JP5874368B2 - Mobile support system - Google Patents

Description

  The present invention relates to a mobile support system that provides driving information to a driver or the like by, for example, performing vehicle-to-vehicle communication to assist a driver of the vehicle.

  A driving support system that supports driving of a vehicle by providing information for avoiding a collision between vehicles by performing inter-vehicle communication to a driver or the like is known (see Patent Document 1 below). Many of such driving support systems communicate the position information of the own vehicle between the vehicles, perform collision prediction determination in each vehicle, and are attached near the steering wheel when a collision is predicted. The driver is warned via a display or speaker. This allows the driver to avoid collisions between right-turn cars and straight-ahead cars at intersections, avoid collisions when temporarily stopped vehicles join the main line, avoid frontal collisions between overtaking vehicles and oncoming vehicles, and congestion. Thus, it is possible to easily and reliably avoid a rear-end collision with a vehicle that has stopped.

  By the way, such a driving support system has the following problems. That is, in the driving support system, it is necessary to accurately specify the position of the own vehicle in each vehicle. For this reason, in each vehicle, the position of the own vehicle must be measured by performing positioning using GPS (Global Positioning System), positioning by autonomous navigation, map matching, and the like. Therefore, each vehicle is equipped with equipment such as a GPS receiver, a vehicle speed pulse, an acceleration sensor, a gyro, and a map information database (having a hard disk device storing map information and a disk drive device for reading map information). Therefore, it is necessary to perform advanced arithmetic processing for specifying the position of the host vehicle using these equipments. However, in some cases, it is practically difficult for all vehicles to be equipped with equipment for measuring the position of the host vehicle and to perform advanced calculation processing. For example, when the vehicle is a two-wheeled vehicle, it is difficult to mount a map information database from the viewpoints of limitation of equipment installation space and manufacturing cost, and the own vehicle position is specified using map information. Therefore, it is not easy to perform advanced arithmetic processing.

  The following Patent Document 2 describes a system that aims to solve this problem. In this system, a master vehicle such as a four-wheeled vehicle is equipped with a map information database, and a slave vehicle such as a two-wheeled vehicle is not equipped with a map information database. When the main vehicle approaches the intersection, the coordinates of the intersection and the main vehicle The position information of the vehicle is transmitted from the master vehicle to the slave vehicle. When the slave vehicle receives the information, the slave vehicle outputs a voice message, a warning sound, or the like for alerting the driver. According to this system, the map information database does not have to be mounted on the slave vehicle, and the calculation processing using the map information is not required in the slave vehicle, so that the burden of the calculation processing in the slave vehicle is reduced to some extent. can do.

JP 2000-348299 A JP 2003-141690 A

  According to the system described in Patent Document 2, it is not necessary to mount a map information database on a two-wheeled vehicle, and it is possible to eliminate the burden of performing map matching processing using map information on the two-wheeled vehicle.

  However, the system described in Patent Document 2 has the following problems. For example, in order to avoid a collision between vehicles at an intersection, it is not enough to specify the coordinates of the intersection, but the position of each vehicle, the traveling direction, the arrival time at the intersection, etc. are recognized, and both vehicles at the intersection are recognized. Advanced calculation processing is required to predict a collision. With regard to this point, in Patent Document 2, when the main vehicle approaches the intersection, the coordinates of the intersection and the position information of the main vehicle are transmitted from the main vehicle to the subordinate vehicle, and a warning is issued in the subordinate vehicle that has received the information. The point of emitting a voice message or warning sound is only described. That is, it cannot be read from the above-mentioned Patent Document 2 how the main vehicle and the slave vehicle, particularly the slave vehicle, perform the calculation process for predicting the collision between the vehicles.

  In the system described in Patent Document 2, if each of the main vehicle and the subordinate vehicle makes a collision prediction determination for each, the main vehicle approaches the intersection regardless of whether or not a collision is predicted. If this is done, information such as the coordinates of the intersection will be transmitted from the main vehicle to the slave vehicle, and as a result, the use efficiency of radio waves used by the system for wireless communication between the vehicles may deteriorate.

  Further, in the system described in Patent Document 2, if each of the main vehicle and the subordinate vehicle makes a collision prediction determination to each of them, a high-level calculation process for the collision prediction determination is also imposed on the subordinate vehicle (two-wheeled vehicle). This increases the manufacturing cost of the motorcycle. On the other hand, if the collision prediction determination is omitted in the slave vehicle in order to reduce the manufacturing cost, a warning sound or the like for alerting is output even though there is no danger of the collision in the slave vehicle. There is a risk. Moreover, if the collision prediction determination is simplified in the follower vehicle, the accuracy of the collision prediction determination is lowered.

  The present invention has been made in view of the above-described problems, for example, and a first object of the present invention is to simplify equipment and reduce the processing load on some moving bodies such as motorcycles. On the other hand, it is an object to provide a moving body support system capable of realizing highly accurate collision prediction determination.

  Moreover, the 2nd subject of this invention is providing the mobile body assistance system which can improve the utilization efficiency of the electromagnetic wave utilized for communication between mobile bodies.

In order to solve the above problems, moving body support system of the present invention, the first movable body supporting apparatus provided in the first moving body, the second mobile unit support provided to the second mobile body The first mobile support device includes a map information storage unit that stores map information, GPS, or the first mobile unit, and the first mobile support device includes the first mobile unit. First moving state specifying means for specifying the position and traveling direction of the first moving body using first detecting means for detecting the moving state of the moving body, the second moving body support apparatus, and the radio A first wireless communication means for performing communication, a position and a traveling direction of the first mobile body specified by the first movement status specifying means, received by the first wireless communication means, and the second wireless communication means; Movement status information indicating the position and traveling direction of the moving object, and Collision prediction determination means for determining whether or not a collision between the first moving body and the second moving body is predicted using the map information stored in the map information storage means; and the first When a collision between the moving body and the second moving body is predicted by the collision prediction determining unit, collision prediction information including collision prediction area information indicating a collision prediction area is obtained as the first radio. Collision prediction information transmitting means for transmitting to the second moving body support apparatus by communication means, the second moving body support apparatus being provided in the GPS or the second moving body, Second movement status specifying means for specifying the position and traveling direction of the second moving body using second detection means for detecting the movement status of the moving body, and the first mobile support device and wireless communication Second wireless communication means for performing the second movement Whether the position of the second moving body specified by the situation specifying means is within the collision prediction area indicated by the collision prediction area information included in the collision prediction information received by the second wireless communication means. Simple collision prediction determination means for determining whether or not a collision between the second moving body and the first moving body is predicted by determining, the second moving body and the first movement When it is determined by the simple collision prediction determination means that a collision with the body is predicted, it is provided with a notification means for issuing a notification to a person using the second moving body. To do.

In this aspect of the present invention, the first mobile support device performs a collision prediction determination that requires complex arithmetic processing, and the second mobile support device performs the collision prediction determination result performed by the first mobile support device. A simple collision prediction determination is performed using. Therefore, in the second mobile support device, for example, it is possible to simplify the equipment such as the need for map information, and it is possible to reduce the burden of calculation processing by eliminating the need for collision prediction determination that requires complicated calculation processing. Reduction can be achieved. In addition, since the second moving body support apparatus performs the collision prediction determination using the collision prediction determination result performed by the first moving body support apparatus, it is possible to perform collision prediction with high accuracy while being simple.

Further, in this aspect of the present invention, only when the collision prediction is established, the collision prediction information including the collision prediction area information indicating the collision prediction area is transmitted from the first mobile support device to the second mobile support device. Sent. Therefore, it is possible to improve the use efficiency of radio waves used for communication, as compared with the above-described conventional technique in which the coordinate information of the intersection is transmitted only when the main vehicle approaches the intersection regardless of the success or failure of the collision prediction.

Further, in the mobile object support system of the present invention , the collision prediction information transmission unit determines that the collision prediction determination unit determines that a collision between the first mobile unit and the second mobile unit is predicted. The collision prediction information including the collision prediction point information indicating the collision prediction point is transmitted to the second mobile body by the first wireless communication unit, and the simple collision prediction determination unit is configured to transmit the second movement state. The position of the second moving body specified by the specifying means is in the collision prediction area indicated by the collision prediction area information included in the collision prediction information received by the second wireless communication means, and the first The traveling direction of the second moving body specified by the second movement status specifying means is directed to the collision prediction point indicated by the collision prediction point information included in the collision prediction information received by the second wireless communication means. By determining dolphin whether, collision between the first mobile body and the second moving body you determine whether expected.

According to this aspect of the present invention, it is possible to simplify the collision prediction determination in the second moving body support apparatus, and it is possible to prevent the accuracy of the collision prediction determination from being lowered.

In the mobile support system of the present invention , the first movement status specifying unit specifies the position, traveling direction, and speed of the first mobile unit, and the movement received by the first wireless communication unit. The situation information includes a position, a traveling direction, and a speed of the second moving body, and the collision prediction determining unit is configured to determine the position and the traveling of the first moving body specified by the first moving situation specifying unit. An intersection specifying means for specifying an intersection where the first moving body is predicted to pass using the direction and map information stored in the map information storage means; and a predetermined determination corresponding to the intersection An area setting means for setting a target area and setting a determination reference point in the determination target area, and the second movement using the movement status information received by the first wireless communication means An area inside / outside determination means for determining whether or not the position of the second moving body is within the determination target area, and the movement direction information received by the first wireless communication means is used to determine the traveling direction of the second moving body. Based on the traveling direction determination means for determining whether or not it is facing the determination reference point, and the position, traveling direction and speed of the first moving body specified by the first movement status specifying means. The predicted arrival time of the moving body of the second moving body to the determination reference point is calculated based on the movement status information received by the first wireless communication means. calculated time, and a reaching match determining means for determining whether the first of the predicted arrival time of the mobile body and said predicted arrival time of the second moving body match, before Symbol areas inside and outside The second movement by the judging means Is determined to be within the determination target area, the traveling direction determination unit determines that the traveling direction of the second moving body is facing the determination reference point, and the arrival match determination unit determines When it is determined that the predicted arrival time of the first moving body matches the predicted arrival time of the second moving body, a collision between the first moving body and the second moving body occurs. It is desirable to determine that it is predicted .

According to this aspect of the present invention, highly accurate collision prediction determination can be performed in the first moving body support apparatus.

Further, in the mobile object support system of the present invention , the collision prediction information transmission unit determines that the collision prediction determination unit determines that a collision between the first mobile unit and the second mobile unit is predicted. The collision target area set by the area setting unit is used as a collision prediction area, the collision prediction area information indicating the collision prediction area is generated, and the determination reference point set by the area setting unit is set as a collision. and prediction point may generate the collision prediction point information indicating the collision prediction point, and transmits a collision prediction information including these generated collision prediction area information and collision prediction point information to the second mobile support device desirable.

According to this aspect of the present invention, the collision prediction determination result made by the first mobile support device is transmitted to the second mobile support device, thereby simplifying the collision prediction determination in the second mobile support device. Can be achieved.

Further, in the mobile object support system of the present invention , the collision prediction information transmission unit determines that the collision prediction determination unit determines that a collision between the first mobile unit and the second mobile unit is predicted. Transmitting collision prediction information including notification designation information for designating contents of a notification issued to a person using the second mobile body to the second mobile body support apparatus by the first wireless communication means. The notification means determines the content of the notification issued to the person using the second moving body according to the notification designation information included in the collision prediction information received by the second wireless communication means. It is desirable.

In this aspect of the present invention, the first mobile support device performs a complicated process of specifying the content of a notification issued to a person using the second mobile device, and the second mobile support device In accordance with the designation by the first moving body support apparatus, simple processing for determining the content of the notification issued to the person using the second moving body is performed. Thereby, the calculation processing burden of the second mobile support device can be further reduced.

  ADVANTAGE OF THE INVENTION According to this invention, in some mobile bodies, such as a two-wheeled vehicle, for example, highly accurate collision prediction determination can be implement | achieved, aiming at simplification of an installation and reduction of the calculation processing burden. In addition, the use efficiency of radio waves used for communication between mobile units can be increased.

1 is a block diagram showing a driving support system according to an embodiment of the present invention. 5 is a flowchart showing a collision prediction notification process in the main vehicle in the driving support system according to the embodiment of the present invention. 5 is a flowchart showing a collision prediction determination process in the main vehicle in the driving support system according to the embodiment of the present invention. 5 is a flowchart illustrating a collision prediction notification process in a slave vehicle in the driving support system according to the embodiment of the present invention. 5 is a flowchart showing a simple collision prediction determination process in a slave vehicle in the driving support system according to the embodiment of the present invention. It is explanatory drawing which shows an intersection, a determination target area, a determination reference point, and the like. It is explanatory drawing which shows the navigation table in the driving assistance system which is embodiment of this invention. It is explanatory drawing which shows the collision prediction information in the driving assistance system which is embodiment of this invention.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings.

(Driving support system)
FIG. 1 shows a driving support system which is an embodiment of a mobile support system of the present invention. In FIG. 1, the driving support system 1 predicts a collision between vehicles by using GPS positioning, positioning by autonomous navigation, map matching, and vehicle-to-vehicle communication, and obtains information for avoiding the collision between the vehicles. It is a system provided to the driver. The driving support system 1 includes a driving support device 2 for a main vehicle and a driving support device 3 for a slave vehicle. The driving support device 2 for the main vehicle is mounted on the master vehicle, and the driving support device 3 for the slave vehicle is mounted on the slave vehicle. In the present embodiment, a case where the main vehicle is a four-wheeled vehicle and the slave vehicle is a two-wheeled vehicle is taken as an example. The driving support system 1 is applied to a plurality of master vehicles and a plurality of slave vehicles. The driving support device 2 for the main vehicle is mounted on each of the plurality of master vehicles, and the driving support device 3 for the slave vehicles is mounted on each of the plurality of slave vehicles.

(Main vehicle driving support system)
As shown in FIG. 1, the main vehicle driving support device 2 includes a GPS receiver 11, a vehicle sensor 12, a wireless communication device 13, a display device 14, a speaker 15, and a control device 16. The GPS receiver 11 is a device that receives radio waves from GPS satellites. The vehicle sensor 12 is a group of a plurality of devices for realizing positioning of the own vehicle by autonomous navigation. The vehicle sensor 12 includes, for example, a vehicle speed sensor that outputs a vehicle speed pulse, an acceleration sensor, a gyro, an accelerator operation and a brake. A sensor for detecting an operation and a winker operation is included. The wireless communication device 13 is a device that performs wireless communication with other vehicles mainly in order to realize vehicle-to-vehicle communication. The display device 14 includes, for example, a liquid crystal display, and is attached, for example, in the vicinity of a handle in the cab of the main vehicle. The speaker 15 is disposed in the cab of the main vehicle.

  The control device 16 includes a CPU (Central Processing Unit) 17 and a memory 18. For example, the control device 16 is realized as a part of an ECU (electronic control unit). A GPS receiver 11, a vehicle sensor 12, a wireless communication device 13, a display device 14, and a speaker 15 are electrically connected to the control device 16.

  The CPU 17 functions as the movement status specifying unit 21, the communication control unit 22, the collision prediction determination unit 23, the collision prediction information addition unit 24, and the navigation unit 25 by reading and executing the control program stored in the memory 18. To do.

  The movement status identifying unit 21 identifies the position, traveling direction, speed, and the like of the host vehicle using the map information 51 stored in the GPS receiver 11, the vehicle sensor 12, and the memory 18, and determines the position, the traveling direction, and the position of the host vehicle. Vehicle information indicating the speed is generated.

  The communication control unit 22 wirelessly communicates the vehicle information of the own vehicle generated by the movement status specifying unit 21 to the other vehicle via the wireless communication device 13 and the vehicle information of the other vehicle transmitted from the other vehicle. A process of receiving via the device 13 is performed.

  The collision prediction determination unit 23 receives the vehicle information of the own vehicle generated by the movement status specifying unit 21 and the vehicle information (movement of the other vehicle) received by the wireless communication device 13 and indicating the position, traveling direction, speed, and the like of the other vehicle. The situation information) and the map information stored in the memory 18 are used to determine whether or not a collision between the host vehicle and another vehicle is predicted.

  The collision prediction information adding unit 24, when the collision prediction determination unit 23 determines that a collision between the host vehicle and another vehicle is predicted, includes a collision type ID, collision prediction area information, and collision prediction point information. Information (see FIG. 8) is added to the vehicle information of the host vehicle. Thereby, the collision prediction information is transmitted to the other vehicle (slave vehicle) in a form included in the vehicle information of the host vehicle.

  The navigation unit 25 selects a notification sound and a notification image from the navigation table 52 stored in the memory 18 when the collision prediction determination unit 23 determines that a collision between the host vehicle and another vehicle is predicted. The selected notification sound is output to the speaker 15, and the selected notification image is output to the display device 14.

  The memory 18 is, for example, a non-volatile semiconductor storage device, a hard disk device, or a combination thereof. In addition to the control program described above, the memory 18 stores map information 51 and a navigation table 52 described later. Further, a disk drive device for reproducing the optical disk storing the map information 51 may be added.

  The vehicle sensor 12 is a specific example of the first detection means, the GPS receiver 11, the vehicle sensor 12, and the movement status specifying unit 21 are specific examples of the first movement status specification means, and the wireless communication device 13 and The communication control unit 22 is a specific example of the first wireless communication means. The collision prediction determination unit 23 is a specific example of the collision prediction determination unit, and the collision prediction information addition unit 24 is a specific example of the collision prediction information transmission unit together with the communication control unit and the wireless communication device 13.

(Driving vehicle driving support device)
As shown in FIG. 1, the slave vehicle driving assistance device 3 includes a GPS receiver 31, a vehicle sensor 32, a wireless communication device 33, a display device 34, a speaker 35, and a control device 36. The GPS receiver 31, the vehicle sensor 32, and the wireless communication device 33 are substantially the same as the GPS receiver 11, the vehicle sensor 12, and the wireless communication device 13 of the main vehicle driving support device 2 (the main vehicle is a four-wheeled vehicle). Since the slave vehicle is a two-wheeled vehicle, the specific aspects such as the mounting structure and the mounting position may be different). The display device 34 includes, for example, a liquid crystal display, and is attached, for example, near the handle of the slave vehicle. The speaker 35 is built in, for example, a helmet worn by the driver of the slave vehicle.

  The control device 36 includes a CPU (Central Processing Unit) 37 and a memory 38. For example, the control device 36 is realized as a part of an ECU (electronic control unit). A GPS receiver 31, a vehicle sensor 32, a wireless communication device 33, a display device 34, and a speaker 35 are electrically connected to the control device 36. The control device 36 and the speaker 35 may be connected via radio.

  The CPU 37 functions as the movement status identification unit 41, the communication control unit 42, the simple collision prediction determination unit 43, and the navigation unit 44 by reading the control program stored in the memory 38 and executing it.

  The movement status specifying unit 41 uses the GPS receiver 31 and the vehicle sensor 32 to specify the position, traveling direction, speed, and the like of the host vehicle, and vehicle information (movement status information) indicating the position, traveling direction, and speed of the host vehicle. Is generated.

  The communication control unit 42 wirelessly communicates the vehicle information of the own vehicle generated by the movement status specifying unit 41 to the other vehicle via the wireless communication device 33 and the vehicle information of the other vehicle transmitted from the other vehicle. A process of receiving via the device 33 is performed.

  The simple collision prediction determination unit 43 uses the vehicle information of the host vehicle generated by the movement status specifying unit 41 and the collision prediction information included in the vehicle information of the other vehicle (main vehicle) received by the wireless communication device 33. It is used to determine whether or not a collision between the host vehicle and another vehicle is predicted.

  The navigation unit 44 selects a notification voice and a notification image from the navigation table 52 stored in the memory 38 when the simple collision prediction determination unit 43 determines that a collision between the host vehicle and another vehicle is predicted. The selected notification sound is output to the speaker 35, and the selected notification image is output to the display device 34.

  The memory 38 is, for example, a non-volatile semiconductor storage device. The memory 38 stores a navigation table 52 described later in addition to the control program described above. The map information is not stored in the memory 38 of the slave vehicle driving support device 3. Further, the memory 38 need not include a hard disk device or a disk drive device for map information.

  The vehicle sensor 32 is a specific example of the second detection means, the GPS receiver 31, the vehicle sensor 32, and the movement status specifying unit 41 are specific examples of the second movement status specification means, and the wireless communication device 33 and The communication control unit 42 is a specific example of the second wireless communication unit. The simple collision prediction determination unit 43 is a specific example of simple collision prediction determination means.

(Collision prediction notification process in the main vehicle)
FIG. 2 shows a collision prediction notification process performed in the main vehicle driving support apparatus 2, and FIG. 3 shows a collision prediction determination process executed during the collision prediction notification process in the main vehicle driving support apparatus 2. . 6 shows intersections and determination target areas, FIG. 7 shows a navigation table, and FIG. 8 shows collision prediction information.

  The main vehicle driving support device 2 repeatedly performs the collision prediction notification process shown in FIG. 2 at a predetermined cycle. In the collision prediction notification process shown in FIG. 2, first, the movement status specifying unit 21 uses the GPS receiver 11, the vehicle sensor 12, and the map information 51 to check the own vehicle (the main vehicle driving support device 2 on which the main vehicle driving support device 2 is mounted). The position, traveling direction, speed, and the like of the vehicle) are specified, and vehicle information of the host vehicle that indicates the position, traveling direction, and speed of the host vehicle is generated (step S1).

  Subsequently, when the collision prediction information is temporarily stored in the memory 18 (step S2: YES), the collision prediction information adding unit 24 uses this collision prediction information as the vehicle information of the host vehicle generated in step S1. (Step S3) On the other hand, when the collision prediction information is not temporarily stored in the memory 18 (step S2: NO), the collision prediction information adding unit 24 converts the collision prediction information into the vehicle information of the host vehicle. Do not perform additional processing. The collision prediction information will be described later.

  Then, the communication control part 22 transmits the vehicle information of the own vehicle to other vehicles (an other main vehicle and a subordinate vehicle) via the radio | wireless communication apparatus 13 (step S4).

  Subsequently, the communication control unit 22 determines whether or not the vehicle information of the other vehicle transmitted from the other vehicle (other main vehicle or slave vehicle) is received via the wireless communication device 13 (step S5). When the vehicle information of the other vehicle is not received (step S5: NO), the collision prediction notification process of the current cycle is immediately terminated, and the collision prediction notification process of the next cycle is performed after a predetermined period.

  On the other hand, when the vehicle information of another vehicle is received (step S5: YES), the collision prediction determination unit 23 performs a collision prediction determination process (step S6). The content of the collision prediction determination process in step S6 is as shown in FIG. That is, in FIG. 3, first, the collision prediction determination unit 23 passes the host vehicle using the position and traveling direction of the host vehicle specified by the movement status specifying unit 21 and the map information 51 stored in the memory 18. For example, an intersection nearest to the traveling direction of the host vehicle is specified (step S41). Hereinafter, the intersection specified in step S41 is referred to as a “specific intersection”.

  Here, this point will be specifically described with reference to FIG. 6. The collision prediction determination unit 23 sets the intersection C closest to the traveling direction of the vehicle 60 corresponding to the host vehicle for the main vehicle driving support device 2 as a specific intersection. Identify.

  Returning to FIG. 3, the collision prediction determination unit 23 subsequently sets a determination target area at the specific intersection (step S <b> 42). The determination target area is an area in which there is a possibility of a collision between the vehicle and the host vehicle when a vehicle is present therein, and is set based on map information or the like. In addition, this determination target area is usually set so as to overlap the specific intersection, for example, so as to correspond to the specific intersection. In many cases, a plurality of determination target areas are set according to the number of road lanes that intersect at a specific intersection. In addition, one determination reference point is normally set in each determination target area. The determination reference point is a point (position) where a collision between the vehicle and the host vehicle can occur in the determination target area when the vehicle exists inside the determination target area, and is set based on map information or the like. Is done. For example, the intersection of two lanes that intersect at a specific intersection is the determination reference point. The collision prediction determination unit 23 assigns a number for identifying the determination target area to each set determination target area, and stores the number N of the set determination target areas in the memory 18.

  Here, this point will be described in detail with reference to FIG. 6. The collision prediction determination unit 23 sets two determination target areas R1 and R2 at the intersection C, which is a specific intersection, and the determination target area R1 includes the determination target area R1. The determination reference point P1 is set, and the determination reference point P2 is set in the determination target area R2. Then, the collision prediction determination unit 23 assigns serial numbers such as “1” and “2” to the determination target areas R1 and R2, and stores “2” in the memory 18 as the number N of the determination target areas.

  Returning to FIG. 3, the collision prediction determination unit 23 subsequently turns off the collision prediction establishment flag and the collision determination flag and sets the count value t to 1 (step S <b> 43).

  Subsequently, the collision prediction determination unit 23 determines whether another vehicle exists in the t-th determination target area (first when the count value is set to 1) (step S44). Specifically, the collision prediction determination unit 23 recognizes the position of the other vehicle using the vehicle information of the other vehicle received in step S5 in FIG. 2, and the position of the other vehicle is the t-th determination target area. It is judged whether it is in. When the other vehicle does not exist in the t-th determination target area (step S44: NO), the collision prediction determination unit 23 immediately shifts the process to step S48.

  On the other hand, when the other vehicle exists in the t-th determination target area (step S44: YES), the collision prediction determination unit 23 continues to determine the determination reference point set in the t-th determination target area ( Hereinafter, this is referred to as “tth determination reference point”), and it is determined whether or not the other vehicle is heading (step S45). Specifically, the collision prediction determination unit 23 recognizes the traveling direction of the other vehicle using the vehicle information of the other vehicle received in step S5 in FIG. 2, and the traveling direction of the other vehicle is t-th. It is determined whether it is suitable for the determination reference point. When the other vehicle is not heading for the t-th determination reference point (step S45: NO), the collision prediction determination unit 23 immediately shifts the process to step S48.

  On the other hand, when the other vehicle is moving toward the t-th determination reference point (step S45: YES), the collision prediction determination unit 23 determines the arrival time of the host vehicle to the t-th determination reference point and the t-th determination reference point. It is determined whether or not the predicted arrival time of the other vehicle at the determination reference point coincides (step S46). Specifically, the collision prediction determination unit 23 moves to the t-th determination reference point of the host vehicle based on the position, traveling direction, and speed of the host vehicle specified by the movement status specifying unit 21 in step S1 in FIG. 2 is calculated, and based on the vehicle information of the other vehicle received in step S5 in FIG. 2, the estimated arrival time of the other vehicle to the t-th determination reference point is calculated. It is determined whether or not the predicted time matches the predicted arrival time of the other vehicle. When the predicted arrival time of the host vehicle to the t-th determination reference point does not match the predicted arrival time of the other vehicle to the t-th determination reference point (step S46: NO), the collision prediction determination unit 23 The process immediately proceeds to step S48.

  On the other hand, when the predicted arrival time of the host vehicle to the t-th determination reference point matches the predicted arrival time of the other vehicle to the t-th determination reference point (step S46: YES), the collision prediction determination unit 23 determines that a collision between the host vehicle and the other vehicle is predicted, and sets the collision determination flag to ON. The collision prediction determination unit 23 stores the predicted arrival time of the host vehicle (or the other vehicle) at the t-th determination reference point in the memory 18 (step S47).

  Subsequently, the collision prediction determination unit 23 determines whether the count value t has reached the number N of determination target areas set in step S42 (step S48), and the count value t is the number N of determination target areas. If not reached (step S48: NO), the count value t is incremented by 1 (step S49), and the process returns to step S44. Then, the collision prediction determination unit 23 repeats the processes of steps S44 to S48 until the count value t reaches the number N of determination target areas. Thus, the processes of steps S44 to S47 are appropriately performed for the second, third,. During this time, when there are a plurality of determination reference points at which a collision between the host vehicle and another vehicle is predicted, the predicted arrival time of the host vehicle (or other vehicle) to each of the determination reference points is stored in the memory 18. The

  When the count value t reaches the number N of determination target areas (step S48: YES), the collision prediction determination unit 23 determines whether or not the collision determination flag is ON (step S50). When the collision between the host vehicle and the other vehicle is not predicted for all the determination target areas set in step S42, the collision determination flag set to OFF in step S43 is kept OFF. In this case, the collision prediction determination unit 23 determines that the collision determination flag is not ON (step S50: NO), and immediately ends the collision prediction determination process.

  On the other hand, when a collision between the host vehicle and another vehicle is predicted for at least one of the determination setting areas set in step S42, the collision determination flag is turned ON in step S47. In this case, the collision prediction determination unit 23 determines that the collision determination flag is ON (step S50: YES).

  Subsequently, the collision prediction determination unit 23 recognizes the determination target area with the shortest predicted arrival time to the determination reference point as the collision prediction area and also determines the determination reference point as the collision prediction point (step S51).

  Here, this point will be specifically described with reference to FIG. 6. In FIG. 6, the vehicle 60 hits the host vehicle for the main vehicle driving support device 2, and the vehicles 61 and 62 for the main vehicle driving support device 2. Hit another vehicle. The vehicle 61 exists in the determination target area R1 and is heading toward the determination reference point P1, and the vehicle 60 reaches the determination reference point P1 and the vehicle 61 reaches the determination reference point P1. The predicted time matches. Further, the vehicle 62 exists in the determination target area R2, is directed to the determination reference point P2, and the predicted arrival time of the vehicle 60 to the determination reference point P2 and the predicted arrival of the vehicle 62 to the determination reference point P2. Suppose the time matches. The predicted arrival time of the vehicle 60 (61) to the determination reference point P1 is shorter than the predicted arrival time of the vehicle 60 (62) to the determination reference point P2. In this case, the collision prediction determination unit 23 determines that the own vehicle (the vehicle 60) and another vehicle (the vehicle 61) are predicted to collide at the determination reference point P1, and sets the determination target area R1 as the collision prediction area. The determination reference point P1 is recognized as a collision prediction point.

  Returning to FIG. 3, the collision prediction determination unit 23 subsequently determines the content of notification to the driver (step S <b> 52). Specifically, the collision prediction determination unit 23 acquires detailed intersection information about the specific intersection from the map information 51, and the intersection information, the position and traveling direction of the own vehicle, the position and traveling direction of the other vehicle, Based on the above, a collision mode (for example, a collision between a right-turn vehicle and a straight-ahead vehicle, an encounter collision, etc.) is identified, and a later-described notification type ID (see FIG. 7) corresponding to the identified collision mode is determined.

  Subsequently, the collision prediction determination unit 23 sets the collision prediction establishment flag to ON (step S53), and ends the collision prediction determination process. When the collision prediction determination process ends, the process proceeds to step S7 in FIG.

  In step S7 in FIG. 2, the navigation unit 25 checks the collision prediction establishment flag and determines whether or not collision prediction is established as a result of the collision prediction determination process. When the collision prediction establishment flag is OFF, the navigation unit 25 determines that the collision prediction is not established (step S7: NO). In this case, the collision prediction notification process for the current cycle is immediately terminated, and the collision prediction notification process for the next cycle is performed after a predetermined period.

  On the other hand, when the collision prediction establishment flag is ON, the navigation unit 25 determines that the collision prediction is established (step S7: YES), and in this case, the collision is predicted for the driver in the own vehicle. A notification to the effect is given (step S8). The navigation unit 25 performs the notification using the navigation table 52 stored in the memory 18. The contents of the navigation table 52 are as shown in FIG. The navigation table 52 is a data table describing a notification type ID, a notification type for the main vehicle, a notification sound and a notification image, and a notification type, a notification sound and a notification image for the slave vehicle. In the navigation table 52, the notification type ID is associated with the notification type, notification sound, and notification image for the main vehicle, and the notification type ID is associated with the notification type, notification sound, and notification image for the slave vehicle. It is attached. In step S8, the navigation unit 25 refers to the navigation table 52, identifies the notification type, notification sound and notification image for the main vehicle associated with the notification type ID determined in step S52 in FIG. The identified notification sound is output from the speaker 15 and the identified notification image is displayed on the display device 14.

  Here, this point will be described in detail with reference to FIG. 6 and FIG. 7. As shown in FIG. 6, the vehicle 60 (the host vehicle for the main vehicle driving support device 2) has a judgment reference point P1 (collision). Since there is a risk of causing a collision of the vehicle 61 (another vehicle for the main vehicle driving support device 2) approaching from the right side toward the predicted point), in step S52 in FIG. 3, the notification in FIG. The type ID “03” is selected and determined. Then, in step S8 in FIG. 2, the notification voice “attention to the car from the right side” for the main vehicle corresponding to the notification type ID “03” is specified in the navigation table 52 shown in FIG. A notification image “display a picture of a vehicle approaching from the right of the intersection” for the main vehicle corresponding to the ID “03” is specified. As a result, in step S8, a sound such as “careful about the car from the right side” is output from the speaker 15, and a picture of the vehicle approaching from the right side of the intersection is displayed on the display device. Thereby, the driver of the own vehicle (vehicle 60) can know that the other vehicle (vehicle 61) is approaching from the right side at the nearest intersection.

  After notification that a collision is predicted in this way, the collision prediction information adding unit 24 generates collision prediction information and temporarily stores the collision prediction information in the memory 18 (step S9). Here, specific contents of the collision prediction information will be described with reference to FIG. As shown in FIG. 8, the collision prediction information 71 includes a notification type ID 72 (notification designation information), collision prediction area information 73, and collision prediction point information 74. The notification type ID 72 is the notification type ID determined in step S52 in FIG. The collision prediction area information 73 is information indicating coordinates for identifying the collision prediction area authorized in step S51 in FIG. The predicted collision point information 74 is information indicating the coordinates of the predicted collision point authorized in step S51 in FIG.

  With the series of processes described above, the collision prediction notification process for the current cycle is completed, and the collision prediction notification process for the next cycle is continued after a predetermined period. When the collision prediction information is temporarily stored in the memory 18 in step S9 of the collision prediction notification process in the current cycle, the collision prediction information adding unit 24 stores the collision prediction information in step S2 of the collision prediction notification process in the next cycle. 18 recognizes that it is temporarily stored, and in step S3, the collision prediction information is added to the vehicle information of the host vehicle generated in step S1. In this case, in step S4, the vehicle information of the host vehicle to which the collision prediction information is added is transmitted to the other vehicle.

(Collision prediction notification processing in slave vehicles)
FIG. 4 shows a collision prediction notification process performed in the slave vehicle driving support apparatus 3, and FIG. 5 shows a simple collision prediction determination process executed during the collision prediction notification process in the slave vehicle driving assistance apparatus 3. Yes.

  The slave vehicle driving assistance device 3 repeatedly performs the collision prediction notification process shown in FIG. 4 at a predetermined cycle. In the collision prediction notification process shown in FIG. 4, first, the movement status specifying unit 41 uses the GPS receiver 31 and the vehicle sensor 32 to position the host vehicle (the slave vehicle on which the slave vehicle driving support device 3 is mounted). Then, the traveling direction and speed are specified, and the vehicle information of the own vehicle indicating the position, traveling direction and speed of the own vehicle is generated (step S21).

  Subsequently, the communication control unit 42 transmits the vehicle information of the own vehicle to other vehicles (the main vehicle and other subordinate vehicles) via the wireless communication device 33 (step S22).

  Subsequently, the communication control unit 42 determines whether or not the vehicle information of the other vehicle transmitted from the other vehicle (main vehicle or other slave vehicle) is received via the wireless communication device 33 (step S23). When the vehicle information of the other vehicle is not received (step S23: NO), the collision prediction notification process of the current cycle is immediately terminated, and the collision prediction notification process of the next cycle is performed after a predetermined period.

  On the other hand, when the vehicle information of the other vehicle is received (step S23: YES), the communication control unit 42 determines whether or not the collision prediction information is added to the received vehicle information of the other vehicle (step S24). ). When the collision prediction information is not added to the received vehicle information of the other vehicle (step S24: NO), the collision prediction notification process of the current cycle is immediately ended, and after the predetermined period, the collision prediction notification process of the next cycle is performed. Is done.

  On the other hand, when the collision prediction information is added to the received vehicle information of the other vehicle (step S24: YES), the simple collision prediction determination unit 43 performs a simple collision prediction determination process (step S25). The contents of the simple collision prediction determination process in step S25 are as shown in FIG. That is, in FIG. 5, first, the simple collision prediction determination unit 43 performs the collision prediction area indicated by the collision prediction area information included in the collision prediction information added to the vehicle information of the other vehicle received in step S <b> 23 in FIG. 4. It is determined whether or not the own vehicle exists in the vehicle (step S31). Specifically, the simple collision prediction determination unit 43 determines whether or not the position of the host vehicle specified in step S21 is within the collision prediction area. When the host vehicle does not exist in the collision prediction area (step S31: NO), the simple collision prediction determination unit 43 sets the collision prediction establishment flag to OFF (step S34), and the simple collision prediction determination Finish the process.

  On the other hand, when the host vehicle is present in the collision prediction area (step S31: YES), the simple collision prediction determination unit 43 is added to the vehicle information of the other vehicle received in step S23 in FIG. It is determined whether or not the host vehicle is heading to the collision prediction point indicated by the collision prediction point information included in the existing collision prediction information (step S32). Specifically, the simple collision prediction determination unit 43 determines whether or not the traveling direction of the host vehicle specified in step S21 is directed to the collision prediction point. If the host vehicle is not heading toward the predicted collision point (step S32: NO), the simple collision prediction determination unit 43 sets the collision prediction establishment flag to OFF (step S34), and performs the simple collision prediction determination process. Finish.

  On the other hand, if the vehicle is heading to the predicted collision point (step S32: YES), the simple collision prediction determination unit 43 sets the collision prediction establishment flag to ON (step S33), and the simple collision prediction determination Finish the process. When the simple collision prediction determination process ends, the process proceeds to step S26 in FIG.

  In step S26 in FIG. 4, the navigation unit 44 checks the collision prediction establishment flag, and determines whether or not the collision prediction is established as a result of the simple collision prediction determination process. When the collision prediction establishment flag is OFF, the navigation unit 44 determines that the collision prediction is not established (step S26: NO). In this case, the collision prediction notification process for the current cycle is immediately terminated, and the collision prediction notification process for the next cycle is performed after a predetermined period.

  On the other hand, when the collision prediction establishment flag is ON, the navigation unit 44 determines that the collision prediction is established (step S26: YES), and in this case, the collision is predicted for the driver in the own vehicle. A notification to the effect is given (step S27). In performing this notification, the navigation unit 44 uses the notification type ID included in the collision prediction information added to the vehicle information of the other vehicle received in step S23 and the navigation table 52 stored in the memory 38. Select notification sound and notification image. That is, the same navigation table 52 as the navigation table 52 (see FIG. 7) stored in the memory 38 of the main vehicle driving support device 2 is stored in the memory 38 of the slave vehicle driving support device 3. The navigation unit 44 refers to the navigation table 52, and notifies the notification type and notification about the slave vehicle associated with the notification type ID included in the collision prediction information added to the vehicle information of the other vehicle received in step S23. The voice and the notification image are specified, the specified notification voice is output from the speaker 35, and the specified notification image is displayed on the display device 34.

  For example, as shown in FIG. 6, as described above, the main vehicle driving support device 2 includes a vehicle 60 (four-wheeled vehicle that is the main vehicle) corresponding to the host vehicle driving support device 2 and the main vehicle. When the collision at the determination reference point P1 with the vehicle 61 (the two-wheeled vehicle) corresponding to the other vehicle for the driving support apparatus 2 is predicted, the main vehicle driving support apparatus 2 has the notification type ID “3”, the collision prediction Collision prediction area information indicating the area (determination target area R1), collision prediction information including collision prediction point information indicating the collision prediction point (determination reference point P1), vehicle information of the host vehicle for the main vehicle driving support device 2 Add to and send.

  Then, the slave vehicle driving support device 3 receives the vehicle information transmitted from the main vehicle driving support device 2. In FIG. 6, a vehicle 61 (a two-wheeled vehicle that is a slave vehicle) corresponds to the host vehicle for the slave vehicle support driving apparatus 3, and a vehicle 60 (a four-wheeled vehicle that is the main vehicle) corresponds to another vehicle. The slave vehicle driving assistance device 3 is included in the collision prediction area (determination target area R1) indicated by the collision prediction area information included in the collision prediction information added to the vehicle information transmitted from the main vehicle driving assistance device 2. The vehicle 61 is directed to the collision prediction point (determination reference point P1) indicated by the collision prediction point information included in the collision prediction information added to the vehicle information. The collision prediction establishment flag is set to ON.

  Subsequently, the slave vehicle driving assistance device 3 refers to the navigation table 52 stored in the memory 38 and is included in the collision prediction information added to the vehicle information transmitted from the main vehicle driving assistance device 2. The notification display “Cautions on the left side road” for the slave vehicle corresponding to the notification type ID “3” and the notification image “Display the picture of the vehicle coming out from the left side road” are specified, and this notification display is displayed on the speaker. The notification image is displayed on the display device 34. As a result, a sound such as “Caution on right side road” is output from the speaker 35, and a picture of the vehicle coming out from the side road on the left side of the intersection is displayed on the display device 34. Thereby, the driver of the own vehicle (vehicle 61) for the driving support apparatus 3 for slave vehicles can know that another vehicle (vehicle 60) comes out from the left side road at the nearest intersection.

  As described above, in the driving assistance system 1 according to the embodiment of the present invention, the collision prediction information including the collision prediction area information and the collision prediction point information is provided only when the collision prediction is established in the main vehicle driving assistance device 2. It is transmitted from the driving support device 2 for the main vehicle. That is, regardless of the success or failure of the collision prediction, the position information of the intersection or the information of the area overlapping with the intersection is not transmitted simply when the main vehicle approaches the intersection. Therefore, it is possible to prevent wasteful transmission of the position information of the intersection and the information of the area overlapping with the intersection even though the collision prediction is not established, and the use efficiency of the radio waves between the driving support devices can be improved. In addition, despite the fact that the collision prediction is not established, the position information of the intersection and the information of the area overlapping with the intersection are transmitted. It is possible to prevent the output of a voice or display that tells the danger of the vehicle, and it is possible to prevent the operation from being hindered by the output of such a useless voice or display.

  In the driving support system 1 according to the embodiment of the present invention, the driving support device 2 for the main vehicle makes a complicated collision prediction determination, and the driving support device 3 for the slave vehicle makes a simple collision prediction determination. That is, the slave vehicle driving support device 3 uses the position, the traveling direction, the speed, and the like for each of the two or more vehicles that are to be identified for the collision prediction determination or for the two or more vehicles that are to be the collision prediction determination. Complex calculation processing for collision prediction determination, such as calculation of the estimated time to reach the vehicle intersection, is not performed. Therefore, the calculation processing load in the slave vehicle driving support device 3 is lighter than the calculation processing load in the main vehicle driving support device 2. Further, the slave vehicle driving assistance device 3 does not use map information for simple collision prediction determination. Therefore, it is possible to reduce the equipment of the driving support device 3 for the slave vehicle and reduce the manufacturing cost. As a result, the cost of the slave vehicle equipped with the slave vehicle driving support device 3 can be reduced.

  Moreover, since the slave vehicle driving assistance device 3 performs simple collision prediction determination using the collision prediction information generated through the complicated collision prediction determination in the main vehicle driving assistance device 2, the result of the collision prediction determination Is as highly accurate as the result of the collision prediction determination in the driving support apparatus 2 for the main vehicle. That is, in the sub-vehicle driving support device 3, since the collision prediction determination is simplified, it is possible to prevent the accuracy of the collision prediction determination result from being lowered.

  Further, the slave vehicle driving support device 3 in the driving support system 1 selects the notification voice and the notification image corresponding to the notification type ID acquired from the main vehicle driving support device 2 from the navigation table 52. , Notification suitable for each collision mode is performed. In other words, in order to make a notification suitable for the collision mode, the collision mode must be specified. To specify the collision mode, detailed information on the intersection where the collision is predicted is acquired from the map information. It is necessary to perform a complicated analysis process using this intersection information, the position and traveling direction of the host vehicle, and the position and traveling direction of the other vehicle. Such complicated analysis processing is performed by the driving support device 2 for the main vehicle, and is not performed by the driving support device 3 for the slave vehicle. The sub-vehicle driving support device 3 only uses the result of the analysis processing performed by the main vehicle driving support device 2. In this respect as well, while it is possible to reduce the equipment of the driving support device 3 for the slave vehicle and reduce the manufacturing cost, it is possible to prevent the accuracy of the collision prediction determination (determination result notification) from being lowered. it can.

  In the above-described embodiment, the four-wheeled vehicle is the main vehicle and the two-wheeled vehicle is the slave vehicle. However, what kind of vehicle is classified into the main vehicle and the slave vehicle is not limited. For example, a four-wheeled vehicle and a large two-wheeled vehicle may be the main vehicle, a medium-sized and small-sized two-wheeled vehicle may be the slave vehicle, a special four-wheeled vehicle may be the main vehicle, and an ordinary four-wheeled vehicle and two-wheeled vehicle may be the slave vehicle. . Moreover, the mobile body to which the present invention is applied may be a bicycle. Moreover, the mobile body to which the present invention is applied is not limited to a vehicle. For example, it may be a pedestrian who has a mobile support device. Although the pedestrian possesses the mobile body support device as a mobile body support device that performs simple collision prediction determination (that is, a mobile body support device corresponding to the driving support device 3 for the slave vehicle), It is possible to realize a mobile support apparatus that is small enough, lightweight, easy to carry, inexpensive, and highly accurate.

  In the above-described embodiment, the case of predicting a collision at the intersection of two vehicles has been described as an example. However, the present invention is not limited to this, for example, prediction of a frontal collision between an overtaking vehicle and an oncoming vehicle, It can also be applied to the prediction of a rear-end collision with a vehicle stopped due to traffic jam.

  Further, the present invention can be appropriately changed without departing from the gist or concept of the invention that can be read from the claims and the entire specification, and a mobile support system with such a change is also applicable to the technology of the present invention. Included in thought.

DESCRIPTION OF SYMBOLS 1 Driving assistance system 2 Driving assistance apparatus for main vehicles 3 Driving assistance apparatus for slave vehicles 11 GPS receiver 12 Vehicle sensor (1st detection means)
13 Wireless communication device (first wireless communication means)
16 control device 17 CPU
18 Memory (Map information storage means)
21. Movement status identification unit (first movement status identification means)
22 communication control unit 23 collision prediction determination unit (collision prediction determination means)
24 Collision prediction information adding unit (collision prediction information transmitting means)
31 GPS receiver 32 Vehicle sensor (second detection means)
33 wireless communication device (second wireless communication means)
34 display device 35 speaker 36 control device 37 CPU
38 memory (stores navigation information)
41 Movement status identification unit (second movement status identification means)
42 communication control unit 43 simple collision prediction determination unit (simple collision prediction determination unit)
44 Navigation part (notification means)
51 Map information 52 Navigation table 60 Own vehicle 61, 62 Other vehicle 71 Collision prediction information 72 Notification type ID (notification designation information)
73 Collision prediction area information 74 Collision prediction point information C Specific intersection R1, R2 Determination target area P1, P2 Determination reference point

Claims (4)

A mobile body support system comprising a first mobile body support device provided in a first mobile body and a second mobile body support device provided in a second mobile body,
The first moving body support apparatus includes:
Map information storage means for storing map information;
A GPS or a first detection unit that is provided in the first moving body and that uses a first detection unit that detects a moving state of the first moving body to identify a position and a traveling direction of the first moving body. A movement status identification means;
First wireless communication means for performing wireless communication with the second mobile support device;
A moving situation indicating the position and traveling direction of the first moving body specified by the first moving situation specifying means and the position and traveling direction of the second moving body received by the first wireless communication means. Collision prediction determination means for determining whether or not a collision between the first moving body and the second moving body is predicted using the information and the map information stored in the map information storage means;
When a collision between the first moving body and the second moving body is predicted by the collision prediction determination unit, collision prediction area information indicating a collision prediction area and a collision indicating a collision prediction point are determined. Collision prediction information transmission means for transmitting collision prediction information including prediction point information to the second mobile support device by the first wireless communication means,
The second moving body support apparatus includes:
GPS or a second detection unit that is provided in the second moving body and that uses a second detection unit that detects a moving state of the second moving body to identify the position and the traveling direction of the second moving body. A movement status identification means;
Second wireless communication means for performing wireless communication with the first mobile support device;
The position of the second moving body specified by the second movement status specifying means is within the collision prediction area indicated by the collision prediction area information included in the collision prediction information received by the second wireless communication means. Ah it is, and the collision prediction point information whose traveling direction of the second moving body identified by the second moving condition specifying means is included in the collision prediction information received by the second wireless communication means by determining Luke not well suited to the collision prediction point indicated, and the simple collision prediction determination means for determining whether a collision between the first mobile body and the second movable body is predicted,
If a collision between the second moving body and the first moving body is predicted by the simple collision prediction determining means, a notification is given to the person using the second moving body. A moving body support system comprising: a notification means for emitting. The first movement status specifying means specifies the position, traveling direction and speed of the first moving body,
The movement status information received by the first wireless communication means includes the position, traveling direction, and speed of the second moving body,
The collision prediction determination means includes
The first moving body may pass using the position and traveling direction of the first moving body specified by the first moving state specifying means and the map information stored in the map information storage means. An intersection identifying means for identifying the predicted intersection;
An area setting means for setting a predetermined determination target area so as to correspond to the intersection, and setting a determination reference point in the determination target area;
Area inside / outside determination means for determining whether or not the position of the second moving body is within the determination target area using the movement status information received by the first wireless communication means;
A traveling direction determination unit that determines whether the traveling direction of the second moving body is directed to the determination reference point using the movement status information received by the first wireless communication unit;
Calculating a predicted arrival time of the first moving body to the determination reference point based on the position, traveling direction and speed of the first moving body specified by the first moving state specifying means; The arrival prediction time of the second moving body to the determination reference point is calculated based on the movement status information received by one wireless communication means, and the arrival prediction time of the first moving body and the first An arrival coincidence determining means for determining whether or not the arrival prediction times of the two mobile objects coincide with each other,
The area inside / outside determination means determines that the position of the second moving body is within the determination target area, and the traveling direction determination means causes the traveling direction of the second moving body to face the determination reference point. And the arrival match determination means determines that the predicted arrival time of the first moving body and the predicted arrival time of the second moving body coincide with each other. The mobile body support system according to claim 1 , wherein it is determined that a collision between the body and the second mobile body is predicted. The collision prediction information transmitting unit is set by the area setting unit when the collision prediction determining unit determines that a collision between the first moving body and the second moving body is predicted. The determination target area is a collision prediction area, the collision prediction area information indicating the collision prediction area is generated, the determination reference point set by the area setting unit is set as a collision prediction point, and the collision prediction point is indicated. The mobile body according to claim 2 , wherein collision prediction point information is generated, and collision prediction information including the generated collision prediction area information and collision prediction point information is transmitted to the second mobile body support apparatus. Support system. The collision prediction information transmitting unit uses the second moving body when the collision prediction determining unit determines that a collision between the first moving body and the second moving body is predicted. Transmitting the collision prediction information including the notification designation information for designating the content of the notification issued to the person who is doing to the second mobile support device by the first wireless communication means,
The notification means determines content of a notification issued to a person using the second moving body according to notification designation information included in the collision prediction information received by the second wireless communication means. The mobile body support system according to any one of claims 1 to 3 , wherein

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