WO2015151250A1

WO2015151250A1 - Collision prevention support device, collision prevention support system and collision prevention support method

Info

Publication number: WO2015151250A1
Application number: PCT/JP2014/059756
Authority: WO
Inventors: 季美果池上; 永菅原
Original assignee: 三菱電機株式会社
Priority date: 2014-04-02
Filing date: 2014-04-02
Publication date: 2015-10-08
Also published as: JPWO2015151250A1; JP6297138B2

Abstract

When a subject vehicle approaches an intersection, a transmission and reception determining unit (5) determines whether the intersection can be clearly seen from the subject vehicle, on the basis of vehicle peripheral information from a peripheral information acquiring unit (2) and map information from a map information acquiring unit (3). If the transmission and reception determining unit (5) determines that the intersection cannot be clearly seen, it causes the vehicle information of the subject vehicle to be transmitted from a transmission and reception processing unit (6) to a server (10), or causes the vehicle information of other vehicles to be received from the server (10) by the transmission and reception processing unit (6).

Description

Collision prevention support device, collision prevention support system, and collision prevention support method

The present invention relates to a collision prevention support apparatus, a collision prevention support system, and a collision prevention support method that perform support for preventing a collision accident at an intersection of a vehicle such as an automobile.

There is a safe driving support system (DSSS: Driving Safety Systems) as a system for preventing a traffic accident due to a driver's recognition and judgment delay or error. DSSS calls the driver to be aware of danger factors around the vehicle when necessary by road-to-vehicle communication between the roadside infrastructure (hereinafter referred to as infrastructure) and the vehicle. For example, the first vehicle has an unforeseen intersection. When turning right, the various sensors on the infrastructure side detect the second vehicle that goes straight from the front, and the information is provided to the first vehicle that makes a right turn to call attention.

However, in a system using an infrastructure such as DSSS, it is necessary to install an infrastructure device at each point where a safe driving support service is provided, which is expensive. There was a problem that it was not possible.

Therefore, as a safety support device that can solve the above-mentioned problem, for example, in Patent Document 1, a peripheral mobile terminal sends information on a position, a moving direction, and a speed to a server, and the server determines whether the information is to be monitored. A configuration for determining the possibility of a collision based on the position information of a vehicle and the position information of a mobile terminal to be monitored is disclosed.

JP 2010-55244 A

However, in the method of the above-mentioned Patent Document 1, when the number of mobile terminals increases, congestion may occur and it may become difficult to transmit and receive data. Since the driver of the vehicle can fully see the moving body equipped with the mobile terminal, it communicates even in a state where it is considered unnecessary to provide information on the possibility of collision to the driver. Even if it is done, it is a problem to communicate efficiently.

An object of the present invention is to perform efficient communication while avoiding unnecessary communication between a server and a collision prevention support apparatus.

A collision prevention support apparatus according to the present invention includes a transmission / reception processing unit that transmits / receives vehicle information to / from a server, a peripheral information acquisition unit that acquires vehicle peripheral information indicating the presence of an obstacle around the host vehicle, and map information The map information acquisition unit that acquires the vehicle information, and when the vehicle approaches the intersection, it is determined whether the vehicle can see the intersection based on the vehicle surrounding information and the map information. And a transmission / reception determination unit that transmits a message from the transmission / reception processing unit to the server.

A collision prevention support apparatus according to the present invention includes a transmission / reception processing unit that transmits / receives vehicle information to / from a server, a peripheral information acquisition unit that acquires vehicle peripheral information indicating the presence of an obstacle around the host vehicle, and map information A map information acquisition unit for acquiring the vehicle, and when the host vehicle approaches the intersection, it determines whether the host vehicle can see the intersection based on the vehicle periphery information and the map information, and when it determines that the vehicle cannot be viewed, the transmission / reception processing unit from the server And a transmission / reception determination unit for receiving vehicle information of other vehicles.

In the collision prevention support system according to the present invention, the collision prevention support device transmits and receives vehicle information to and from the server, and surrounding information for acquiring vehicle surrounding information indicating the presence of an obstacle around the host vehicle When the acquisition unit, the map information acquisition unit that acquires map information, and when the vehicle approaches the intersection, it is determined whether the vehicle can see the intersection based on the vehicle surrounding information and the map information, and it is determined that the vehicle cannot be seen And a transmission / reception determination unit that instructs the transmission / reception processing unit to transmit the vehicle information of the host vehicle to the server or receives the vehicle information of the other vehicle from the server.

The collision prevention support method according to the present invention includes a surrounding information acquisition step of acquiring vehicle surrounding information indicating the presence of an obstacle around the own vehicle, a map information acquiring step of acquiring map information, and the own vehicle approaches an intersection. A transmission / reception determination step for determining whether the own vehicle can see the intersection based on the vehicle periphery information and the map information, and the vehicle information of the own vehicle when the transmission / reception determination step determines that the intersection cannot be seen from the own vehicle. And a transmission / reception processing step of receiving vehicle information of other vehicles from the server.

According to this invention, when it is determined that the intersection cannot be seen from the own vehicle, the vehicle information of the own vehicle is transmitted to the server. Can be sent less frequently. Therefore, unnecessary communication between the server and the collision prevention support device can be avoided and efficient communication can be performed.

According to this invention, when it is determined that the intersection cannot be seen from the own vehicle, the vehicle information of the other vehicle is received from the server. Therefore, the information from the server is compared with the case where the conventional DSSS always communicates. The frequency of receiving can be reduced. Therefore, unnecessary communication between the server and the collision prevention support device can be avoided and efficient communication can be performed.

It is a block diagram which shows the structure of the collision prevention assistance system which concerns on Embodiment 1 of this invention. 4 is a flowchart showing a processing operation for determining whether or not a collision prevention support apparatus according to Embodiment 1 transmits to a server. 6 is a diagram illustrating an example of a situation of collision prevention support during a right turn according to Embodiment 1. FIG. 6 is a diagram illustrating an example of a situation of collision prevention support at an encounter in Embodiment 1. FIG. It is a flowchart which shows the processing operation which judges the reception presence or absence from the server of the collision prevention assistance apparatus which concerns on Embodiment 2 of this invention. 10 is a diagram illustrating an example of a situation of collision prevention support at the time of a right turn in Embodiment 2. FIG. 10 is a diagram illustrating an example of a situation of collision prevention support at an encounter in Embodiment 2. FIG. It is a flowchart which shows the processing operation of the collision prevention assistance system which concerns on Embodiment 3 of this invention. 10 is a diagram illustrating an example of a situation of collision prevention support at the time of a right turn in Embodiment 3. FIG.

Hereinafter, in order to explain the present invention in more detail, modes for carrying out the present invention will be described with reference to the accompanying drawings.
Embodiment 1.
FIG. 1 is a block diagram showing a configuration of a collision prevention support system according to Embodiment 1 of the present invention. The collision prevention support apparatus 1 is mounted on a vehicle and supports collision prevention with other vehicles at an intersection. The collision prevention support device 1 includes a surrounding information acquisition unit 2 that acquires information around the host vehicle, a map information acquisition unit 3 that acquires map information, and a sensor information acquisition unit 4 that acquires information on the current position of the host vehicle. A transmission / reception determination unit 5 that determines whether transmission / reception to / from the server 10 is performed, a transmission / reception processing unit 6 that performs transmission / reception to / from the server 10, and a collision determination to determine the possibility of collision between the host vehicle and another vehicle. A unit 7 and an HMI (Human Machine Interface) unit 8 for notifying the driver of the possibility of collision are provided. Further, the collision prevention support apparatus 1 has an ID (unique information) unique to the apparatus. The server 10 exists on the network, stores information transmitted from the collision prevention support apparatus 1, and transmits the stored information to another collision prevention support apparatus 1.

The peripheral information acquisition unit 2 acquires vehicle peripheral information from a captured image in front of the host vehicle captured by a camera mounted on the vehicle, and outputs the vehicle peripheral information to the transmission / reception determination unit 5. The vehicle periphery information is, for example, information on obstacles such as other vehicles traveling in front of the host vehicle, information on the light color of the traffic light, and the like. Note that the peripheral information acquisition unit 2 may have a dedicated camera, or may acquire a captured image from the in-vehicle camera through an in-vehicle network.

The map information acquisition unit 3 acquires map information including road information and outputs it to the transmission / reception determination unit 5. The road information includes information for obtaining the distance from the vehicle to the intersection (for example, latitude and longitude at the center of the intersection), information indicating the shape of the road (for example, information on the connection angle between the road and the road, and the curvature radius of the curve). Value) and information on the presence or absence of signals at each intersection. For example, the map information may be stored in a memory such as an HDD (Hard Disk Drive) or an SD card using a semiconductor element, or may be stored in a storage device on a network and acquired via a communication network. There may be.

The sensor information acquisition unit 4 receives a radio wave from a GPS (Global Positioning System) satellite and measures the current position of the host vehicle detected by a GPS receiver or a direction sensor that measures the current position of the host vehicle. Obtain and output to the transmission / reception determination unit 5. Moreover, the sensor information acquisition part 4 may determine the advancing direction of the own vehicle by acquiring information, such as ON / OFF of a blinker.

The transmission / reception determination unit 5 acquires vehicle peripheral information from the peripheral information acquisition unit 2, acquires map information from the map information acquisition unit 3, and acquires the current position of the host vehicle from the sensor information acquisition unit 4. The transmission / reception determination unit 5 determines whether to transmit the vehicle information of the host vehicle to the server 10 and whether to receive the vehicle information of the other vehicle from the server 10 based on the vehicle periphery information, the map information, and the current position. In the case of transmission or reception, a transmission request or reception request is sent to the transmission / reception processing unit 6. Further, the transmission / reception determination unit 5 may have a function of acquiring map information from the map information acquisition unit 3 and selecting a planned travel route to the destination.

The transmission / reception processing unit 6 performs wireless communication with the server 10 based on the transmission request or the reception request from the transmission / reception determination unit 5. The vehicle information of the own vehicle transmitted to the server 10 includes information on the ID of the collision prevention support apparatus 1, the latitude and longitude of the intersection to which the own vehicle is headed, the distance to the intersection, and the traveling direction. The vehicle information may include the traveling speed of the host vehicle or the estimated arrival time to the intersection. The vehicle information of the host vehicle is generated by the transmission / reception determination unit 5 or the transmission / reception processing unit 6.
When receiving the vehicle information of the other vehicle from the server 10, the transmission request is transmitted from the transmission / reception processing unit 6 to the server 10 including the latitude / longitude information of the intersection where the host vehicle will reach next, and the other vehicle existing near the intersection is transmitted. Receive vehicle information. The vehicle information of the other vehicle includes the same type of information as the vehicle information transmitted by the host vehicle, and information on the time when the vehicle information is stored in the server 10.

The collision determination unit 7 acquires vehicle information such as the current position and traveling direction of the host vehicle from the transmission / reception determination unit 5, and acquires vehicle information of other vehicles from the transmission / reception processing unit 6. The collision determination unit 7 determines the possibility of collision based on the vehicle information of the host vehicle and the other vehicle, and sends a notification request to the HMI unit 8 when there is a possibility of collision.

The HMI unit 8 includes both or both of a display and a speaker. Based on a notification request from the collision determination unit 7, the HMI unit 8 outputs a display for notifying the possibility of a collision to the display or emits a sound from the speaker. Or output.

The server 10 performs wireless communication in response to a transmission request from the collision prevention support apparatus 1, receives vehicle information from the collision prevention support apparatus 1, and stores it together with reception time information. The server 10 deletes the vehicle information of the vehicle M when a predetermined time has elapsed from the reception time. The predetermined time is a sufficient time until the vehicle that has transmitted the vehicle information finishes passing the intersection (a time longer than the time required for one cycle of the light color change of the traffic light), or the vehicle transmitted from the collision prevention support device 1 It is the expected arrival time at the intersection included in the information. When the estimated arrival time at the intersection is not included in the vehicle information and the distance to the intersection and the traveling speed of the vehicle are included, the server 10 may calculate the estimated arrival time at the intersection from the distance and the traveling speed.

In addition, the server 10 performs wireless communication in response to a reception request from the collision prevention support apparatus 1, and among the information stored in the server 10, the latitude for the same intersection as the intersection indicated by the latitude / longitude information included in the reception request Send vehicle information with longitude information. When the server 10 determines the coincidence of the latitude and longitude information, the difference about the size of the intersection is regarded as an error, and is regarded as the same intersection.

In the first embodiment, the operation for transmitting vehicle information of the host vehicle from the collision prevention support apparatus 1 to the server 10 will be mainly described. The operation in which the collision prevention support apparatus 1 receives the vehicle information of the other vehicle from the server 10 will be described in the second embodiment. In addition, the operation for assisting the driver of the own vehicle using the vehicle information of the other vehicle received from the server 10 by the collision prevention assistance device 1 will be described in a third embodiment.

FIG. 2 is a flowchart showing a processing flow when the transmission / reception determination unit 5 determines whether to transmit vehicle information of the host vehicle to the server 10. In the following, the flowchart of FIG. 2 will be described using an example of performing collision prevention support when turning right at an intersection and when performing collision prevention support at an encounter.

FIG. 3 is an explanatory diagram showing an example of the situation of collision prevention support when turning right at the intersection. Here, it is assumed that the vehicle travels on the left side of the road. The vehicle A equipped with the collision prevention assisting device 1 is going to travel toward the intersection 20 where the traffic lights 21 to 24 are installed and go straight through the intersection 20 as it is. In front of the vehicle A, there is a vehicle B waiting to turn right at the intersection 20. Moreover, the detection area 25 of the camera which the surrounding information acquisition part 2 of the collision prevention assistance apparatus 1 has is shown as a continuous line.

A process in which the transmission / reception determination unit 5 of the collision prevention support apparatus 1 mounted on the vehicle A determines whether or not the vehicle information needs to be transmitted to the server 10 in the situation shown in FIG.
First, the transmission / reception determination unit 5 acquires the map information of the intersection 20 from the map information acquisition unit 3, and determines whether a traffic light is installed at the intersection 20 (step ST1).

When the traffic lights 21 to 24 are installed at the intersection 20 (step ST1 “YES”), the transmission / reception determination unit 5 determines whether all the following three conditions are satisfied (steps ST2 to ST4).
Condition 1: The traffic light 21 at the intersection 20 is a travel permission color. Condition 2: The host vehicle A is scheduled to go straight through the intersection 20. Condition 3: A vehicle B waiting for a right turn is detected in front of the host vehicle A.

In order to determine the condition 1 (step ST2), the transmission / reception determination unit 5 determines whether the light color of the traffic light 21 is a predetermined travel permission color based on the vehicle peripheral information acquired from the peripheral information acquisition unit 2. Here, the predetermined travel permission color refers to a color that allows the own vehicle A to enter the intersection 20, such as a blue light and a blue arrow light. Yellow lights are included in the permitted colors.

When the light color of the traffic light 21 is a predetermined travel permission color (step ST2 “YES”), the own vehicle A will enter the intersection 20 without stopping, so turn right across the own lane from the oncoming lane. There is a possibility of collision with another vehicle C coming. Therefore, when the condition l is satisfied, the transmission / reception determination unit 5 determines that transmission of vehicle information to the server 10 is necessary, and proceeds to determination of the next condition 2 (step ST3).
On the other hand, when the light color of the traffic light 21 is not a predetermined travel permission color (step ST2 “NO”), the host vehicle A stops before the intersection 20, and therefore the possibility of collision with another vehicle C is low. . Therefore, when the condition 1 is not satisfied, the transmission / reception determination unit 5 determines that transmission of the vehicle information to the server 10 is not necessary, and proceeds to step ST10.

In order to determine the condition 2 (step ST3), the transmission / reception determination unit 5 selects a planned travel route to the destination using the map information acquired from the map information acquisition unit 3, and the own vehicle A goes straight through the intersection 20. To determine whether to pass. Alternatively, when the transmission / reception determination unit 5 determines that the right turn signal and the left turn signal of the vehicle A are not turned on based on the turn signal information acquired from the sensor information acquisition unit 4, Determines that the vehicle is going straight through the intersection 20.

When the host vehicle A goes straight through the intersection 20 (step ST3 “YES”), there is a possibility of colliding with another vehicle C that makes a right turn from the oncoming lane across the lane. Therefore, when the condition 2 is satisfied, the transmission / reception determination unit 5 determines that it is necessary to transmit the vehicle information to the server 10, and proceeds to the determination of the next condition 3 (step ST4).
On the other hand, when the own vehicle A does not go straight at the intersection 20 but makes a right turn or a left turn (step ST3 “NO”), the possibility of collision with another vehicle C is low. Therefore, when the condition 2 is not satisfied, the transmission / reception determination unit 5 determines that transmission of the vehicle information to the server 10 is not necessary, and proceeds to step ST10.

In order to determine the condition 3 (step ST4), the transmission / reception determination unit 5 detects the other vehicle B waiting for a right turn ahead of the host vehicle A based on the vehicle periphery information acquired from the periphery information acquisition unit 2 to decide.

When the other vehicle B waiting for a right turn is detected in front of the own vehicle A (step ST4 “YES”), the other vehicle B becomes an obstacle, and the driver of the other vehicle C on the opposite lane visually checks the own vehicle A. It may not be possible. Therefore, when the condition 3 is satisfied, the transmission / reception determination unit 5 determines that transmission of vehicle information to the server 10 is necessary, and proceeds to the next step ST5.
On the other hand, when the other vehicle B waiting for a right turn is not detected in front of the own vehicle A (step ST4 “NO”), it can be expected that the driver of the other vehicle C in the opposite lane can see the own vehicle A. .
Therefore, when the condition 3 is not satisfied, the transmission / reception determination unit 5 determines that transmission of vehicle information to the server 10 is not necessary, and proceeds to step ST10.

When all of the conditions 1 to 3 are satisfied (step ST4 “YES”), the transmission / reception determination unit 5 calculates the host vehicle A calculated from the map information of the map information acquisition unit 3 and the current position information of the sensor information acquisition unit 4. Based on the distance from the vehicle to the intersection 20 and the traveling speed of the host vehicle A, the estimated arrival time required for the host vehicle A to reach the intersection 20 is calculated. The transmission / reception determination unit 5 determines whether the expected arrival time at the intersection 20 is shorter than a predetermined time (for example, 10 seconds) (step ST5).

When the expected arrival time at the intersection 20 is shorter than the predetermined time (step ST5 “YES”), the transmission / reception determination unit 5 prevents a collision with another vehicle C that makes a right turn from the oncoming lane across the own lane. In order to do this, a transmission request and vehicle information are output to the transmission / reception processing unit 6. The transmission / reception processing unit 6 transmits a transmission request and vehicle information to the server 10 (step ST6). In the situation of FIG. 3, it is determined that transmission is necessary.
On the other hand, when the estimated arrival time to the intersection 20 is a predetermined time or more (step ST5 “NO”), it is determined that the situation around the intersection 20 changes while the host vehicle A reaches the intersection 20, It is determined that transmission of vehicle information to the server 10 is not necessary. If the transmission / reception determination unit 5 determines that the transmission of the vehicle information to the server 10 is not necessary, the transmission / reception determination unit 5 does not issue a transmission request to the transmission / reception processing unit 6 (step ST10).

FIG. 3 shows an area 26 that the vehicle A can reach in a predetermined time by a one-dot chain line. When the host vehicle A approaches the intersection 20, the vehicle information is transmitted to the server 10 if the host vehicle A is in this area 26, and is not transmitted if the host vehicle A is outside this area 26.

In FIG. 3, left-hand traffic is taken as an example, and thus a vehicle waiting for a right turn in the oncoming lane is detected under condition 3 (step ST4).

A case where no traffic signal is installed at the intersection (step ST1 “NO”) will be described below with reference to FIG.
FIG. 4 is an explanatory diagram illustrating an example of the situation of collision prevention support at an encounter. As in FIG. 3, left-hand traffic is assumed. The vehicle D equipped with the collision prevention support device 1 is going to travel toward the intersection 30 where no traffic light is installed, and go straight through the intersection 30 as it is. The road 31 on which the vehicle D travels intersects another road 32 at the intersection 30, and the other vehicle E travels toward the intersection 30 on the other road 32.

A process in which the transmission / reception determination unit 5 of the collision prevention support apparatus 1 mounted on the vehicle D determines whether or not the vehicle information needs to be transmitted to the server 10 in the situation as illustrated in FIG. 4 will be described.
First, the transmission / reception determination unit 5 determines whether a traffic light is installed at the intersection 30 based on the map information acquired from the map information acquisition unit 3 (step ST1). Since there is a possibility of a collision at an intersection 30 where no traffic signal is installed as shown in FIG. 4, it is desirable to send vehicle information of the host vehicle to the server 10 to notify the other vehicle of the presence of the host vehicle. Here, when no traffic signal is installed at the intersection (step ST1 “NO”), it is determined whether one of the following three conditions is satisfied, and transmission necessity is determined (steps ST7 to ST9).
Condition 4: The own vehicle D is traveling on a non-priority road Condition 5: The intersection 30 can be seen from the own vehicle D Condition 6: The presence or absence of a vehicle on another road 32 can be confirmed from the own vehicle D

In order to determine the condition 4 (step ST7), the transmission / reception determination unit 5 determines the road lane number or road type included in the map information acquired from the map information acquisition unit 3 as the road 31 on which the vehicle D is traveling. By comparing this road 31 with another road 32 that intersects at the intersection 30, it is determined whether the road 31 on which the vehicle D is traveling is a non-priority road. If the map information does not include information on the number of road lanes or road type, the transmission / reception determination unit 5 determines the number of lanes on the road 31 on which the host vehicle D travels based on the vehicle peripheral information of the peripheral information acquisition unit 2. May be determined as a priority road in the case of a road with two or more lanes, and a non-priority road in the case of a one-lane road. Alternatively, if the map information includes road width information, it may be determined whether the road is a non-priority road by comparing the road width. Alternatively, when a temporary stop sign is detected based on the vehicle surrounding information of the surrounding information acquisition unit 2, it may be determined that the own lane is a non-priority road.

When the road 31 on which the host vehicle D travels is a non-priority road compared to another road 32 that intersects at the intersection 30 (step ST7 “YES”), after the host vehicle D temporarily stops before the intersection 30 Rather than notifying the other vehicle E of the existence of the own vehicle D, it is necessary for the own vehicle D to check whether or not the other vehicle E is traveling. Therefore, when the condition 4 is satisfied, the transmission / reception determination unit 5 determines that transmission of vehicle information to the server 10 is not necessary, and proceeds to step ST10.
On the other hand, when the road 31 on which the own vehicle D travels is a priority road compared to the other road 32 intersecting at the intersection 30 (step ST7 “NO”), the other vehicle E traveling on the non-priority road 32 will It is desirable to notify the presence of the vehicle D to prompt a pause and to avoid encounter collision. Therefore, when the condition 4 is satisfied, the transmission / reception determination unit 5 determines that the transmission of the vehicle information to the server 10 is necessary, and proceeds to the determination of the next condition 5 (step ST8).

In order to determine the condition 5 (step ST8), the transmission / reception determination unit 5 determines whether the center of the intersection 30 can be detected in front of the host vehicle D based on the vehicle periphery information acquired from the periphery information acquisition unit 2. . When the center part of the intersection 30 can be detected, it is considered that the driver of the host vehicle D can see the intersection 30.

When the intersection 30 can be seen from the own vehicle D (step ST8 “YES”), the driver of the own vehicle D enters the intersection 30 from another road 32 in the same manner as the other vehicle E entering the intersection 30 can be seen. Therefore, it can be predicted that the driver of the other vehicle E can easily see the own vehicle D. Therefore, when the condition 5 is satisfied, the transmission / reception determination unit 5 determines that the transmission of the vehicle information to the server 10 is not necessary, and proceeds to the determination of the next condition 6 (step ST9).
On the other hand, when the intersection 30 cannot be seen from the own vehicle D (step ST8 “NO”), it is difficult for the driver of the other vehicle E entering the intersection 30 from another road 32 to see the own vehicle D. There is a possibility of a clash at the meeting. Therefore, the transmission / reception determination unit 5 determines that the vehicle information needs to be transmitted to the server 10 when the condition 5 is not satisfied in order to prevent a collision with the other vehicle E, and proceeds to step ST5.

In order to determine the condition 6 (step ST9), the transmission / reception determination unit 5 detects an obstacle such as a building or a roadside tree at the corner of the intersection 30 based on the vehicle surrounding information acquired from the surrounding information acquiring unit 2 It is determined that the presence or absence of another vehicle E on the other road 32 cannot be confirmed. Alternatively, the road 32 connected to the road 31 when the same direction as the road 31 on which the host vehicle D travels is set to 0 degrees using the information on the road connection angle included in the map information of the map information acquisition unit 3. You may determine how many directions you want. When the connection angle between the road 31 and the road 32 is larger than a threshold value (for example, 90 degrees), the transmission / reception determination unit 5 is in a situation where it is difficult for the driver of the host vehicle D to see the other road 32. It is determined that the presence or absence of the vehicle cannot be confirmed. If the connection angle between the road 31 and the road 32 is equal to or smaller than the threshold value, it is determined that the presence or absence of a vehicle on another road 32 can be confirmed.

When the vehicle presence / absence of the other road 32 can be confirmed from the own vehicle D (step ST9 “YES”), the driver of the other vehicle E entering the intersection 30 from the other road 32 can easily notice the own vehicle D. The situation can be expected. Therefore, when the condition 6 is satisfied, the transmission / reception determination unit 5 determines that transmission of the vehicle information to the server 10 is not necessary, and proceeds to step ST10.
On the other hand, when the presence or absence of the vehicle on the other road 32 cannot be confirmed from the own vehicle D (step ST9 “NO”), the driver of the other vehicle E entering the intersection 30 from the other road 32 may visually observe the own vehicle D. Because it is difficult, there is a possibility of a collision at the beginning of the meeting. Therefore, when the condition 6 is not satisfied, the transmission / reception determination unit 5 determines that the vehicle information needs to be transmitted to the server 10, and proceeds to step ST5.

When conditions 4 and 5 are not satisfied (step ST8 “NO”), or when all of the conditions 4 to 6 are not satisfied (step ST9 “NO”), the transmission / reception determining unit 5 performs the processes of steps ST5 and ST6. The vehicle information of the host vehicle D is transmitted to the server 10. Since the processing after step ST5 has already been described, a description thereof will be omitted.
On the other hand, when the conditions 4 to 6 are satisfied (step ST7 “YES” or step ST9 “YES”), the transmission / reception determination unit 5 proceeds to step ST10 and does not transmit the vehicle information of the host vehicle D to the server 10.

As described above, according to the first embodiment, the collision prevention support device 1 includes the transmission / reception processing unit 6 that transmits and receives vehicle information to and from the server 10 and the vehicle periphery that indicates the presence of obstacles around the host vehicle. A peripheral information acquisition unit 2 that acquires information, a map information acquisition unit 3 that acquires map information, and whether the host vehicle can see the intersection based on the vehicle peripheral information and the map information when the host vehicle approaches the intersection (Condition 5 or Condition 6 described above), and a transmission / reception determination unit 5 that transmits vehicle information of the host vehicle from the transmission / reception processing unit 6 to the server 10 when it is determined that the vehicle cannot be seen.
When an obstacle exists between the own vehicle and the other vehicle from the camera image of the surrounding information acquisition unit 2 in order to avoid contact with another vehicle entering the intersection when the own vehicle reaches the vicinity of the intersection, or When the road is curved from the map information of the map information acquisition unit 3 and the prospect is poor, the vehicle information of the host vehicle is transmitted to the server 10. On the other hand, communication with the server 10 is not performed when there is no possibility of a collision with the other vehicle due to an environment in which the host vehicle can be surely seen from the other vehicle or an instruction from the traffic light. As a result, the frequency of transmitting vehicle information to the server 10 can be reduced compared with the case where communication is always performed using the conventional DSSS, and unnecessary communication between the server 10 and the collision prevention support device 1 can be avoided. Efficient communication can be performed.

Further, according to the first embodiment, the transmission / reception determination unit 5 prohibits transmission of the vehicle information of the own vehicle when the preset transmission prohibition condition is satisfied, and automatically transmits the vehicle information when the preset transmission permission condition is satisfied. The transmission of the vehicle information of the vehicle was permitted. For this reason, the frequency which transmits vehicle information to the server 10 can further be reduced.

Further, according to the first embodiment, the transmission prohibition condition is set such that the traffic signal installed at the intersection is a display prohibiting the vehicle from going straight ahead. This transmission prohibition condition corresponds to the case where the above-described condition 1 “the traffic light 21 at the intersection 20 has a travel permission color” is not satisfied (step ST2 “NO”). For example, when the traffic light is a red light and prohibits straight traveling, the host vehicle cannot enter the intersection and the possibility of a collision with another vehicle is low, so unnecessary transmission is not performed. In addition, if the traffic light is a red light and a blue arrow light and straight travel is prohibited, but it is possible to turn right, when the vehicle turns right at the intersection, the other vehicle may not be able to go straight to the intersection and may collide. Because it is low, do not useless transmission. Therefore, the frequency of transmitting vehicle information to the server 10 can be further reduced.
The left-hand traffic is targeted for driving assistance when the vehicle turns right at the intersection, but the right-hand traffic is targeted for left-turn traffic.

Moreover, according to Embodiment 1, as the transmission prohibition condition, a case where a traffic signal is installed at an intersection and a case where the host vehicle turns right at the intersection is set. This transmission prohibition condition corresponds to the case where the above-described step ST2 “YES” and the condition 2 “2 The vehicle A is going to go straight through the intersection 20” are not satisfied (step ST3 “NO”). For example, when the host vehicle makes a right turn at an intersection with a traffic light, the possibility of a collision with another vehicle is low, so unnecessary transmission is not performed. Therefore, the frequency of transmitting vehicle information to the server 10 can be further reduced. The left-hand traffic is targeted for driving assistance when the vehicle turns right at the intersection, but the right-hand traffic is targeted for left-turn traffic.

Moreover, according to Embodiment 1, the case where a signal is not installed at the intersection is set as the transmission permission condition. This transmission permission condition corresponds to the case of step ST1 “NO”.
By setting this condition, it is possible to notify other vehicles of the presence of the host vehicle, and to prevent a collision at the intersection where there is no traffic light.

Further, according to the first embodiment, the transmission permission condition is set such that the host vehicle is traveling on a priority road having a relatively high traveling priority among roads intersecting at an intersection. This transmission permission condition corresponds to the case where the above-described condition 4 “the host vehicle D is traveling on a non-priority road” is not satisfied (step ST7 “NO”). For example, if your vehicle is traveling on a priority road and another vehicle is traveling on a non-priority road, the other vehicle should pause or slow down before the intersection, but you will not notice the presence of your vehicle and Since there is a possibility of entering, it is possible to prevent a collision by notifying other vehicles of the existence of the host vehicle.

Further, according to the first embodiment, the vehicle information of the host vehicle includes unique information (such as ID) that identifies the host vehicle and an expected arrival time required for the host vehicle to reach the intersection. Thereby, the server 10 can delete the vehicle information that has passed the estimated arrival time, and can reduce the burden.

Embodiment 2.
The collision prevention support apparatus 1 and the server 10 according to the second embodiment have the same configuration as the collision prevention support apparatus 1 and the server 10 illustrated in FIG. 1 and are described below with reference to FIG. .

FIG. 5 is a flowchart showing the flow of processing when the transmission / reception determination unit 5 determines whether to receive vehicle information of another vehicle from the server 10. Hereinafter, the flowchart of FIG. 5 will be described using an example of performing collision prevention support at the time of turning right at an intersection and an example of performing collision prevention support at an encounter.

FIG. 6 is an explanatory diagram showing an example of the situation of collision prevention support when turning right at the intersection. Here, it is assumed that the vehicle travels on the left side of the road. A vehicle F equipped with the collision prevention support apparatus 1 will travel toward the intersection 40 where the traffic lights 41 to 44 are installed, and will make a right turn at the intersection 40 across the road. In the opposite lane in front of the vehicle F, there is a vehicle G waiting for a right turn to turn right at the intersection 40. Moreover, the detection area 45 of the camera which the surrounding information acquisition part 2 of the collision prevention assistance apparatus 1 has is shown as a continuous line.

A process in which the transmission / reception determination unit 5 of the collision prevention support apparatus 1 mounted on the vehicle F determines whether or not it is necessary to receive vehicle information from the server 10 in the situation shown in FIG.
First, the transmission / reception determination unit 5 acquires map information from the map information acquisition unit 3 in the same manner as in step ST1 of FIG. 2, and determines whether a traffic light is installed at the intersection 40 (step ST21).

When traffic lights 41 to 44 are installed at the intersection 40 (step ST21 “YES”), the transmission / reception determination unit 5 determines whether all of the following three conditions are satisfied (steps ST22 to ST24).
Condition 1: The traffic light 42 at the intersection 40 is the color permitted to run. Condition 2: The host vehicle F is scheduled to turn right at the intersection 40 across the opposite lane. Condition 3: The intersection 40 across the own lane to the opposite lane. The other vehicle G that turns right is detected

The determination method for condition 1 (step ST22) is the same as step ST2 in FIG.
When the light color of the traffic light 42 is a predetermined travel permission color ("YES" in step ST22), the host vehicle F will enter the intersection 40 without stopping, so turn right across the lane from the oncoming lane. There is a possibility of colliding with another vehicle G that comes or a subsequent vehicle H that is hidden behind this other vehicle G and is difficult to notice. Therefore, when the condition 1 is satisfied, the transmission / reception determination unit 5 determines that it is necessary to receive the vehicle information of the other vehicle from the server 10, and proceeds to the determination of the next condition 2 (step ST23).
When the light color of the traffic light 42 is not a predetermined travel permission color (“NO” in step ST22), the own vehicle F stops before the intersection 40, so the possibility of collision with another vehicle G is low. Therefore, when the condition 1 is not satisfied, the transmission / reception determination unit 5 determines that it is not necessary to receive the vehicle information of the other vehicle from the server 10, and proceeds to step ST30.

The determination method for condition 2 (step ST23) is the same as step ST3 in FIG.
When the host vehicle F turns right at the intersection 40 (step ST23 “YES”), the host vehicle F may collide with other vehicles G and H. Therefore, when the condition 2 is satisfied, the transmission / reception determination unit 5 determines that it is necessary to receive the vehicle information of the other vehicle from the server 10, and proceeds to the next condition 3 (step ST24).
On the other hand, if the host vehicle F does not turn right at the intersection 40, that is, if it travels straight (step ST23 "NO"), the possibility of collision with other vehicles G and H traveling in the oncoming lane is low. Therefore, when the condition 2 is not satisfied, the transmission / reception determination unit 5 determines that it is not necessary to receive the vehicle information of the other vehicle from the server 10, and proceeds to step ST30.

The determination method for condition 3 (step ST24) is the same as step ST4 in FIG.
When another vehicle G that crosses the lane and waits for a right turn at the intersection 40 is detected in the front oncoming lane of the own vehicle F (step ST24 “YES”), the following vehicle H traveling straight on the oncoming lane is The driver of the vehicle F may not be visible. Therefore, when the condition 3 is satisfied, the transmission / reception determination unit 5 determines that it is necessary to receive the vehicle information of the other vehicle from the server 10, and proceeds to step ST25.
On the other hand, when the other vehicle G that crosses the lane and waits for the right turn at the intersection 40 is not detected in the forward oncoming lane of the own vehicle F (step ST24 “NO”), the following vehicle H that travels to go straight on the oncoming lane Is expected to be visible to the driver of the vehicle F. Therefore, when the condition 3 is not satisfied, the transmission / reception determination unit 5 determines that it is not necessary to receive the vehicle information of the other vehicle from the server 10, and proceeds to step ST30.

When all of the conditions 1 to 3 are satisfied (step ST24 “YES”), the transmission / reception determination unit 5 calculates the host vehicle F calculated from the map information of the map information acquisition unit 3 and the current position information of the sensor information acquisition unit 4. Based on the distance from the vehicle to the intersection 40 and the traveling speed of the host vehicle F, the estimated arrival time required for the host vehicle F to reach the intersection 40 is calculated. Similar to the first embodiment, the transmission / reception determination unit 5 determines whether the estimated arrival time at the intersection 40 is shorter than a predetermined time (step ST25).

When the estimated arrival time at the intersection 40 is shorter than the predetermined time (step ST25 “YES”), the transmission / reception determination unit 5 prevents a collision with another vehicle G that makes a right turn from the oncoming lane across the own lane. Therefore, a reception request is output to the transmission / reception processing unit 6. The transmission / reception processing unit 6 transmits the reception request and the moving longitude information of the intersection 40 to the server 10 and receives the vehicle information of the other vehicles G and H near the intersection 40 (step ST26).

On the other hand, when the estimated arrival time to the intersection 40 is a predetermined time or more (step ST25 “NO”), it is determined that the situation around the intersection 40 changes before the host vehicle F reaches the intersection 40, It is determined that it is not necessary to receive vehicle information from the server 10.
The transmission / reception determination unit 5 does not issue a reception request to the transmission / reception processing unit 6 when determining that it is not necessary to receive the vehicle information from the server 10 (step ST30).

In FIG. 6, left-hand traffic is taken as an example, so it is determined whether or not the vehicle turns right under Condition 2 and a vehicle waiting for a right turn on the opposite lane is detected under Condition 3. And the vehicle waiting for a left turn in the oncoming lane is detected under condition 3.

A case where no traffic signal is installed at the intersection (step ST21 “NO”) will be described below with reference to FIG.
FIG. 7 is an explanatory diagram illustrating an example of the situation of collision prevention support at an encounter. As in FIG. 6, left-hand traffic is assumed. The vehicle J equipped with the collision prevention assisting device 1 is going to travel toward the intersection 50 where no traffic lights are installed, and turn right or left at the intersection 50. The road 51 on which the vehicle J travels intersects another road 52 at the intersection 50, and the other vehicle K travels on the other road 52 toward the intersection 50. Moreover, the detection area 53 of the camera which the surrounding information acquisition part 2 of the collision prevention assistance apparatus 1 has is shown as a continuous line.

A process in which the transmission / reception determination unit 5 of the collision prevention support apparatus 1 mounted on the vehicle J determines whether or not to receive vehicle information from the server 10 in the situation as shown in FIG.
First, the transmission / reception determination unit 5 determines whether an intersection is installed at the intersection 50 based on the map information acquired from the map information acquisition unit 3 (step ST21). Since no traffic signal is installed at the intersection 50 in FIG. 7 (step ST21 “NO”), the transmission / reception determination unit 5 determines whether any of the following three conditions is satisfied (steps ST27 to ST29).
Condition 4: The own vehicle J is traveling on a priority road Condition 5: The intersection 50 can be seen from the own vehicle J Condition 6: The presence or absence of a vehicle on another road 52 can be confirmed from the own vehicle J

The determination method for condition 4 (step ST27) is the same as step ST7 in FIG.
When the road 51 on which the host vehicle J is traveling is a priority road compared to the other road 52 intersecting at the intersection 50 (step ST27 “YES”), the driving of the other vehicle K traveling on the other non-priority road 52 The person confirms whether or not the host vehicle J is traveling. Therefore, when the condition 4 is satisfied, the transmission / reception determination unit 5 determines that it is not necessary to receive the vehicle information of the other vehicle from the server 10, and proceeds to step ST30. When the own vehicle J travels on the priority road, the vehicle information is transmitted from the own vehicle J to the server 10 as described in the first embodiment.
On the other hand, when the road 51 on which the host vehicle J is traveling is a non-priority road compared to the other road 52 that intersects at the intersection 50 (step ST27 “NO”), the host vehicle J determines whether the other vehicle K is traveling. I am in a position to confirm. Therefore, when the condition 4 is not satisfied, the transmission / reception determination unit 5 determines that it is necessary to receive the vehicle information of the other vehicle from the server 10, and proceeds to the determination of the next condition 5 (step ST28).

The determination method for condition 5 (step ST28) is the same as step ST8 in FIG.
When the intersection 50 can be seen from the own vehicle J (step ST28 “YES”), the driver of the own vehicle J can see the other vehicle K entering the intersection 50. Therefore, when the condition 5 is satisfied, the transmission / reception determination unit 5 determines that it is not necessary to receive the vehicle information of the other vehicle from the server 10, and proceeds to the determination of the next condition 6 (step ST9).
On the other hand, if the intersection 50 cannot be seen from the own vehicle J (step ST28 “NO”), the driver of the own vehicle J is in a state where the other vehicle K entering the intersection 50 cannot be seen, and therefore a collision at the encounter is possible. There is sex. Therefore, in order to prevent the collision with the other vehicle K, the transmission / reception determination unit 5 determines that it is necessary to receive the vehicle information of the other vehicle from the server 10 when the condition 5 is not satisfied, and proceeds to step ST25.

The determination method for condition 6 (step ST29) is the same as step ST9 in FIG.
When the vehicle presence / absence of the other road 52 can be confirmed from the own vehicle J (step ST29 “YES”), the driver of the own vehicle J may easily notice the other vehicle K entering the intersection 50 from the other road 52. I can expect the situation. Therefore, when the condition 6 is satisfied, the transmission / reception determination unit 5 determines that it is not necessary to receive the vehicle information of the other vehicle from the server 10, and proceeds to step ST30.
On the other hand, when the own vehicle J cannot confirm the presence or absence of the vehicle on the other road 52 (step ST29 “NO”), the driver of the own vehicle J visually observes the other vehicle K entering the intersection 50 from the other road 52. However, there is a possibility of a collision at the beginning of the meeting. Therefore, when the condition 6 is not satisfied, the transmission / reception determination unit 5 determines that it is necessary to receive the vehicle information of the other vehicle from the server 10, and proceeds to step ST5.

When the conditions 4 and 5 are not satisfied (step ST28 “NO”), or when all of the conditions 4 to 6 are not satisfied (step ST29 “NO”), the transmission / reception determination unit 5 performs the processing of steps ST25 and ST26. And the vehicle information of the other vehicle is received from the server 10. Since the processing after step ST25 has already been described, a description thereof will be omitted.
On the other hand, when the conditions 4 to 6 are satisfied (step ST27 “YES” or step ST29 “YES”), the transmission / reception determination unit 5 proceeds to step ST30 and does not receive vehicle information of other vehicles from the server 10.

The transmission / reception processing unit 6 outputs the vehicle information of the other vehicle from the server 10 to the collision determination unit 7. The collision determination unit 7 makes a notification request to the HMI unit 8 when there is a possibility of collision with the own vehicle based on the vehicle information of the other vehicle. When receiving a notification request from the collision determination unit 7, the HMI unit 8 outputs a display for notifying the possibility of a collision to the display, or outputs an audible sound from the speaker, thereby alerting the driver.

As described above, according to the second embodiment, the transmission / reception determination unit 5 determines whether the host vehicle can see the intersection based on the vehicle periphery information and the map information when the host vehicle approaches the intersection (described above). Condition 5 or 6), the transmission / reception processing unit 6 is configured to receive the vehicle information of other vehicles from the server 10 when it is determined that it cannot be seen. When an obstacle exists between the own vehicle and the other vehicle from the camera image of the surrounding information acquisition unit 2 in order to avoid contact with another vehicle entering the intersection when the own vehicle reaches the vicinity of the intersection, or Communicate only when there is a possibility of a collision with another vehicle according to the environment in which the other vehicle can be surely seen from the own vehicle and a traffic light instruction, such as when the road is curved from the map information of the map information acquisition unit 3 and the prospect is bad I do. As a result, the frequency of receiving vehicle information from the server 10 can be reduced as compared with the case where communication is always performed using the conventional DSSS, and unnecessary communication between the server 10 and the collision prevention support device 1 can be avoided. Efficient communication can be performed.

In addition, according to the second embodiment, the transmission / reception determination unit 5 prohibits reception of vehicle information of other vehicles when a preset reception prohibition condition is satisfied, and otherwise receives a preset reception permission condition. The reception of vehicle information of vehicles was allowed. For this reason, the frequency which receives vehicle information from the server 10 can further be reduced.

Further, according to the second embodiment, the reception prohibition condition is set such that the traffic signal installed at the intersection is a display prohibiting the vehicle from going straight. This reception prohibition condition corresponds to the case where the above-described condition 1 “the traffic light 42 at the intersection 40 is a travel permission color” is not satisfied (step ST22 “NO”). For example, when the traffic light is a red light and prohibits straight traveling, the host vehicle cannot enter the intersection and the possibility of a collision with another vehicle is low. In addition, if the traffic light is a red light and a blue arrow light and straight travel is prohibited, but it is possible to make a right turn, when the vehicle turns right at the intersection, the other vehicle may not be able to go straight to the intersection and may collide. Because it is low, do not useless reception. Therefore, the frequency of receiving vehicle information from the server 10 can be further reduced.
The left-hand traffic is targeted for driving assistance when the vehicle turns right at the intersection, but the right-hand traffic is targeted for left-turn traffic.

Further, according to the second embodiment, as the reception permission condition, when the traffic signal installed at the intersection is a display that permits the vehicle to go straight, and the other vehicle is on the opposite lane of the host vehicle across the intersection. Set a case to turn right at the intersection. This reception permission condition satisfies the above-described condition 1 “the traffic light 42 at the intersection 40 is a travel permission color” (step ST22 “YES”), and condition 3 “crossing the opposite lane across the own lane. This corresponds to the case where “the other vehicle G turning right at 40 is detected” is satisfied (step ST24 “YES”). As a result, when the traffic light is a blue light and permits straight travel, it is possible to receive information that another vehicle is present when the host vehicle turns right at the intersection, and a collision with the other vehicle can be prevented.
The left-hand traffic is targeted for driving assistance when the vehicle turns right at the intersection, but the right-hand traffic is targeted for left-turn traffic.

In addition, according to the second embodiment, the case where no traffic signal is installed at the intersection is set as the reception permission condition. This reception permission condition corresponds to the case of step ST21 “NO” described above. By setting this condition, it is possible to notify other vehicles of the presence of the host vehicle, and to prevent a collision at the intersection where there is no traffic light.

In addition, according to the second embodiment, as the reception permission condition, a case is set where there is a priority road having a higher traveling priority than a road on which the host vehicle is traveling among roads intersecting at an intersection. . This reception permission condition corresponds to the case where the above-described condition 4 “the host vehicle J is traveling on the priority road” is not satisfied (step ST27 “NO”). For example, if your vehicle is traveling on a non-priority road and another vehicle is traveling on a priority road, your vehicle should pause or slow down before the intersection, but you will not notice the presence of the other vehicle and Since there is a possibility of entering, it is possible to prevent a collision by receiving vehicle information of other vehicles.

Embodiment 3 FIG.
The collision prevention support apparatus 1 and the server 10 according to the third embodiment have the same configuration as the collision prevention support apparatus 1 and the server 10 shown in FIG. 1 on the drawing, and will be described below with reference to FIG. .

FIG. 8 is a flowchart showing the flow of processing of the collision prevention support system including the collision prevention support apparatus 1 and the server 10. FIG. 9 is an explanatory diagram illustrating an example of a situation of collision prevention support when turning right at an intersection. Here, it is assumed that the vehicle travels on the left side of the road. The vehicle L will travel toward the intersection 60 and turn right at the intersection 60. In addition, the vehicle M is scheduled to travel on the opposite lane of the vehicle L toward the intersection 60 and go straight through the intersection 60 as it is. In front of the vehicle M, there is a vehicle N waiting for a right turn to turn right at the intersection 60, and it is difficult to see the vehicle M from the vehicle L. It is assumed that the collision prevention support device 1 is mounted on each of the vehicles L and M, and in the following, the collision prevention support device 1L mounted on the vehicle L and the vehicle M are mounted in order to distinguish the two. It is called a collision prevention support device 1M.

In the situation of FIG. 9, the collision prevention support apparatus 1M for the vehicle M determines that it is necessary to transmit the vehicle information of the own vehicle, and obtains the ID of the own device, the traveling direction of the own vehicle M, the latitude / longitude information of the intersection 60, and the like. The included vehicle information is transmitted to the server 10 (step ST41). The server 10 receives the vehicle information of the vehicle M and stores it together with the reception time (step ST42).

Further, in the situation of FIG. 9, the collision prevention support apparatus 1L of the vehicle L determines that it is necessary to receive the vehicle information of the other vehicle, and transmits a reception request including the latitude / longitude information of the intersection 60 to the server 10 ( Step ST43). The server 10 receives the reception request of the collision prevention support device 1L, and the vehicle information having the latitude and longitude information of the same intersection as the intersection 60 indicated by the latitude and longitude information included in the reception request among the information stored in the server 10 Is transmitted to the collision prevention support apparatus 1L (step ST44). When the server 10 determines the coincidence of the latitude and longitude information, the difference in the size of the intersection is regarded as an error and is regarded as the same intersection. Here, the vehicle information of the vehicle M having the latitude and longitude information of the intersection 60 is selected and transmitted to the collision prevention support device 1L.

In the collision prevention support device 1L of the vehicle L, the collision determination unit 7 may collide with the host vehicle L when it is determined that the vehicle M travels straight on the oncoming lane based on the vehicle information received from the server 10 (step ST45). Since there is a possibility, the HMI unit 8 is instructed to alert the driver (step ST46). Further, the collision determination unit 7 of the collision prevention support device 1L, when alerting, the ID of the collision prevention support device 1M of the vehicle M that may collide with the host vehicle L, the alert content, the intersection 60 It is determined that it is necessary to transmit alert information including latitude and longitude information to the server 10, and the information is transmitted via the transmission / reception processing unit 6 (step ST47).

The server 10 receives the alert information from the collision prevention support apparatus 1L, and transfers the alert information to the collision prevention support apparatus 1M according to the ID of the collision prevention support apparatus 1M included in this information (step ST48). ). In the collision prevention support device 1M of the vehicle M, the collision determination unit 7 causes the own vehicle M to collide with another vehicle when the ID included in the alert information received from the server 10 matches the ID of the own device. Therefore, the HMI unit 8 is instructed to alert the driver (step ST49).

The server 10 deletes the vehicle information of the vehicle M when a predetermined time has elapsed from the reception time. The predetermined time is a sufficient time until the vehicle that has transmitted the vehicle information finishes passing the intersection (a time longer than the time required for one cycle of the light color change of the traffic light), or the vehicle transmitted from the collision prevention support device 1 It is the expected arrival time at the intersection included in the information. When the estimated arrival time at the intersection is not included in the vehicle information and the distance to the intersection and the traveling speed of the vehicle are included, the server 10 may calculate the estimated arrival time at the intersection from the distance and the traveling speed. Thereby, since vehicle information is preserve | saved only for the required time, the burden of the server 10 can be reduced.

As described above, according to the third embodiment, the collision prevention support system is mounted on the server 10 and wirelessly communicates with the server 10 to transmit the vehicle information of the host vehicle to the server 10. A collision prevention support apparatus 1 that receives vehicle information of another vehicle and judges the possibility of collision between the host vehicle and the other vehicle and alerts the driver. The collision prevention support apparatus 1 is a vehicle of another vehicle. When it is determined that there is a possibility of collision between the host vehicle and the other vehicle based on the information, alert information including unique information (such as ID) identifying the other vehicle is transmitted to the server 10, and the server 10 It was set as the structure which transmits the said alerting information with respect to the collision prevention assistance apparatus 1 of the vehicle which the specific information contained in alerting information specifies. As a result, the collision prevention support device 1 of the other vehicle receives the alert information from the server 10, and the driver of the other vehicle can know that the possibility of the collision is high.

The above-described collision prevention support device 1 according to the first to third embodiments may be configured by an in-vehicle device, and the above-described function may be realized by a CPU (Central Processing Unit) of the in-vehicle device executing a program. However, it may be composed of a mobile information terminal such as a smartphone, a tablet PC (personal computer), or a mobile phone, and may be brought into the vehicle or carried by a pedestrian. When the pedestrian possesses the collision prevention support apparatus 1, for example, in the situation shown in FIG. 4, it becomes possible to prevent a collision between the pedestrian who tries to enter the intersection 30 from another road 32 and the own vehicle J. . Further, for example, in the situation shown in FIG. 6, it is possible to prevent a collision between the pedestrian 46 trying to cross the intersection 40 and the own vehicle F.

In the present invention, within the scope of the invention, any combination of each embodiment, any component of each embodiment can be modified, or any component can be omitted in each embodiment. .

As described above, since the collision prevention support apparatus according to the present invention communicates with the server when the intersection cannot be seen from the current position, the collision prevention support apparatus is configured by an in-vehicle device or a portable information terminal and mounted on the vehicle or walking. It is suitable for an anti-collision support device that is carried by a person.

1 collision prevention support device, 2 peripheral information acquisition unit, 3 map information acquisition unit, 4 sensor information acquisition unit, 5 transmission / reception determination unit, 6 transmission / reception processing unit, 7 collision determination unit, 8 HMI unit, 10 server, 20, 30, 40, 50, 60 intersections, 21-24, 41-44 traffic lights, 25, 45, 53 detection areas, 31, 32, 51, 52 roads, 46 pedestrians, AH, JN vehicles.

Claims

When the own vehicle approaches the intersection, the vehicle information of the own vehicle is transmitted to the server, the vehicle information of the other vehicle of the intersection is received from the server, and the own vehicle and the other vehicle collide. A collision prevention support device that judges the possibility and alerts the driver,
A transmission / reception processor for transmitting / receiving the vehicle information to / from the server;
A peripheral information acquisition unit that acquires vehicle peripheral information indicating the presence of obstacles around the host vehicle;
A map information acquisition unit for acquiring map information;
When the host vehicle approaches the intersection, it is determined whether the host vehicle can see the intersection based on the vehicle surrounding information and the map information, and when it is determined that the host vehicle cannot be seen, the vehicle information of the host vehicle is transmitted / received A collision prevention support apparatus, comprising: a transmission / reception determination unit that transmits the processing unit to the server.
The collision prevention support device according to claim 1, wherein the transmission / reception determination unit prohibits transmission of vehicle information of the host vehicle when a transmission prohibition condition set in advance is satisfied.
The collision prevention support device according to claim 2, wherein the transmission prohibition condition is a display in which a traffic signal installed at the intersection prohibits the vehicle from going straight.
3. The collision prevention support apparatus according to claim 2, wherein the transmission prohibition condition is when a traffic signal is installed at the intersection and when the own vehicle turns right or left at the intersection.
The collision prevention support apparatus according to claim 1, wherein the transmission / reception determination unit permits transmission of vehicle information of the host vehicle when a transmission permission condition set in advance is satisfied.
6. The collision prevention support apparatus according to claim 5, wherein the transmission permission condition is a case where no traffic signal is installed at the intersection.
6. The collision prevention support according to claim 5, wherein the transmission permission condition is a case where the host vehicle is traveling on a priority road having a relatively high traveling priority among roads intersecting at the intersection. apparatus.
6. The collision prevention support apparatus according to claim 5, wherein the vehicle information of the host vehicle includes unique information for identifying the host vehicle and an estimated arrival time required for the host vehicle to reach the intersection. .
When the own vehicle approaches the intersection, the vehicle information of the own vehicle is transmitted to the server, the vehicle information of the other vehicle of the intersection is received from the server, and the own vehicle and the other vehicle collide. A collision prevention support device that judges the possibility and alerts the driver,
A transmission / reception processing unit for transmitting and receiving the vehicle information in a question with the server;
A peripheral information acquisition unit that acquires vehicle peripheral information indicating the presence of obstacles around the host vehicle;
A map information acquisition unit for acquiring map information;
When the host vehicle approaches the intersection, it is determined whether the host vehicle can see the intersection based on the vehicle periphery information and the map information, and when it is determined that the host vehicle cannot be seen, the transmission / reception processing unit sends the server A collision prevention support apparatus, comprising: a transmission / reception determination unit that receives vehicle information of another vehicle.
The collision prevention support apparatus according to claim 9, wherein the transmission / reception determination unit prohibits reception of vehicle information of the other vehicle when a preset reception prohibition condition is satisfied.
11. The collision prevention support apparatus according to claim 10, wherein the reception prohibition condition is a display in which a traffic signal installed at the intersection prohibits the vehicle from going straight.
10. The collision prevention support apparatus according to claim 9, wherein the transmission / reception determination unit permits reception of vehicle information of the other vehicle when a preset reception permission condition is satisfied.
The reception permission condition is that the traffic signal installed at the intersection is a display that permits the vehicle to go straight, and another vehicle that is on the opposite lane of the host vehicle across the intersection makes a right turn or 13. The collision prevention support apparatus according to claim 12, wherein the collision prevention support apparatus is a case of turning left.
13. The collision prevention support apparatus according to claim 12, wherein the reception permission condition is a case where no traffic signal is installed at the intersection.
13. The reception permission condition is a case where, among roads intersecting at the intersection, there is a priority road having a higher traveling priority than a road on which the host vehicle is traveling. Anti-collision support device.
Server,
When the host vehicle approaches the intersection, the vehicle information of the host vehicle is transmitted to the server, the vehicle information of the other vehicle of the intersection is received from the server, and the host vehicle and the other vehicle are A collision prevention support system having a collision prevention support device that judges the possibility of collision and alerts the driver,
The collision prevention support device includes:
A transmission / reception processor for transmitting / receiving the vehicle information to / from the server;
A peripheral information acquisition unit that acquires vehicle peripheral information indicating the presence of obstacles around the host vehicle;
A map information acquisition unit for acquiring map information;
When the host vehicle approaches the intersection, it is determined whether the host vehicle can see the intersection based on the vehicle periphery information and the map information, and when it is determined that the host vehicle cannot be seen, the transmission / reception processing unit is instructed. A collision prevention support system comprising: a transmission / reception determination unit that transmits vehicle information of the host vehicle to the server or receives vehicle information of the other vehicle from the server.
The collision prevention support device includes alert information including specific information for identifying the other vehicle when it is determined that the host vehicle and the other vehicle may collide based on the vehicle information of the other vehicle. Send to the server,
The collision prevention support apparatus according to claim 16, wherein the server transmits the warning information to a collision prevention support apparatus for a vehicle specified by the unique information included in the warning information.
When the host vehicle approaches the intersection, the vehicle information of the host vehicle is transmitted to the server, the vehicle information of the other vehicle of the intersection is received from the server, and the possibility of collision between the host vehicle and the other vehicle is determined. A collision prevention support method that alerts the driver,
A peripheral information acquisition step of acquiring vehicle peripheral information indicating the presence of an obstacle around the host vehicle;
A map information acquisition step for acquiring map information;
A transmission / reception determination step for determining whether the host vehicle can see the intersection based on the vehicle periphery information and the map information when the host vehicle approaches the intersection;
A transmission / reception processing step of transmitting vehicle information of the own vehicle to the server or receiving vehicle information of the other vehicle from the server when the transmission / reception determination step determines that the intersection cannot be seen from the host vehicle. A collision prevention support method characterized by comprising: