JP2002163789A - Collision upon encounter prevention support system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a collision upon encounter prevention support system for supporting safe approach of a vehicle traveling a non-preferential road to the crossing of a preferential road and the non-preferential road, preventing the collision upon encounter collision of the vehicles, supporting starting after a stoppage, with respect to the vehicle stopping before the crossing and preventing the collision upon encounter of the vehicles. SOLUTION: When the vehicle 11 enters a service area 25, the service of collision upon encounter prevention support information supply at the time of approaching the intersection is recognized by the reception of the signal of a service area start. When vehicle information on a preferential road side is obtained from road-side infrastructure and a vehicle 26 entering the intersection in the preferential road 24, speed is reduced and information on the crossing and the existence of the vehicle entering the crossing is supplied to a driver at a stoppable position, before the intersection.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method for setting a vehicle traveling on a non-priority road and colliding with a vehicle traveling on the priority road at an intersection with the priority road on a non-priority road at a predetermined distance from the intersection. Related to a collision-prevention head-on collision prevention system that prevents traffic by sending and receiving signals to and from roadside infrastructure in a service area installed near an intersection with a fixed-point information detection support facility for service-in, for example, used in the traffic signal control field of general roads Is done.

[0002]

2. Description of the Related Art Conventionally, in order to prevent a head-on collision at an intersection between a priority road and a non-priority road as described above, a driver of a vehicle trying to enter the priority road from the non-priority road has temporarily stopped at the intersection. In addition, the vehicle was started by observing the behavior of the car traveling on the priority road with the mirror installed at the intersection.

[0003] Therefore, there is a problem that a driver of a vehicle on a non-priority road inevitably encounters a head-on collision due to an inadvertent mistake or a misjudgment, and the occurrence of a traffic accident between vehicles on the road is inevitable. In addition, as described in the head-on collision prevention system of Japanese Patent Application No. 11-305095 filed earlier by the applicant, the roadside infrastructure, the fixed point information detection sensor, the own vehicle position detection sensor, the surrounding situation detection sensor, A sensor group such as a vehicle state detection sensor, a road-vehicle communication device, a vehicle-mounted processing device, a vehicle control device, and a vehicle HM
A system for preventing a head-on collision with an AHS vehicle equipped with the various devices of I is also considered. In this case, it is necessary to mount a considerable device not only on the roadside infrastructure but also on the vehicle side, so that there is a problem that the driver who owns the vehicle has a large load during the transition period while the roadside infrastructure is being developed.

[0004]

SUMMARY OF THE INVENTION Accordingly, the present invention solves the above-mentioned conventional problems and assists a vehicle traveling on a non-priority road to safely approach an intersection of the priority road and the non-priority road. Inexpensive head-on collision prevention support system that can prevent head-on collisions between vehicles, supports starting after stopping for vehicles stopped before the intersection, and prevents head-on collisions between vehicles The purpose is to provide.

[0005]

In order to achieve the above object, the invention of claim 1 is to prevent a vehicle traveling on a non-priority road from colliding with a vehicle traveling on the priority road at an intersection with the priority road. In a service area installed on a non-priority road at a predetermined distance from an intersection, a system for preventing traffic by transmitting / receiving a signal to / from a roadside infrastructure. In response to this, while recognizing that there is a service to provide information on preventing head-on collisions when approaching an intersection, obtain vehicle information on the priority road side from the roadside infrastructure, and if there is a car entering the intersection on the priority road, decelerate And providing the driver with information about the intersection and the presence of a car entering the intersection at a position where the vehicle can be stopped before the intersection.

According to a second aspect of the present invention, a vehicle traveling on a non-priority road encounters a vehicle traveling on the priority road at an intersection with the priority road and collides with a head of the vehicle. In a service area, a system that prevents traffic by exchanging signals with the roadside infrastructure.When a vehicle enters the service area, it stops at a crossroads after receiving a signal to start the service area from the road-to-vehicle communication equipment. While recognizing that there is a meeting head collision prevention information provision service, if the vehicle stops just before the intersection, obtain the vehicle information on the priority road side from the roadside infrastructure,
When there is a vehicle entering the intersection on the priority road, information on the existence of the vehicle is provided to the driver.

According to a third aspect of the present invention, a vehicle traveling on a non-priority road encounters a vehicle traveling on the priority road at an intersection with the priority road and collides with a head of the vehicle, and is installed on a non-priority road at a predetermined distance from the intersection. In a service area, a signal is transmitted to and received from the roadside infrastructure to prevent the occurrence of a collision when a vehicle enters the service area. While recognizing that there is a service and a service to provide information on preventing head-on collisions when starting after stopping before the intersection, there is a vehicle entering the intersection on the priority road, obtaining vehicle information on the priority road side from the roadside infrastructure In this case, decelerate and provide the driver with information about the intersection and the presence of cars entering the intersection at a stopable position before the intersection. And the vehicle is obtained from the roadside infrastructure vehicle information of the priority road side when stopped at an intersection before,
When there is a vehicle entering the intersection on the priority road, information on the existence of the vehicle is provided to the driver.

[0008]

An embodiment of the present invention will be described with reference to the drawings. FIG. 1 is an overall configuration diagram of the present system. In FIG. 1, the number of each facility may be plural depending on an installation site, a monitoring range of roadside facilities, and the like, but the configuration is not considered here. . In addition, the input / output data in the figure shows only the basic data of the present system.

A description will be given of the functions of a roadside facility as a roadside infrastructure and a vehicle-mounted device of an AHS vehicle as an example of the vehicle, which constitute the present system. The roadside facilities include a vehicle detection facility 1, a roadside processing facility 2, a roadside database 3, and a roadside-vehicle communication facility 4 on the priority roadside, each having the following functions. The vehicle detection equipment 1 detects the behavior (position, speed, etc.) of a vehicle (including two wheels) traveling on a priority road.
The roadside processing equipment (including the driving support information creation equipment) 2 is a main processing unit on the roadside of this service, and its main contents are processing of input data and creation of output data. The roadside database 3 is a database in which data necessary for the service is stored, and in this service, the roadside database 3 holds the road alignment information of the priority roads and the non-priority roads.
The information is provided by access from the roadside processing equipment 2. The road-to-vehicle communication equipment 4 performs communication between the road side and the vehicle, and in the case of this service, priority road vehicle information and road alignment are main information sent to the vehicle. Further, the vehicle recognizes that the own vehicle has entered the service area by establishing a connection for road-to-vehicle communication, and recognizes that the vehicle has left the service area by disconnecting the connection.

The in-vehicle device of the simple AHS vehicle 11 includes a road-vehicle communication device 12, an in-vehicle processing device 13, and a vehicle HMI (Human Ma
There is an on-vehicle AHS terminal 15 composed of an ACH (Chine Interface) 14, which has the following functions. That is, the road-to-vehicle communication device 12 performs communication between the road-to-vehicle communication equipment 4 and the own vehicle, receives information from the roadside infrastructure, and establishes a connection for road-to-vehicle communication so that the own vehicle enters the service area. It recognizes that it has left the service area by disconnecting the connection. In-vehicle processing unit
Reference numeral 13 denotes a device for providing, calculating, and judging information required by the own vehicle. In correspondence with this service, it is necessary to judge the necessity of providing information on the existence of a vehicle entering an intersection (intersecting vehicle) and to provide information. In this case, an output instruction is issued to the vehicle HMI14. The vehicle HMI 14 is a device for exchanging information with a driver. This vehicle can acquire the function of transmitting and receiving signals to and from the roadside infrastructure as an AHS vehicle by a simple procedure of mounting the AHS on-board terminal 15 on a normal vehicle.
It is called a simple AHS vehicle.

This service is intended for general roads and sections without intersection signals. An example will be described with reference to FIG. FIG. 2 shows an intersection 21 (without a traffic light) of a non-priority road 23 and a priority road 24 where a stop line 22 is installed, and a two-lane priority road and a one-lane non-priority road to which this control method is applied. It is an example. Here, the service area 25 including the stop line 22
When the vehicle approaches the intersection 21, the simple AHS vehicle 11 provides a system for providing information when there is a possibility of collision with the vehicle 26 traveling on the priority road 24. Until you do.

In FIG. 2, a predetermined distance (for example, 100
m) Assuming that the information acquisition section extends from a point on a distant non-priority road to a position immediately before entering the intersection, the road-to-vehicle communication facility 4 establishes service-in, service area length, service when establishing a communication connection with the simple AHS vehicle 11. It is assumed that the type can be determined. When the simple AHS car 11 enters the service area 25,
While recognizing that there is a service for providing information on preventing head-on collisions when approaching the intersection 21, the traveling position of the vehicle and the distance to the priority road are grasped, and the calculation of the position of the vehicle is started. The simple AHS vehicle 11 that has entered the service area 25 activates the process of providing head-on collision prevention information and immediately starts acquiring vehicle information on the priority road 24 from the roadside infrastructure.
The vehicle information on the priority road 24 is transmitted by the road-to-vehicle communication facility 4 at a constant cycle (for example, a cycle of 0.1 second). When the simple AHS vehicle 11 traveling in the service area 25 passes through the intersection 21 as it is, the in-vehicle processing device 13 determines whether or not it collides with the vehicle 26 traveling on the priority road 24.

FIG. 2 shows a vehicle 26 approaching from above the priority road 24.
This is an example of determining a collision at an intersection 21 with the vehicle. In this case, the degree of overlap between the time period during which the vehicle 26 approaching from the upper side of the priority road 24 stays at the intersection 21 and the time period during which the simple AHS vehicle 11 stays at the intersection 21 may be seen. That is, if the time periods overlap, there is a risk of collision, and if not, there is no risk of collision. Simple AH
The S car 11 assumes a constant acceleration pattern (including constant velocity motion)
Based on the current position detected by the vehicle detection equipment 1 and the current speed, the vehicle 26 approaching from the upper side of the priority road 24 can determine the collision on the assumption that the vehicle 26 runs at the current speed. When it is determined that there is a danger of collision, an alarm (for example, a buzzer) is issued. After the vehicle stops at the stop line 22, information on the presence of the crossing vehicle is received and the driver is notified via the simplified AHS vehicle 11. By entering the intersection 21, the connection of road-vehicle communication is cut off, and the service ends when the simple AHS vehicle 11 goes out of service. FIG. 3 is a diagram for explaining the scenario of the head-on collision prevention support system shown in FIG.

FIG. 4 is a time chart of the head-on collision prevention support system focusing on the roadside processing equipment 4 at the intersection 21 shown in FIG. As shown in FIG. 4, the input of the roadside processing equipment 4 of the present system is speed and position information of the vehicle 26 on the priority road 24. The vehicle information of the priority road 24 is obtained from the vehicle detection equipment 1 every 0.1 seconds and stored in the roadside database 3. The roadside processing equipment 4 creates information to be sent to the simple AHS vehicle 11 every 0.1 seconds.

FIGS. 5 and 6 show the processing flow of the roadside processing equipment 4 for the intersection 21 shown in FIG. FIG. 5 is a flow for processing the position and speed of the vehicle 26 on the priority road 24 detected by the vehicle detection equipment 1. It is activated every 0.1 seconds, and saves the position, speed and time of the detected vehicle as save data 1 in the roadside database 3. FIG. 6 is a flowchart of a process of creating output data to be sent to the simplified AHS vehicle 11, which is started every 0.1 seconds, and the created output data is temporarily stored in the roadside database 3. The stored output data is transmitted from the road-to-vehicle communication facility 4 to the simple AHS vehicle 11. The speed and position of the vehicle 26 on the priority road 24 detected by the vehicle detection equipment 1 are used for collision determination.

FIG. 7 is a time chart for calculating the management range of the roadside equipment of the head-on collision prevention support system in FIG. 2, and is a time chart focusing on the operation of the simple AHS vehicle 11 and its driver. In the head-on collision prevention support system, the vehicle detection equipment 1 is installed on the priority road 24 side, and the road-vehicle communication equipment 4 is installed on the non-priority road side. Hereinafter, from the viewpoint of determining a collision, the monitoring range of the vehicle detection equipment 1 that monitors the vehicle 26 traveling on the priority road 24 toward the intersection 21 and the communication range of the service target vehicle to the service vehicle are calculated.

First, a simple AHS vehicle traveling on the non-priority road 23
11 drivers confirm the presence of a crossing vehicle 26 on priority road 24
The AHS vehicle 11 performs a braking operation, and the simple AHS vehicle 11
Total time T before stopping before_KAsk for. Total time
Interval T_KThe vehicle 26 approaching the priority road 24 from the left
By multiplying the high speed V, the vehicle position L farthest from the intersection 21
_I= T_K× V is obtained.

As shown in FIG. 7, the time T ₃ from when the driver recognizes and judges until the driver performs the braking operation is calculated by the following equation (1).

[0019]

## EQU1 ## where _{T 3 = T 2 + T 1} + T 0, T 2 saw the state of the priority road 24, the time that the driver determines, T ₁ is the time to change stepping on the accelerator to the brake, T ₀ is the brake It's time to step. After the driver depresses the brake, when the constant deceleration α ₄ hours after T, the time T ₅ required to stop before the intersection 21 after depression brake determined by the number 2.

[0020]

From Equation 2] _{T 5 = V / α + T} 4/2 driver receives the advertisement, the distance L that travels before stopping at the stop line 21 is determined by the number 3.

[0021]

(Equation 3) Therefore,

[0022]

## EQU4 ## T _K = T ₃ + T ₅

[0023]

Equation 5] _{L 1 = V × T K T} 2 = 2.35s, T 1 = 0.2s, T 0 = 0.1s, T 4 = 0.5s,
α = 3.0 [m / s ² ], V = 60 [km / h] (= 16.7 [m / s])
Then, L ₁ = V × T _K = 16.7 [m / s] × (2.65 [s] +5.8 [s]) = 1
At 41.1 [m], L _{1 is} increased to 142 [m] after the decimal point. From the above, the monitoring range of the vehicle 26 is set to 142 m from the intersection 21.
Further, the communication range is set to the above L, and road-to-vehicle communication is established (T
The distance traveled by the vehicle by s) is added, and the distance is obtained by Expression 6.

[0024]

(Equation 6) Therefore, the first digit was rounded up to 100 [m].

In the above-described embodiment, both the intersection approach support and the start support are described in a series in the present system, but it is a matter of course that either one may be performed alone. Although the above description has been made on the assumption that there is no traffic signal at the intersection, the present invention can be applied to an intersection with a blinking traffic signal, for example. Furthermore, the arrangement of the priority road and the non-priority road in the present system described above, for example, the number of lanes, the vehicle width, and the number of various types of equipment disposed on these road sides are arbitrary, and are not necessarily those illustrated. It goes without saying that it is not limited.

[0026]

As described above, according to the first to third aspects of the present invention, it is possible to assist a vehicle traveling on a non-priority road to safely approach the intersection of the priority road and the non-priority road, and stop before the intersection. It can support the starting of vehicles that have stopped after stopping, and can prevent head-on collisions between vehicles, greatly reducing the risk of head-on collisions at the intersection of non-priority roads and priority roads compared to the past. There is an excellent effect that the safety at the road intersection can be further improved. In addition, even in the transitional period until the roadside infrastructure as described in the prior application is developed and the AHS vehicle becomes widespread, the AHS vehicle can be connected to the roadside infrastructure by a simple procedure of mounting the AHS vehicle on-board terminal on a normal vehicle. This is an excellent effect that the function of transmitting and receiving signals can be obtained, and the safety at a road intersection can be further improved.

[Brief description of the drawings]

FIG. 1 is an overall configuration diagram of an encounter head collision prevention support system according to an embodiment of the present invention.

FIG. 2 is a road section for explaining a scenario of the present system.

FIG. 3 is a scenario of the present system.

FIG. 4 is a processing time chart of a roadside facility of the present system.

FIG. 5 is a processing flow 1 of the roadside processing equipment.

FIG. 6 is a processing flow 2 of the roadside processing equipment.

FIG. 7 is a time chart of an AHS vehicle center of the present system.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Vehicle detection equipment 2 Roadside processing equipment 3 Roadside database 4 Roadside-vehicle communication equipment 11 Simple AHS vehicle 12 Road-to-vehicle communication device 13 Onboard processing unit 14 Vehicle HMI 15 AHS onboard terminal 21 Intersection 22 Stop line 23 Non-priority road 24 Priority road 25 Service Area 26 Vehicles

──────────────────────────────────────────────────続 き Continued on the front page (51) Int.Cl. ⁷ Identification symbol FI Theme coat ゛ (Reference) G08G 1/09 G08G 1/09 DR (72) Inventor Teruo Shozuzawa 1st Toshiba-cho, Fuchu-shi, Tokyo Toshiba Electric Power & Industrial Systems Technology Center (72) Inventor Hatsuhiko Naito 2-3-2 Marunouchi, Chiyoda-ku, Tokyo Inside Mitsubishi Electric Corporation (72) Inventor Gi Toi 5-7-1 Shiba, Minato-ku, Tokyo NEC Corporation (72) Inventor Kazumasa Miyamoto 1-1-1, Wadazaki-cho, Hyogo-ku, Hyogo-ku, Kobe City, Hyogo Pref. Mitsubishi Heavy Industries, Ltd. Electronics Engineering Dept. System Technology Development Center (72) Inventor Takashi Nozaki Countermeasure 1006 Kazuma Kadoma, Kadoma, Osaka Prefecture Matsushita Electric Industrial Co., Ltd. F term (reference) 5C086 AA54 BA22 CA21 CA25 CB40 DA14 D A40 EA45 FA02 FA18 5C087 AA02 AA03 AA19 AA32 BB03 BB11 BB18 BB74 DD03 DD13 DD49 FF01 FF02 FF04 FF17 FF19 FF20 GG07 GG08 GG11 GG14 GG19 GG20 GG23 GG32 GG66 5H180 GG01 GG01

Claims (3)

[Claims] When a vehicle traveling on a non-priority road encounters a vehicle traveling on a priority road at an intersection with the priority road and collides with a head of the vehicle, the collision occurs in a service area installed on the non-priority road at a predetermined distance from the intersection. This is a system to prevent traffic by exchanging signals with the roadside infrastructure.When a vehicle enters the service area, it receives a signal to start the service area from the road-to-vehicle communication equipment and provides a service to provide information on preventing head-on collisions when approaching an intersection. On the other hand, the vehicle information on the priority road side is obtained from the roadside infrastructure, and if there is a vehicle entering the intersection on the priority road, the vehicle decelerates to a point where the vehicle can enter the intersection at a position where it can be stopped before the intersection. A head-on collision prevention support system characterized by providing information to a driver. 2. When a vehicle traveling on a non-priority road encounters a vehicle traveling on a priority road at an intersection with the priority road and collides with a head of the vehicle, a service area installed on the non-priority road at a predetermined distance from the intersection is used. This is a system that prevents traffic by exchanging signals with the roadside infrastructure.When a vehicle enters the service area, it receives a signal to start the service area from the road-to-vehicle communication facility and provides information on preventing head-on collisions at the time of start after stopping before an intersection While recognizing that there is a service, if the vehicle stops just before the intersection, obtain the vehicle information on the priority road from the roadside infrastructure, and if there is a vehicle entering the intersection on the priority road, provide information on its existence. An encounter head collision prevention support system provided to drivers. When a vehicle traveling on a non-priority road encounters a vehicle traveling on a priority road at an intersection with the priority road and collides with a head of the vehicle, the service area installed on the non-priority road at a predetermined distance from the intersection is determined. This is a system that prevents traffic by exchanging signals with the roadside infrastructure.When a vehicle enters the service area, it receives a signal to start the service area from the road-to-vehicle communication equipment and provides a service to provide information on preventing head-on collisions when approaching an intersection or in front of an intersection. While recognizing that there is a service to provide head-on collision prevention information when starting after stopping, obtain vehicle information on the priority road side from the roadside infrastructure and decelerate if there is a car entering the intersection on the priority road To provide information about the intersection and the existence of vehicles entering the intersection at a position where the vehicle can stop before the intersection. If the vehicle stops in front of the vehicle, information on the vehicle on the priority road is obtained from the roadside infrastructure, and if there is a vehicle entering the intersection on the priority road, information on the existence of the vehicle is provided to the driver. Support system.