifying information on the alternative road;
A driving support method comprising: a warning step that warns that it is impossible to enter the predicted road when the alternative road determination step determines that the alternative road does not exist . On the computer,
An intent detection step for detecting the driver's intention to turn right or left;
A vehicle position detection step for detecting the position of the vehicle;
Using the road information and the position of the vehicle, an intersection specifying step for specifying an intersection that is in front of the vehicle and that is closest to the vehicle;
Using the road information and the driver's intention, an approach road prediction step for predicting a road where an own vehicle is expected to enter among roads connected to the identified intersection,
A determination step for determining whether the predicted approach to the road is possible;
A search step for searching for an alternative road when it is determined that entry to the predicted road is impossible;
An alternative road determination step for determining whether or not the alternative road exists based on the search result of the search step;
When it is determined that the alternative road exists by the alternative road determination step, an alternative road notification step for notifying information on the alternative road;
A warning step that warns that it is impossible to enter the predicted road when the alternative road determination step determines that the alternative road does not exist;
Driving support program for running.

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