JP5994526B2 - Driving assistance device - Google Patents

Description

  The present invention transmits and receives travel information about public vehicles including buses or taxis by inter-vehicle communication between the public vehicles and surrounding vehicles that travel around the public vehicles, and supports driving of the surrounding vehicles. The present invention relates to a driving assistance device to be performed.

In recent years, with the development of communication technology, a technology has been proposed that provides vehicle-to-vehicle communication between vehicles and provides driving assistance to prevent traffic accidents such as rear-end collisions that may occur between vehicles. Yes.
As a driving support device that uses such inter-vehicle communication to prevent traffic accidents, there is a vehicle control device that avoids danger while the vehicle is running by making it possible to promptly notify the driver of the movement of a commercial vehicle. . In this vehicle control device, a commercial vehicle existing around the host vehicle is detected, and whether or not the detected commercial vehicle is likely to stop near the host vehicle is predicted by a stop prediction unit. According to the prediction by the stop prediction means, when the commercial vehicle is a bus, a bus stop is located in the vicinity of the own vehicle, and when the commercial vehicle is a taxi, a taxi stand or destination On the condition that the vehicle is present in the vicinity of the host vehicle, it is predicted that the vehicle may stop near the host vehicle, and the driver is notified (see Patent Document 1).

JP 2010-39717 A

  Therefore, in the conventional driving support device, the possibility that the commercial vehicle stops in the vicinity of the own vehicle is that the stop of the commercial vehicle, the user's stop or the destination exists in the vicinity of the planned traveling route of the own vehicle. Since the determination is based on the positional relationship, particularly when the commercial vehicle is a bus, if there are no passengers, it will pass through a stop, and whether or not the commercial vehicle will stop is highly accurate. There was a problem that could not be predicted and could not realize reliable driving support.

  This invention is made | formed in view of such a situation, and it aims at providing the driving assistance apparatus which can implement | achieve reliable driving assistance.

  The invention according to claim 1 is provided in a public vehicle including a bus and a taxi, and transmits / receives inter-vehicle information by inter-vehicle communication with a driving support device of a surrounding vehicle located around the public vehicle, A driving support device for a public vehicle that supports safe driving between a public vehicle and the surrounding vehicle, wherein the vehicle behavior information includes any one of a turn signal of the public vehicle, an operation status of a hazard lamp, and a vehicle speed reduction status; The stop for the user to get off is determined based on any one of the information of getting off and indicating that there is a user to get off, and the public vehicle stops for the user to get off. A pedestrian who gets off the pedestrian who gets off from the public vehicle on the basis of the stop information judging means for outputting stop information indicating the above, the getting-off information and a user attribute set in advance according to the public vehicle Set information And dismounting the pedestrian setting means for, vehicle-to-vehicle information including the stop information and the alighting pedestrian information, characterized by comprising a vehicle-vehicle information transmitting means for transmitting to the driving support device of the adjacent vehicle.

Invention of Claim 4 is provided in the surrounding vehicle located in the circumference | surroundings of public vehicles including a bus and a taxi, transmits / receives vehicle-to-vehicle information by inter-vehicle communication with the driving support device of the public vehicle, A driving support device for a surrounding vehicle that supports safe driving between a public vehicle and the surrounding vehicle, the inter-vehicle information communication means for performing inter-vehicle communication with the driving support device for the public vehicle, and the public Vehicle-to-vehicle information received from the public vehicle by the vehicle-to-vehicle information communication means, including stop information when the vehicle stops for the user to get off, and information on a pedestrian who gets off the public vehicle. And a support means for supporting driving of the surrounding vehicle with respect to the public vehicle.

  According to the first aspect of the present invention, vehicle behavior information including any one of a blinker of a public vehicle, an operation status of a hazard lamp, and a vehicle speed reduction status, and alighting information indicating that there is a user getting off the vehicle. Based on one of the information, the stop for the user to get off is determined, and when the stop for the getting off is determined, the stop information indicating that the public vehicle stops for the user to get off is output. And setting the getting-off pedestrian information related to the getting-off pedestrian getting off from the public vehicle based on the getting-off information and the user attribute set in advance according to the public vehicle, the stop information and the getting-off Since the inter-vehicle information including the pedestrian information is configured to be transmitted to the driving support device for the surrounding vehicle, it can be predicted with high accuracy whether the public vehicle stops or not, and the reliability is high. Driving assistance There is a current can be effectively.

  According to the second aspect of the invention, since the getting-off button operation information operated by the user who gets off the public vehicle is used as the getting-off information, the user getting on and off based on the vehicle behavior information or the getting-off information The stop information that is output when the stop for the vehicle is determined makes it possible to predict with high accuracy whether or not the public vehicle will stop in the surrounding vehicles, and it is possible to realize highly reliable driving support.

  According to invention of Claim 3, since it comprised so that the vehicle-to-vehicle information including the positional information of a public vehicle, operation information, stop information, and disembarkation pedestrian information might be set as vehicle-to-vehicle information, in the surrounding vehicle, The information makes it possible to predict whether or not the public vehicle will stop with a high degree of accuracy, and has the effect of realizing highly reliable driving assistance.

  According to the fourth aspect of the present invention, vehicle-to-vehicle communication is performed with a driving support device for a public vehicle, the stop information when the public vehicle stops for the user to get off, and alighting from the public vehicle. Since it is configured to support driving of the surrounding vehicle with respect to the public vehicle based on the inter-vehicle information received from the public vehicle including the pedestrian information when there is a pedestrian who does, the public vehicle It is possible to predict whether or not the vehicle will stop, with high accuracy, and to achieve highly reliable driving support.

  According to the invention of claim 5, it is determined whether or not the surrounding vehicle is running behind the public vehicle based on the location information and operation information of the public vehicle and the location information of the surrounding vehicle, Since it is configured to support driving of the surrounding vehicle determined to be traveling behind the public vehicle, whether the public vehicle stops relative to the surrounding vehicle traveling behind the public vehicle. It is possible to predict whether or not the vehicle has a high accuracy and to realize a highly reliable driving support.

It is a block diagram which shows the system configuration | structure by the side of the bus vehicle in the driving assistance device which is embodiment of this invention. It is explanatory drawing which shows the user attribute setting table by the side of a bus vehicle in the driving assistance device which is embodiment of this invention. It is a block diagram which shows the system configuration | structure by the side of the surrounding vehicle in the driving assistance device which is embodiment of this invention. It is a flowchart which shows the operation | movement by the side of the bus vehicle in the driving assistance device which is embodiment of this invention. It is a flowchart which shows the operation | movement by the side vehicle side in the driving assistance device which is embodiment of this invention. It is explanatory drawing which shows an example of the driving | running | working condition of the bus vehicle which stops to the stop and stop place in the driving assistance device which is embodiment of this invention, and a surrounding vehicle. It is explanatory drawing which shows an example of the notification display screen of the surrounding vehicle in the driving assistance device which is embodiment of this invention.

(First embodiment)
Hereinafter, a first embodiment of the present invention will be described.
In the following description, public vehicles include quasi-public vehicles such as general taxis, school buses, kindergarten buses, and pick-up buses for elderly welfare facilities, in addition to route buses and shared taxis.
The driving support device according to this embodiment is provided in each of a bus vehicle, a public vehicle including a taxi, and surrounding peripheral vehicles.
A driving support device for public vehicles and a driving support device for surrounding vehicles use inter-vehicle communication between these driving support devices, stop information when the public vehicle stops at a stop or stop, and a user who gets off the vehicle Sending / receiving pedestrian information etc. when there is
In the driving assistance device of the surrounding vehicle, the public vehicle stops based on the stop information transmitted from the public vehicle, the getting-off pedestrian information, etc., and notifies the driver in advance that there is a user to get off, Speed reduction, attention, etc. are urged, and reliable driving support such as danger avoidance for the public vehicle is realized.

FIG. 1 is a block diagram showing a system configuration on the public vehicle side in the driving support apparatus of this embodiment. In this embodiment, a bus vehicle will be described as an example of a public vehicle.
The system configuration on the public vehicle side in this driving support device includes a vehicle behavior information detection unit 1, a get-off button operation detection unit 2, a position information acquisition unit 6, an operation information database 7, an inter-vehicle information transmission / reception unit 9, and surrounding vehicles. A vehicle-to-vehicle communication ECU 21 for realizing vehicle-to-vehicle communication is provided, and is mounted on the bus vehicle 100.
The vehicle behavior information detection unit 1 detects turn signal information of the bus vehicle 100, hazard lamp information, and vehicle behavior information such as deceleration by a brake operation.
The getting-off button operation detection unit 2 detects getting-off button operation information of a getting-off button attached to the passenger compartment of the bus vehicle 100 and operated by a passenger.
The position information acquisition unit 6 acquires the current position information of the bus vehicle 100 using GPS (Global Positioning System).
The operation information database 7 stores operation information including route information of the bus vehicle 100, a stop, position information of the stop location, stop stop time information, and timetable data.
The inter-vehicle information transmission / reception unit 9 transmits / receives inter-vehicle information set by the inter-vehicle information setting unit 8 of the inter-vehicle communication ECU 21 described later to / from surrounding vehicles.

  The inter-vehicle communication ECU 21 includes a stop determination unit 3, an exit pedestrian setting unit 4, an exit user attribute setting unit 5, and an inter-vehicle information setting unit 8. The inter-vehicle communication ECU 21 is configured by a microcomputer.

  Based on the vehicle behavior information detected by the vehicle behavior information detection unit 1 or the getting-off button operation information detected by the getting-off button operation detection unit 2, the stop determination unit 3 stops the bus vehicle 100 at the stop or stop location. Determine whether to stop or not. And if it determines with the bus vehicle 100 stopping at a stop and a stop place, a stop flag will be output.

The user attribute setting unit 4 includes a user attribute setting table TBL for setting user attributes of the bus vehicle 100 such as a route bus, a kindergarten bus, or a school bus.
FIG. 2 is an explanatory diagram showing the user attribute setting table TBL, which corresponds to bus vehicle identification data such as route buses, kindergarten buses, school buses, and pick-up buses for elderly welfare facilities. User attributes are set such as passengers and kindergarten buses, kindergarten children in the case of school buses, students in the case of school buses, and elderly people in the case of pick-up buses at geriatric welfare facilities.
The bus vehicle identification data is given to each bus vehicle as identification data unique to the bus vehicle, and an input setting operation is performed by the driver of the bus vehicle 100 or is preset for each bus vehicle as a default value.

The user attribute setting unit 4 refers to the user attribute setting table TBL based on the input or preset bus vehicle identification data, reads the corresponding user attribute, and uses the bus vehicle 100. Set as a person attribute.
The getting-off pedestrian setting unit 5 determines the bus vehicle 100 based on the determination result of whether the bus vehicle 100 stops or does not stop by the stop determination unit 3 and the user attribute set by the user attribute setting unit 4. When the vehicle stops, the presence / absence of an exit pedestrian who gets off the bus vehicle 100 and walks in the vicinity of the bus vehicle 100 is determined. When it is determined that there is an exit pedestrian, the attribute of the exit pedestrian is determined from the user attribute. Get off pedestrian information including.
The getting-off pedestrian set at this time is set as an getting-off pedestrian who gets off the bus vehicle 100 with the user attribute set by the user attribute setting unit 4 and walks in the vicinity of the bus vehicle 100.

The inter-vehicle information setting unit 8 is set by the current position information of the bus vehicle 100 acquired by the position information acquisition unit 6, the operation information about the bus vehicle 100 read from the operation information database 7, and the getting-off pedestrian setting unit 5. Vehicle-to-vehicle information to be transmitted from the bus vehicle 100 to surrounding vehicles by vehicle-to-vehicle communication based on the getting-off pedestrian information and the stop flag is generated and set.
The inter-vehicle information includes operation information such as bus vehicle identification data, a stop flag, a get-off pedestrian flag, current position information of the bus vehicle 100, get-off pedestrian attribute information, and position information of a stop of the bus vehicle 100.
The stop flag is a flag that is set when the stop determination unit 3 determines that the bus vehicle 100 stops based on the vehicle behavior information and the getting-off button operation information.
The getting-off pedestrian flag is a flag that is set by the getting-off pedestrian setting unit 5 when there is a pedestrian who gets off the bus vehicle that has stopped and walks in the vicinity of the bus vehicle.
The getting-off pedestrian attribute information is a user attribute such as a general passenger, kindergarten or student read by the user attribute setting unit 4 with reference to the user attribute setting table TBL based on the bus vehicle identification data. is there.

FIG. 3 is a block diagram showing a system configuration on the peripheral vehicle side in the driving support apparatus of this embodiment.
The system configuration on the peripheral vehicle side in this driving support device is that the inter-vehicle information transmission / reception unit 11, the own vehicle position information acquisition unit 12, the map database 14 and the driver notification device 16, and the bus vehicle received from the bus vehicle 100 by inter-vehicle communication. Driving support for surrounding vehicles 200 based on operation information such as identification data, stop flag, get-off pedestrian flag, current position information of bus vehicle 100, get-off pedestrian attribute information, stop of bus vehicle 100, and position information of stop location The driving support ECU 31 is provided and is mounted on the surrounding vehicle 200.

  The inter-vehicle information transmission / reception unit 11 performs inter-vehicle communication with the bus vehicle 100, and the bus vehicle identification data, the stop flag, the getting-off pedestrian flag, the current position information of the bus vehicle 100, the getting-off pedestrian attribute information, the bus Inter-vehicle information including operation information such as a stop of the vehicle 100 and position information of the stop location is transmitted and received.

  The own vehicle position information acquisition unit 12 acquires the current position information of the surrounding vehicle 200 using GPS.

  The map database 14 stores map information for displaying the positional relationship between the surrounding vehicle 200 and the bus vehicle 100 on a map including the current position of the surrounding vehicle 200.

  The driver notification device 16 may be a display device or voice announcement output means dedicated to the driving support device, but may use a display device or voice announcement output means of a navigation device provided in the surrounding vehicle 200. .

  The driving support ECU 31 includes a positional relationship determination unit 13 and a driver notification information setting unit 15. The driving support ECU 31 is constituted by a microcomputer.

  The positional relationship determination unit 13 is based on the current position information of the surrounding vehicle 200 and the current position information and operation information of the bus vehicle 100 in the inter-vehicle information received from the bus vehicle 100 by the inter-vehicle information transmission / reception unit 11. Determines the positional relationship between the bus vehicle 100 and the surrounding vehicles, such as whether the vehicle is traveling behind the bus vehicle 100.

The driver notification information setting unit 15 sets the notification content notified to the driver of the surrounding vehicle 200 based on the inter-vehicle information received from the bus vehicle 100.
For example, if the disembarkation pedestrian attribute information of the inter-vehicle information is a general passenger, please note that the general passenger will get off, or the disembarkation pedestrian attribute information will be a kindergarten. In such a case, the notification content to be notified to the driver of the surrounding vehicle is set according to the getting-off pedestrian attribute information in the inter-vehicle information, such as “Be careful about jumping out because the kindergarten child gets off”.

Next, the operation of the driving support device of this embodiment will be described.
FIG. 4 is a flowchart showing the operation of the inter-vehicle communication ECU 21 on the bus vehicle side of the driving support device of this embodiment. FIG. 5 is a flowchart showing the operation of the driving support ECU 31 on the peripheral vehicle side of the driving support device of this embodiment.
When the bus vehicle 100 and the surrounding vehicle 200 approach a vehicle-to-vehicle communication possible distance, for example, a vehicle-to-vehicle communication distance of about 300 meters, the vehicle communication between the bus vehicle 100 and the surrounding vehicle 200 is started.
As shown in the flowchart of FIG. 4, when vehicle-to-vehicle communication is started with the surrounding vehicle 200 (step S1), the vehicle-to-vehicle communication ECU 21 of the bus vehicle 100 detects the turn signal detected by the vehicle behavior information detection unit 1, Vehicle behavior information such as hazard lamp on / off and vehicle speed deceleration status is captured (step S2), and the getting-off button operation information detected by the getting-off button operation detecting unit 2 is fetched (step S3). The situation where the bus vehicle 200 is not stopped at the stop or stop is determined by the stop determination unit 3 (step S4).

FIG. 6 is an explanatory diagram illustrating an example of a traveling state of the bus vehicle 100 and the surrounding vehicle 200 that stop at a stop or stop.
As shown in FIG. 6, the bus vehicle 200 does not turn on the blinker or the hazard lamp when the vehicle is temporarily stopped, but not only decelerates but also turns on the blinker or the hazard lamp when stopping at the stop or stop. To do. Also, if there are users who get off at the stop, stop location, the user getting off will operate the get-off button to turn on the exit lamp, for example, turn on these turn signals, hazard lights, Whether the bus vehicle 200 stops or stops is determined from vehicle behavior information such as off, vehicle speed deceleration status, and the getting-off button operation information.

As a result, when it is determined that the bus vehicle 200 stops at the stop, the inter-vehicle communication ECU 21 sets the “stop flag” to ON (step S5), and subsequently determines whether there is a disembarking pedestrian (step S6). ).
The determination as to whether or not there is a disembarking pedestrian is made from the disembarking button operation information detected by the dismounting button operation detecting unit 2. That is, when there is an exit pedestrian, the exit button is turned on, so it can be determined from the exit button operation information.
Further, it may be determined that there is an exit pedestrian by opening the exit door.
If there is an exit pedestrian, the exit pedestrian setting unit 5 sets the exit pedestrian and sets the “disembarkation pedestrian flag” to ON (step S7).
In the user attribute setting unit 4, when the bus vehicle identification data indicates a route bus, the user attribute is a general passenger, and the disembarkation pedestrian attribute set in the disembarkation pedestrian setting unit 5 is “general passenger”. Become. In addition, when the bus inter-vehicle identification data indicates a kindergarten bus, the getting-off pedestrian attribute is set to “kindergarten children”, and when showing a school bus, the getting-off pedestrian attribute set is “student”. If you are showing a pick-up bus, you will be "old man".

Subsequently, the current position information of the bus vehicle 200 is acquired by the position information acquisition unit 6 (step S8).
Then, the inter-vehicle information setting unit 8 reads the current position information of the bus vehicle 200 acquired by the position information acquisition unit 6 and the bus vehicle 200 read from the operation information database 7 based on the bus inter-vehicle identification data. From the operation information, inter-vehicle information to be transmitted to the surrounding vehicle 200 by inter-vehicle communication is generated (step S9).
The inter-vehicle information to be transmitted to the surrounding vehicle 200 includes bus vehicle identification data, a stop flag, an exit pedestrian flag, current position information and an exit pedestrian attribute of the bus vehicle 100, and an operation information database based on the bus vehicle identification data. 7, the operation information of the bus vehicle 100 read from 7 is included.
The operation information of the bus vehicle 100 includes travel route information of the bus vehicle 100, a stop on the travel route of the bus vehicle 100 where the user gets on and off the bus vehicle 100, and position information of the stop location.
Further, the inter-vehicle information transmission / reception unit 9 transmits the inter-vehicle information to the surrounding vehicle 200 by inter-vehicle communication (step S10).

On the other hand, in the surrounding vehicle 200, when inter-vehicle communication is started with the bus vehicle 100 (step S <b> 31), the process shifts to reception waiting processing for inter-vehicle information transmitted from the bus vehicle 100.
Then, the inter-vehicle information transmission / reception unit 11 receives the inter-vehicle information transmitted from the inter-vehicle information transmission / reception unit 9 of the bus vehicle 100 by inter-vehicle communication (step S33).

Subsequently, the current position information of the surrounding vehicle (own vehicle) 200 is acquired by the own vehicle position information acquisition unit 12 (step S34), and whether the own vehicle is traveling behind the bus vehicle 100 or behind the bus vehicle 100. It is determined whether the host vehicle is located (step S35).
Whether the host vehicle is traveling behind the bus vehicle 100 or the host vehicle is positioned behind the bus vehicle 100 is determined by the current position information of the host vehicle acquired by the host vehicle position information acquisition unit 12; It is determined from the current position information of the bus vehicle 100 received from the bus vehicle 100 by inter-vehicle communication and the travel route information of the operation information and the traveling direction.

As a result, if it is determined that the host vehicle is traveling behind the bus vehicle 100, it is determined whether or not the stop flag of the inter-vehicle information received from the bus vehicle 100 by inter-vehicle communication is turned on ( Step S36).
If it is determined that the stop flag is turned on, the driver notification information setting unit 15 sets voice announcement notification information indicating that the bus vehicle 100 traveling in front of the host vehicle stops at the stop, and driver notification The information is output to the device 16, and the driver notification device 16 notifies the driver of the host vehicle, for example, with a voice announcement that “the bus vehicle traveling ahead stops at the stop location” (step S37).

Subsequently, it is determined whether or not the getting-off pedestrian flag of the inter-vehicle information received from the bus vehicle 100 by inter-vehicle communication is turned on (step S38).
When it is determined that the getting-off pedestrian flag is turned on, the driver notification information setting unit 15 sets voice announcement notification information for calling attention to the getting-off pedestrian who gets off from the bus vehicle 100 in front of the host vehicle. , Output to the driver notification device 16, for example, a notification that alerts the driver of the host vehicle with a voice announcement that “please pay attention to pedestrians getting off the bus vehicle ahead of the stop” This is performed (step S39).

  In the notification process in step S39, the kindergarten child who gets off the bus vehicle ahead of the stop from the getting-off pedestrian flag and the getting-off pedestrian attribute information of the inter-vehicle information received from the bus vehicle 100 should be noted. The notification content may be switched according to the getting-off pedestrian attribute.

Next, the stop and stop location of the bus vehicle 100 to be stopped are identified from the current location information of the bus vehicle 100 ahead and the location information of the stop and stop location on the travel route of the bus vehicle 100 operation information ( Step S40).
Then, the driver notification information setting unit 15 sends the stop of the bus vehicle 100 specified in step S40, the position information of the stop location, and the current position information of the bus vehicle 100 to the navigation device, and the specified bus vehicle is displayed on the display screen of the navigation device. 100 stops, stop locations and the current position of the bus vehicle 100 are additionally displayed.

FIG. 7 is an explanatory diagram illustrating an example of a notification display screen of the surrounding vehicle 200. FIG. 7 shows an example of a display screen of the navigation device in which the stop of the bus vehicle 100, the stop location, and the current position of the bus vehicle 100 are additionally displayed.
In the figure, reference numeral 401 denotes a stop and stop location of the bus vehicle 100, reference numeral 402 denotes a current position of the bus vehicle 100, and reference numeral 501 denotes a surrounding vehicle 200 positioned behind the bus vehicle 100.

As described above, according to this embodiment, when the distance between the bus vehicle 100 and the surrounding vehicle 200 is within the distance range in which inter-vehicle communication is possible, the vehicle travels around the bus vehicle 100 and the bus vehicle 100. When inter-vehicle communication is started with the surrounding vehicle 200 and the surrounding vehicle 200 is running behind the bus vehicle 100, the bus vehicle 100 stops when the bus vehicle 100 stops at a stop or stop. In addition, the driver of the surrounding vehicle 200 is notified in advance of the stop at the stop location, and further, the bus vehicle 100 communicates between the vehicles for the situation where the user gets off from the bus vehicle 100 stopped at the stop or stop location. It is configured to notify the driver of the surrounding vehicle 200 with the contents corresponding to the getting-off pedestrian flag and the getting-off pedestrian attribute to call attention.
Therefore, it is possible to predict with high accuracy about a stop different from a temporary stop while traveling, a stop at the stop, and a user who gets off from the stopped bus vehicle 100, a situation in which the surrounding vehicle 200 stops, get off from the stopped bus vehicle 100 For example, an accurate notification can be given to the driver of the surrounding vehicle 200 traveling behind the bus vehicle 100 with respect to the user who performs the operation.

(Second Embodiment)
In the embodiment described above, from the bus vehicle to the surrounding vehicle, the bus vehicle identification data, the stop flag, the getting-off pedestrian flag, the current position information and the getting-off pedestrian attribute of the bus vehicle 100, and the bus vehicle identification data are used. In this configuration, the inter-vehicle information including the operation information of the bus vehicle 100 read from the operation information database 7 is transmitted. However, the SOS information when an emergency situation occurs in the bus vehicle, the driver of the bus vehicle is abnormal. Emergency information such as an abnormality of the driver when the problem occurs may be transmitted from the bus vehicle to the surrounding vehicle by inter-vehicle communication to notify the driver of the surrounding vehicle of the emergency situation.

(Third embodiment)
In the embodiment described above, when the surrounding vehicle 200 is traveling behind the bus vehicle 100, when the bus vehicle 100 stops at a stop or stop location, the bus vehicle 100 stops or stops at the stop location. For the situation where the user gets off from the bus vehicle 100 that has stopped at the stop or the stop location, the stop pedestrian flag communicated between the vehicles from the bus vehicle 100 is notified. The configuration is such that the driver of the surrounding vehicle 200 is notified by the contents corresponding to the getting-off pedestrian attribute to call attention, but further configured to perform vehicle control in cooperation with the lane change guidance and the automatic braking system. Also good.

(Fourth embodiment)
In the above-described embodiment, the case where the public vehicle is a bus vehicle has been described. However, the present invention can also be applied to a general taxi or a shared taxi.
That is, in the case of a taxi, an input means may be provided in which the driver manually inputs disembarkation pedestrian information (for example, user attributes such as being a child or an elderly person) regarding the disembarking pedestrian. Such input means may be provided in addition to, for example, a taxi meter or a receipt issuing machine installed in a taxi, and the disembarkation pedestrian information may be communicated to the driving support device therefrom.
In addition, when the public vehicle is a bus vehicle, using a reader / writer that reads information from an IC card (boarding card or electronic money), information on getting-off pedestrians about getting-off pedestrians (for example, user attributes such as age) ) May be obtained.

DESCRIPTION OF SYMBOLS 1 ... Vehicle behavior information detection part, 2 ... Get-off button operation detection part, 3 ... Stop determination part (stop determination means), 4 ... User attribute setting part, 5 ... Get-off pedestrian setting part (Get-off walk) Person setting means), 6 ... position information acquisition unit (public vehicle position information acquisition means), 7 ... operation information database (operation information storage means), 8 ... vehicle-to-vehicle information setting unit (vehicle-to-vehicle information setting means), 9: Inter-vehicle information transmission / reception unit (inter-vehicle transmission means), 11 ... Inter-vehicle information transmission / reception unit (inter-vehicle information communication means) 12 ... Own vehicle position information acquisition unit (neighboring vehicle position information acquisition means), 21 ... ... Vehicle-to-vehicle communication ECU (vehicle-to-vehicle transmission means), 13 ... Position relation determination section (position relation determination means), 15 ... Driver notification information setting section (support means), 31 ... Driving support ECU (support means), 100: Bus vehicle, 200: Surrounding vehicle.

Claims (5)

It is installed in public vehicles including buses and taxis, and vehicle-to-vehicle information is transmitted / received by vehicle-to-vehicle communication with a driving support device for peripheral vehicles located around the public vehicle, and between the public vehicle and the surrounding vehicle. A driving support device for a public vehicle that supports safe driving of a vehicle,
Based on either information of vehicle behavior information including any one of the turn signal of the public vehicle, the operation status of the hazard lamp, and the vehicle speed deceleration status, and the information of getting off indicating that there is a user getting off the vehicle. Stop determination means for determining stop for the user to get off, and outputting stop information indicating that the public vehicle stops for the user to get off;
Getting off pedestrian setting means for setting getting off pedestrian information related to getting off pedestrian getting off from the public vehicle based on the getting off information and user attributes set in advance according to the public vehicle,
Vehicle-to-vehicle information transmission means for transmitting the vehicle-to-vehicle information including the stop information and the getting-off pedestrian information to the driving support device for the surrounding vehicles;
A driving support apparatus comprising:   The driving support device according to claim 1, wherein the getting-off information is getting-off button operation information operated by a user who gets off the public vehicle. Public vehicle position information acquisition means for acquiring position information of the public vehicle;
Operation information storage means for storing operation information of the public vehicle;
Vehicle-to-vehicle information setting means for setting the vehicle-to-vehicle information including the position information of the public vehicle, the operation information, the stop information and the getting-off pedestrian information,
The driving support apparatus according to claim 1 or 2, wherein Provided in peripheral vehicles located around public vehicles including buses and taxis, send and receive vehicle-to-vehicle information by inter-vehicle communication with the driving support device of the public vehicles, and between the public vehicles and the surrounding vehicles A driving support device for surrounding vehicles that supports safe driving of the vehicle,
Vehicle-to-vehicle information communication means for performing vehicle-to-vehicle communication with the public vehicle driving support device;
A vehicle received from the public vehicle by the inter-vehicle information communication means, including stop information when the public vehicle stops for the user to get off, and getting-off pedestrian information regarding a pedestrian getting off from the public vehicle A support means for supporting driving of the surrounding vehicle with respect to the public vehicle based on the inter-vehicle information;
A driving support apparatus comprising: Peripheral vehicle position information acquisition means for acquiring position information of the peripheral vehicle;
Based on the position information and operation information of the public vehicle received from the public vehicle by the inter-vehicle information communication means and the position information of the surrounding vehicle acquired by the peripheral vehicle position information acquisition means, A positional relationship determination means for determining whether or not the vehicle is traveling behind a public vehicle,
The support means performs driving support for the surrounding vehicles that are determined to be traveling behind the public vehicle by the positional relationship determination means.
The driving support apparatus according to claim 4.

Images