JP2008293099A - Driving support device for vehicle - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a driving support device for vehicle, capable of improving safety in vehicle driving by acquiring information for a target which is in a dead area in relation to an own vehicle. <P>SOLUTION: The device comprises a detection means 1 for detecting target information around the own vehicle A; an acquisition means 2 for acquiring target information around the other vehicle D, which is detected by the other vehicle D; an extraction means which extracts, from the other vehicle target information acquired by the acquisition means 2, dead area target information which is not contained in the own vehicle target information detected by the detection means 1; a report means 4 for reporting the dead area target information extracted by the extraction means 3 to a driver of the own vehicle A; and an own vehicle information detection means 5 for detecting own vehicle information such as a position, traveling speed or traveling direction of the own vehicle A. <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

  The present invention relates to a driving support device for a vehicle, and more particularly to a driving support device for a vehicle that acquires information on a target that is in a blind spot when viewed from the host vehicle.

  In recent years, various obstacle detection devices that detect an obstacle ahead of the host vehicle have been proposed for vehicle collision prediction. In these obstacle detection devices, for example, millimeter wave radar waves are emitted toward the front of the vehicle, and obstacles are detected based on the received intensity of the reflected waves.

  Furthermore, in order to prevent a collision between vehicles, a technology has been proposed that uses vehicle-to-vehicle communication to communicate vehicle information such as the travel position, travel speed, and travel direction of the vehicle between vehicles. Yes. The following Patent Document 1 discloses a technique for communicating information related to the driver of the host vehicle as the host vehicle information in addition to the travel position and the like and alerting when the risk of collision is high.

JP 2004-164315 A

  By the way, when viewed from the own vehicle, it is difficult to detect a vehicle or the like in a blind spot of another vehicle or a structure with a radar device or the like. Furthermore, such a blind spot vehicle is usually difficult to see from the driver. Also, even if the vehicle has a vehicle-to-vehicle communication function, it is difficult to make use of vehicle-to-vehicle communication to prevent collisions between vehicles unless the vehicle in the blind spot has a vehicle-to-vehicle communication function. It is.

  In this case, since the host vehicle is also in the blind spot when viewed from the other vehicle, the other vehicle cannot be recognized from each other. For this reason, it is considered that there is a high risk of a collision between vehicles occurring in such a case. For example, in a so-called right turn accident, when the host vehicle turns right at an intersection, it may collide with a motorcycle running in a blind spot behind an oncoming vehicle. Therefore, from the viewpoint of safe driving of the vehicle, it is desired to develop a technique for preventing a collision accident with a vehicle in a blind spot when viewed from the own vehicle.

  Therefore, the present invention provides a driving support device for a vehicle that can improve the safety of driving a vehicle by acquiring information on a target such as a vehicle in a blind spot when viewed from the own vehicle from another vehicle. The purpose is to provide.

  In order to achieve the above object, the vehicle driving support apparatus according to the present invention includes a detection unit that detects target information around the host vehicle, an acquisition unit that acquires target information detected by another vehicle, and an acquisition unit. Extracting means for extracting blind spot target information not included in the own vehicle target information detected by the detecting means from the acquired other vehicle target information, and driving the dead spot target information extracted by the extracting means A notification means for notifying a person.

  According to the vehicle driving support device of the present invention configured as described above, in addition to the own vehicle target information detected by the own vehicle, the other vehicle target information detected by the other vehicle is also acquired. For this reason, blind spot target information that cannot be directly detected by the host vehicle can be acquired. For example, even if a blind spot vehicle in a blind spot does not have a vehicle-to-vehicle communication function, if the blind spot vehicle is detected by another vehicle, the host vehicle recognizes the blind spot vehicle via the other vehicle. It becomes possible to do. Then, by notifying the driver of the blind spot target information, the driver can be made aware of the existence of the blind spot target. Thereby, the safety | security of a vehicle driving | operation can be aimed at.

In the present invention, preferably, the acquisition means receives other vehicle target information transmitted from another vehicle through inter-vehicle communication, and transmits the own vehicle target information.
Thereby, target information can be shared between vehicles using vehicle-to-vehicle communication.

In the present invention, preferably, the notifying means notifies the blind spot target information by display.
This makes it possible to visually notify the driver of the presence of the blind spot target.
When displaying the blind spot target information, the blind spot target information may be displayed alone or may be displayed together with the own vehicle target information. The blind spot target information may be displayed, for example, by superimposing the position of the blind spot target on the map information display screen of the navigation unit, or may be displayed as character information.

In the present invention, preferably, the notifying means notifies the blind spot target information by voice.
Thus, the driver can be easily and audibly notified of the presence of the blind spot target.
When the blind spot target information is notified by voice, for example, the presence of the blind spot target may be described by words, or only an alarm sound may be generated.

Preferably, in the present invention, the route estimation means for estimating the route of the host vehicle, and the object related to the host vehicle and the blind spot target information based on the course of the host vehicle and the blind spot target information estimated by the route estimation means. A collision determination unit that determines a collision risk level with the target and a avoidance support unit that supports a collision avoidance operation of the host vehicle when the collision determination unit determines that the collision risk level is high.
Thereby, it is possible to avoid a collision between the host vehicle and the blind spot target.
The collision determination means may determine only the collision risk between the host vehicle and the blind spot target, or may determine the collision risk between the host vehicle and the target related to the host vehicle target information. .

  In the present invention, preferably, the avoidance support means operates the braking device to decelerate or stop the host vehicle.

The notification means notifies the blind spot target information to the driver of the host vehicle only when the collision determination means determines that the risk of collision between the host vehicle and the target related to the blind spot target information is high.
As a result, information necessary for the driver can be selectively notified, and driving support can be improved.

  As described above, according to the vehicle control apparatus of the present invention, the information of the target such as the vehicle entering the blind spot when viewed from the own vehicle is acquired from the other vehicle, thereby improving the safety of driving the vehicle. be able to.

Hereinafter, a vehicle control apparatus according to a first embodiment of the present invention will be described with reference to the accompanying drawings.
First, the configuration of the vehicle driving support apparatus of the first embodiment will be described with reference to the block diagram of FIG. As shown in FIG. 1, the vehicle driving support apparatus according to the first embodiment includes a detection unit 1 that detects target information around the host vehicle A, and an object around the other vehicle D detected by the other vehicle D. The acquisition means 2 for acquiring the target information, and the extraction means 3 for extracting the blind spot target information not included in the own vehicle target information detected by the detection means 1 from the other vehicle target information acquired by the acquisition means 2. And informing means 4 for informing the driver of the own vehicle A of the blind spot target information extracted by the extracting means 3, and in this embodiment, the position, running speed, running direction, etc. The vehicle information detecting means 5 for detecting vehicle information is provided.

  The detection unit 1 is, for example, a radar device that detects an obstacle ahead of the vehicle. Moreover, the camera which images the front of a vehicle and detects an obstacle by image recognition may be used. As described above, any conventionally known obstacle detection device for a vehicle can be used as the detection unit 1.

  The detection means 1 preferably detects the position and speed vector of a target around the host vehicle. When recognizing a target with a camera, the target is recognized by distinguishing between a four-wheeled vehicle, a motorcycle, a pedestrian, etc., and further distinguishing a vehicle type such as a truck, a bus, and a passenger car. More preferably. And the information regarding the target detected by the detection means 1 of the own vehicle A is sent to the extraction means 3 as own vehicle target information.

  The direction in which the detection unit 1 detects the target may be only in front of the host vehicle, but in addition to the front of the host vehicle, for example, a target on the side of the host vehicle, obliquely rearward and / or rearward. It should be detected. Moreover, the detection means 1 may detect the target of the perimeter around the own vehicle.

  Further, the detection range around the host vehicle by the detection unit 1 may be, for example, a range from 100 m to 200 m in front of the host vehicle. For example, it is good in the range from several meters to several tens of meters on the side of the own vehicle, diagonally rearward, or rearward. Further, the detection range may be changed according to the vehicle speed of the host vehicle and the traveling environment such as night / daytime.

  The own vehicle information detection means 5 detects the position and travel vector of the own vehicle. The own vehicle information can be easily detected by a car navigation unit using a global positioning system (GPS). Further, the vehicle speed of the host vehicle A may be directly detected by a speed sensor (not shown) mounted on the vehicle. For example, it is preferable to determine the position of the host vehicle on the map information of the car navigation unit. Further, it is desirable that the own vehicle information detecting means 5 also detects the operation of the turn signal for changing the course of the own vehicle or turning left or right.

  The acquisition means 2 is comprised from a vehicle-to-vehicle communication apparatus. A conventionally well-known arbitrary suitable thing can be used for a vehicle-to-vehicle communication apparatus. In this embodiment, the other vehicle target information transmitted from the other vehicle is received by inter-vehicle communication, and the own vehicle target information is transmitted. As a result, it is possible to share target information between neighboring vehicles.

  The other vehicle target information is information relating to the target detected by the detecting means (not shown) of the other vehicle D in the other vehicle D, and includes the same items as the own vehicle target information in the own vehicle A. Is preferred. For example, it is desirable that the position and speed vector (vehicle speed and traveling direction) of the target detected by the other vehicle D are included. Furthermore, information such as the position and speed vector of the other vehicle D itself may be included.

The extraction means 3 is realized by the in-vehicle computer 10. The processing function of the extraction unit 3 may be realized by causing the computer 10 to execute software, or may be realized by a dedicated chip, for example.
In addition, when detecting the blind spot target information by the extracting unit 3, first, the other vehicle target information from the other vehicle D acquired by the acquiring unit 2 and the own vehicle target detected by the detecting unit 1 of the own vehicle A are detected. Match information. In matching, the positions of the targets should be collated.
However, the information about the own vehicle A included in the other vehicle target information may be excluded from the matching target in advance in order to exclude the own vehicle A from the blind spot target.

  If the position of the vehicle target information and other vehicle target information is determined on the common map information, the target information is matched by comparing the position coordinates on the map information. It is good to do. Further, when the own vehicle target information is represented with the position of the own vehicle A as the origin of coordinates, while the other vehicle target information is represented with the position of the other vehicle D as the origin of coordinates, Matching may be performed after converting only the position coordinates of the target information into a coordinate system having the own vehicle A as the origin, and the position coordinates of both the own vehicle target information and the other vehicle target information are respectively Matching may be performed after coordinate conversion to a coordinate system on map information.

Further, the position and velocity vector of the other vehicle D may be obtained, for example, by using the other vehicle D as one of the targets detected by the detection means 1 of the own vehicle A, or the other vehicle D You may utilize what transmitted information, such as a position and a speed vector, to the own vehicle A by vehicle-to-vehicle communication.
Then, as a result of matching between the host vehicle target information and the other vehicle target information, target information not included in the host vehicle target information is extracted as blind spot target information from the other vehicle target information.

  The target detection range around the host vehicle A and the target detection range around the other vehicle D do not match. For this reason, among the other vehicle target information by the other vehicle D, the target information outside the target detection range of the own vehicle A is not matched with the own vehicle target information even if it is not a blind spot target. , It may be extracted as blind spot target information. Therefore, preferably, only target information that is within the target detection range of the own vehicle A and is not included in the own vehicle target information among the other vehicle target information may be selectively extracted as blind spot information. . As a result, it is possible to selectively provide only highly necessary information to the driver of the host vehicle A.

  The notification unit 4 may visually notify the blind spot target information by display or may notify by voice. In addition, the notification may notify only blind spot information, or may add visual information to other target information for notification.

  When the blind spot target information is notified by display, for example, on the display screen of the car navigation unit, only the position of the blind spot target or the position and velocity vector may be displayed on the map information. Also, the blind spot area may be displayed by adding hatching or the like to the blind spot area on the display screen or changing the brightness or color of the hatched area. When a target other than the blind spot target is displayed, for example, the display of brightness, color, etc. of the blind spot target is made different from the display of other targets, thereby highlighting the blind spot target. It is good to do.

  In addition, when the blind spot target information is notified by display, the presence of the blind spot target and its position may be notified by subtitles. For example, the caption “There is a motorcycle behind the oncoming vehicle” may be displayed on the display screen of the car navigation unit or on the dedicated display screen on the instrument panel.

When the blind spot target information is notified by voice, for example, only the buzzer or chime sounding may be used, but the presence of the blind spot target and its location may be notified by words. For example, it may be announced that “a motorcycle is behind an oncoming vehicle”.
The blind spot target information may be notified by both display and voice.

Next, with reference to the flowchart of FIG. 2, an operation example of the vehicle driving support apparatus of the first embodiment will be described.
Here, the scene shown in FIG. 3 is assumed. In the scene shown in FIG. 3, when the host vehicle A is about to turn right at the intersection, the oncoming vehicle B, the motorcycle C, and the following vehicle D are traveling from the oncoming lane.
In FIG. 3, when viewed from the host vehicle A, a blind spot area that is a shadow of the oncoming vehicle B is hatched.

  In the above scene, first, the vehicle information detection means 5 of the vehicle A detects the vehicle information. Here, in addition to the position of the host vehicle A and the vehicle speed vector, the host vehicle information detection means 5 detects blinking of the turn signal for a right turn (step S1 in FIG. 2).

  Next, the detection means 1 detects target information around the host vehicle A. Here, the detection means 1 detects the position and speed vector of the oncoming vehicle B and the oncoming vehicle D, respectively, as own vehicle target information. However, the motorcycle C traveling behind the oncoming vehicle B is not detected because it is in the blind spot of the oncoming vehicle B (step S2 in FIG. 2).

Next, the acquisition means 2 acquires the target information detected by the following vehicle D by inter-vehicle communication. The other vehicle target information includes information on the motorcycle C that the host vehicle A could not detect in addition to the host vehicle A and the oncoming vehicle B detected by the other vehicle D (step S3 in FIG. 2). .
Note that the processes of steps S1, S2, and S3 may be performed simultaneously or in any order.

  Next, the extraction unit 3 extracts blind spot target information not included in the own vehicle target information detected by the detection unit 1 from the other vehicle target information acquired by the acquisition unit 2. Here, information such as the position and speed vector of the motorcycle C that is included in the other vehicle target information but not included in the host vehicle target information is extracted as blind spot target information (step S4 in FIG. 2). ).

  Next, the notification means 4 notifies the driver of the host vehicle A of the blind spot target information extracted by the extraction means 3. Here, the presence of the motorcycle C is notified to the driver as blind spot target information (step S5 in FIG. 2).

  In reporting the blind spot target information, the display shown in FIG. 3 may be performed. Specifically, the oncoming vehicle B, the following vehicle D, and the motorcycle C are displayed on the display screen of the car navigation unit so as to overlap the map information. Further, the blind spot area that is a shadow of the oncoming vehicle B when viewed from the host vehicle A may be displayed by shading. Furthermore, it is desirable that the motorcycle C, which is a blind spot target, be displayed with different brightness and color from other targets so that the driver can easily recognize its presence.

  In FIG. 3, not only the motorcycle C that is a blind spot target but also the oncoming vehicle B and the following vehicle D that are other targets are displayed, but only the motorcycle C that is a blind spot target is displayed as map information. It may be shown superimposed on.

  Further, when the blind spot target information is notified by display, the presence and location of the motorcycle C of the blind spot target may be notified by subtitles. For example, the caption “There is a motorcycle behind the oncoming vehicle” may be displayed on the display screen of the car navigation unit or the dedicated display screen on the instrument panel.

  Moreover, when reporting the blind spot target, the presence of the motorcycle C, which is a blind spot target, and its location may be notified by voice. For example, for example, it may be announced that “a motorcycle is behind an oncoming vehicle”. And it is preferable to perform a display and alert | report with an audio | voice simultaneously.

  In this way, by using the other vehicle target information detected by the following vehicle D in addition to the own vehicle target information detected by the own vehicle A, the presence of the blind spot target that could not be detected by the own vehicle A is detected. Can be recognized. As a result, in the example shown in FIG. 3, it is possible to prevent a right turn straight-ahead accident between the host vehicle A and the motorcycle C, and to improve vehicle driving safety.

Next, referring to the flowchart of FIG. 2 again, a second embodiment of the present invention will be described.
The configuration of the vehicle driving support device of the second embodiment is the same as that of the first embodiment shown in FIG.

  In the second embodiment, an operation example of the vehicle driving support apparatus of the present invention will be described assuming the scene shown in FIG. In the scene shown in FIG. 4, the preceding vehicle B is traveling in front of the host vehicle A, and the stopped vehicle C is stopped in front of the preceding vehicle B. The stopped vehicle C is stopped by blinking the emergency light, and the preceding vehicle B is decelerated by turning on the brake light in front of the stopped vehicle C. In addition, an oncoming vehicle D is traveling from the front in the oncoming lane.

  In the above scene, first, the vehicle information detection means 5 of the vehicle A detects the vehicle information. Here, the own vehicle information detection means 5 detects the position of the own vehicle A and the vehicle speed vector (step S1 in FIG. 2).

  Next, the detection means 1 detects target information around the host vehicle A. Here, the detection means 1 detects the position and speed vector of the preceding vehicle B and the oncoming vehicle D as own vehicle target information. However, the stopped vehicle C stopped in front of the preceding vehicle B is not detected because it is in the blind spot of the preceding vehicle B (step S2 in FIG. 2).

  Next, the acquisition means 2 acquires the target information detected by the oncoming vehicle D by inter-vehicle communication. The other vehicle target information includes information on the stopped vehicle C that the host vehicle A could not detect in addition to the host vehicle A and the preceding vehicle B detected by the oncoming vehicle D (step S3 in FIG. 2). .

  Next, the extraction unit 3 extracts blind spot target information not included in the own vehicle target information detected by the detection unit 1 from the other vehicle target information acquired by the acquisition unit 2. Here, information such as the position and speed vector of the stopped vehicle C that is included in the other vehicle target information but is not included in the host vehicle target information is extracted as blind spot target information (step S4 in FIG. 2). ).

  Next, the notification means 4 notifies the driver of the host vehicle A of the blind spot target information extracted by the extraction means 3. Here, the driver is notified of the presence of the stopped vehicle C as blind spot target information (step S5 in FIG. 2).

  In reporting the blind spot target information, the display shown in FIG. 4 may be performed. Specifically, the preceding vehicle B, the oncoming vehicle D, and the stopped vehicle C are displayed on the display screen of the car navigation unit so as to overlap the map information. Furthermore, it is desirable that the stopped vehicle C, which is a blind spot target, be displayed with a different brightness and color from other targets in order to make it easier for the driver to recognize the presence.

  In FIG. 4, not only the stopped vehicle C that is a blind spot target but also the preceding vehicle B and the oncoming vehicle D that are other targets are displayed, but only the stopped vehicle C that is a blind spot target is displayed as map information. It may be shown superimposed on.

  When the blind spot target information is notified by display, the presence of the stop vehicle C of the blind spot target and its location may be notified by subtitles. For example, the subtitle “There is a stop vehicle in front of the preceding vehicle” may be displayed on the display screen of the car navigation unit or the dedicated display screen on the instrument panel.

  Moreover, when reporting the blind spot target, the presence of the stop vehicle C, which is a blind spot target, and its location may be notified by voice. For example, it may be announced, for example, “There is a stop vehicle in front of the preceding vehicle”. And it is preferable to perform a display and alert | report with an audio | voice simultaneously.

  In this way, by using the other vehicle target information detected by the oncoming vehicle D in addition to the own vehicle target information detected by the own vehicle A, the presence of the blind spot target that could not be detected by the own vehicle A was detected. Can be recognized. As a result, in the example shown in FIG. 4, for example, it is possible to prevent a rear-end collision accident due to a sudden stop of the preceding vehicle B, and consequently prevent occurrence of a ball collision collision with the preceding vehicle B and the stopped vehicle C. Therefore, it is possible to improve the safety of driving the vehicle.

Next, referring to the flowchart of FIG. 2 again, a third embodiment of the present invention will be described.
The configuration of the vehicle driving support device of the third embodiment is the same as that of the first embodiment shown in FIG.

  In the third embodiment, an operation example of the vehicle driving support apparatus of the present invention will be described assuming the scene shown in FIG. In the scene shown in FIG. 5, an approaching vehicle C is about to enter the road on which the host vehicle A is traveling in front of the host vehicle A from the left side. In addition, an oncoming vehicle D is traveling from the front in the oncoming lane.

  In the above scene, first, the vehicle information detection means 5 of the vehicle A detects the vehicle information. Here, the own vehicle information detection means 5 detects the position of the own vehicle A and the vehicle speed vector (step S1 in FIG. 2).

  Next, the detection means 1 detects target information around the host vehicle A. Here, the detection means 1 detects the position and speed vector of the oncoming vehicle D as own vehicle target information. However, the approaching vehicle C trying to enter from the left side is not detected because it is in the blind spot of the high wall 20 along the road (step S2 in FIG. 2).

  Next, the acquisition means 2 acquires the target information detected by the oncoming vehicle D by inter-vehicle communication. The other vehicle target information includes, in addition to the own vehicle A detected by the oncoming vehicle D, information on the approaching vehicle C that could not be detected by the own vehicle A (step S3 in FIG. 2).

  Next, the extraction unit 3 extracts blind spot target information not included in the own vehicle target information detected by the detection unit 1 from the other vehicle target information acquired by the acquisition unit 2. Here, information such as the position and speed vector of the approaching vehicle C that is included in the other vehicle target information but not included in the host vehicle target information is extracted as blind spot target information (step S4 in FIG. 2). ).

  Next, the notification means 4 notifies the driver of the host vehicle A of the blind spot target information extracted by the extraction means 3. Here, the presence of the approaching vehicle C from the left side is notified to the driver as blind spot target information (step S5 in FIG. 2).

  In reporting the blind spot target information, the display shown in FIG. 5 may be performed. Specifically, the oncoming vehicle D and the approaching vehicle C are displayed on the display screen of the car navigation unit so as to overlap the map information. Furthermore, it is desirable that the approaching vehicle C, which is a blind spot target, be displayed with different brightness and color from other targets so that the driver can easily recognize its presence.

  In FIG. 4, not only the approaching vehicle C that is a blind spot target but also an oncoming vehicle D that is another target is displayed, but only the approaching vehicle C that is a blind spot target is shown superimposed on the map information. May be.

  When the blind spot target information is notified by display, the presence of the stop vehicle C of the blind spot target and its location may be notified by subtitles. For example, the subtitle “There is an approaching vehicle from the front left side” may be displayed on the display screen of the car navigation unit or the dedicated display screen on the instrument panel.

  Moreover, when reporting the blind spot target, the presence of the stop vehicle C, which is a blind spot target, and its location may be notified by voice. For example, it may be announced, for example, “There is an approaching vehicle from the front left side”. And it is preferable to perform a display and alert | report with an audio | voice simultaneously.

  In this way, by using the other vehicle target information detected by the oncoming vehicle D in addition to the own vehicle target information detected by the own vehicle A, the presence of the blind spot target that could not be detected by the own vehicle A was detected. Can be recognized. As a result, in the example shown in FIG. 5, for example, it is possible to prevent the occurrence of a collision accident between the host vehicle A and the approaching vehicle C from the left side, and to improve the safety of driving the vehicle. Can do.

Hereinafter, a fourth embodiment of the vehicle control apparatus of the present invention will be described with reference to the accompanying drawings.
First, with reference to the block diagram of FIG. 6, the structure of the vehicle driving assistance device of 4th Embodiment is demonstrated. As shown in FIG. 6, the vehicle driving support apparatus according to the fourth embodiment includes a detection unit 1 that detects target information around the host vehicle A, and an object around the other vehicle D detected by the other vehicle D. The acquisition means 2 for acquiring the target information, and the extraction means 3 for extracting the blind spot target information not included in the own vehicle target information detected by the detection means 1 from the other vehicle target information acquired by the acquisition means 2. And informing means 4 for informing the driver of the own vehicle A of the blind spot target information extracted by the extracting means 3, and in this embodiment, the position, running speed, running direction, etc. The vehicle information detecting means 5 for detecting vehicle information is provided.
Since the detection unit 1, the acquisition unit 2, the extraction unit 3, the notification unit 4, and the own vehicle information detection unit 5 are the same as those in the first embodiment, detailed description thereof is omitted.

Further, as shown in FIG. 6, the vehicle driving support apparatus of the fourth embodiment includes a course estimation unit 6 that estimates the course of the host vehicle A, and the course and dead spot of the host vehicle A that the course estimation unit 6 estimates. When the collision determination means 7 for determining the collision risk between the host vehicle A and the target related to the blind spot target information based on the target information and the collision determination means 7 determine that the collision risk is high, It further includes avoidance support means 8 that supports the collision avoidance operation of the host vehicle A.
The course estimation means 6, the collision determination means 7, and the avoidance support means 8 are realized by the in-vehicle computer 10. These processing functions may be realized, for example, by causing the computer 10 to execute software, or may be realized by a dedicated chip.

  The course estimation unit 6 estimates the position and speed vector of the host vehicle A after a predetermined time based on information such as the position and speed vector of the host vehicle A detected by the host vehicle information detection unit 5. In the estimation, for example, the course of the host vehicle may be estimated by extrapolation based on the host vehicle information detected a plurality of times in the past.

In determining the risk of collision between the host vehicle A and the blind spot target, the collision determination means 7 may calculate the overlap between the estimated course of the host vehicle A and the estimated course of the blind spot target after a predetermined time. Then, when the estimated courses overlap or approach each other, it may be determined that the risk of collision is high.
It is desirable that the collision determination means 7 determine not only the risk of collision between the host vehicle A and the blind spot target but also the risk of collision between the host vehicle A and another target.

  The avoidance support means 6 decelerates or stops the host vehicle A by, for example, operating the braking device 9 when the risk of collision is high. Specifically, the brake pressure of the brake actuator may be controlled.

Next, an operation example of the driving support apparatus for a vehicle according to the first embodiment will be described with reference to a flowchart of FIG.
However, among the processing steps shown in the flowchart of FIG. 7, own vehicle information detection (step S1 in FIG. 7), own vehicle target information detection (step S2 in FIG. 7), and other vehicle target information detection (in FIG. 7). Since the process of step S3) and blind spot target information extraction (step S4 of FIG. 7) is the same as that in the first embodiment described above, detailed description thereof is omitted.

  In the fourth embodiment, the scene shown in FIG. 3 is assumed as in the first embodiment. In the scene shown in FIG. 3, when the host vehicle A is about to turn right at the intersection, the oncoming vehicle B, the motorcycle C, and the following vehicle D are traveling from the oncoming lane.

  In the above scene, following the blind spot target information extraction process (step S4 in FIG. 7), the own vehicle information detection means 5 of the own vehicle A of the own vehicle A detects the own vehicle information. Here, the host vehicle information detection means 5 estimates the course of the host vehicle A based on the position of the host vehicle A and the vehicle speed vector (step S5 in FIG. 7).

Next, the collision determination means 7 determines the risk of collision between the host vehicle A and the motorcycle C, which is a blind spot target (step S6 in FIG. 7).
For example, in the scene shown in FIG. 3, when the own vehicle A starts a right turn immediately after the oncoming vehicle B passes the intersection, the course of the own vehicle A estimated by the course estimating means 5 and the prediction of the motorcycle C It is determined that the course overlaps. In this case, the collision determination means 7 determines that the risk of collision is high.
In addition to the collision risk between the host vehicle A and the blind spot target, the collision determination unit 7 desirably determines the collision risk between the host vehicle A and another target.

  When it is determined that the risk of collision is high (in the case of “Yes” in step 6 of FIG. 7), the notification unit 4 notifies the driver of blind spot target information and also notifies the danger of collision. Good. Specifically, in addition to displaying a blind spot target as shown in FIG. 3, it is good to sound an alarm buzzer. When target information is displayed on the display screen of the car navigation unit on top of the map information, other targets are used to make it easier for the driver to recognize the presence of targets with high risk of collision. It is desirable to display the mark with different brightness and color, and further blink it.

  In this embodiment, the blind spot target information is notified only when the risk of collision is high, but the blind spot target information, particularly the presence of the blind spot target, is displayed regardless of the high risk of collision. You may make it alert | report.

Subsequently, the collision avoidance means 8 activates the braking device 9 to support the collision avoidance operation of the host vehicle A. In the present embodiment, the collision avoidance means 8 suddenly stops the host vehicle A that has started making a right turn immediately after the oncoming vehicle B passes, and avoids a collision with the motorcycle C (step S8 in FIG. 7).
Note that the notification (step 7) and the collision avoidance support (step 8) may be performed simultaneously. Further, the collision avoidance support (step 8) may be executed when the risk of collision becomes higher than when the notification (step 7) is performed.

  In this way, by using the other vehicle target information detected by the following vehicle D in addition to the own vehicle target information detected by the own vehicle A, the blind spot target and the own vehicle that could not be detected by the own vehicle A are obtained. The risk of collision with A can be determined. As a result, in the example shown in FIG. 3, it is possible to further prevent a right turn straight-ahead accident between the host vehicle A and the motorcycle C and further improve the safety of driving the vehicle.

Next, referring to the flowchart of FIG. 7 again, a fifth embodiment of the present invention will be described.
The configuration of the vehicle driving support apparatus of the fifth embodiment is the same as that of the fourth embodiment shown in FIG.

  In the fifth embodiment, an operation example of the vehicle driving support apparatus of the present invention will be described assuming the scene shown in FIG. 4 as in the second embodiment. In the scene shown in FIG. 4, the preceding vehicle B is traveling in front of the host vehicle A, and the stopped vehicle C is stopped in front of the preceding vehicle B. The stopped vehicle C is stopped by blinking the emergency light, and the preceding vehicle B is decelerated by turning on the brake light in front of the stopped vehicle C. In addition, an oncoming vehicle D is traveling from the front in the oncoming lane.

  In the above scene, following the blind spot target information extraction process (step S4 in FIG. 7), the own vehicle information detection means 5 of the own vehicle A of the own vehicle A detects the own vehicle information. Here, the host vehicle information detection means 5 estimates the course of the host vehicle A based on the position of the host vehicle A and the vehicle speed vector (step S5 in FIG. 7).

Next, the collision determination means 7 determines the risk of collision between the host vehicle A, the stopped vehicle C that is a blind spot target, and the preceding vehicle B (step S6 in FIG. 7).
For example, in the scene shown in FIG. 4, it is determined that the position after a predetermined time of the host vehicle A overlaps with the stop position of the stopped vehicle C. In this case, the collision determination means 7 determines that the risk of collision is high. Even when the preceding vehicle B stops suddenly, it is determined that the position after a predetermined time overlaps the position of the preceding vehicle B that stops suddenly. Also in this case, the collision determination means 7 determines that the risk of collision is high.

  When it is determined that the risk of collision is high (in the case of “Yes” in step 6 of FIG. 7), the notification unit 4 notifies the driver of blind spot target information and also notifies the danger of collision. Good. Specifically, as shown in FIG. 4, in addition to displaying the stopped vehicle C that is a blind spot target, an alarm buzzer may be sounded. Further, when the target information is displayed on the display screen of the car navigation unit so as to be superimposed on the map information, the driver can easily recognize the presence of the stopped vehicle C and the preceding vehicle B having a high risk of collision. For this reason, it is desirable to display other targets with different brightness and color, and further blinking.

  Subsequently, the collision avoidance means 8 activates the braking device 9 to support the collision avoidance operation of the host vehicle A. In the present embodiment, the host vehicle A is decelerated so as to stop in front of the preceding vehicle B, and a ball collision with the stopped vehicle C and the preceding vehicle B is avoided (step S8 in FIG. 7).

  In this way, by using the other vehicle target information detected by the oncoming vehicle D in addition to the own vehicle target information detected by the own vehicle A, a stop that is a blind spot target that could not be detected by the own vehicle A The risk of collision with the vehicle C and the preceding vehicle B can be determined. As a result, in the example shown in FIG. 4, it is possible to further prevent the occurrence of a rear-end collision between the host vehicle A, the preceding vehicle B, and the stopped vehicle C, and to further improve the safety of driving the vehicle. it can.

Next, referring to the flowchart of FIG. 7 again, a sixth embodiment of the present invention will be described.
The configuration of the vehicle driving support apparatus of the sixth embodiment is the same as that of the fourth embodiment shown in FIG.

  In the sixth embodiment, an operation example of the vehicle driving support device of the present invention will be described assuming the scene shown in FIG. 5 as in the third embodiment. In the scene shown in FIG. 5, the approaching vehicle C is about to enter the road on which the host vehicle A is traveling in front of the host vehicle A from the left side. In addition, an oncoming vehicle D is traveling from the front in the oncoming lane.

  In the above scene, following the blind spot target information extraction process (step S4 in FIG. 7), the own vehicle information detection means 5 of the own vehicle A of the own vehicle A detects the own vehicle information. Here, the host vehicle information detection means 5 estimates the course of the host vehicle A based on the position of the host vehicle A and the vehicle speed vector (step S5 in FIG. 7).

Next, the collision determination means 7 determines the risk of collision between the host vehicle A and the approaching vehicle C, which is a blind spot target (step S6 in FIG. 7).
For example, in the scene shown in FIG. 5, it is determined that the position of the host vehicle A after a predetermined time overlaps the position of the approaching vehicle C that has entered the road. In this case, the collision determination means 7 determines that the risk of collision is high.

  When it is determined that the risk of collision is high (in the case of “Yes” in step 6 of FIG. 7), the notification unit 4 notifies the driver of blind spot target information and also notifies the danger of collision. Good. Specifically, as shown in FIG. 5, in addition to displaying the approaching vehicle C that is a blind spot target, it is preferable to sound an alarm buzzer. Further, when the target information is displayed on the display screen of the car navigation unit so as to be superimposed on the map information, the driver can easily recognize the presence of the stopped vehicle C and the preceding vehicle B having a high risk of collision. For this reason, it is desirable to display other targets with different brightness and color, and further blinking.

  Subsequently, the collision avoidance means 8 activates the braking device 9 to support the collision avoidance operation of the host vehicle A. In the present embodiment, the host vehicle A is decelerated to avoid an encounter collision with the approaching vehicle C (step S8 in FIG. 7).

  Thus, in addition to the own vehicle target information detected by the own vehicle A, by using the other vehicle target information detected by the oncoming vehicle D, an approach that is a blind spot target that could not be detected by the own vehicle A The risk of collision with the vehicle C can be determined. As a result, in the example shown in FIG. 5, it is possible to further prevent the occurrence of a collision accident between the host vehicle A and the approaching vehicle C and further improve the safety of driving the vehicle.

  In each embodiment mentioned above, although the example which constituted the present invention on specific conditions was explained, the present invention can perform various change and combination, and is not limited to this. For example, in the above-described embodiment, the example in which the brake actuator by the collision avoidance support means is driven to decelerate the host vehicle has been described. However, the collision avoidance support means controls the steering device to control the vehicle, for example. You may make it carry out a collision avoidance movement.

It is a block diagram explaining the composition of the driving support device of vehicles of a 1st embodiment of the present invention. It is a flowchart explaining operation | movement of the driving assistance apparatus of the vehicle of 1st Embodiment of this invention. It is a schematic diagram which shows an example of the blind spot target on the road in 1st and 4th embodiment of this invention. It is a schematic diagram which shows an example of the blind spot target on the road in 2nd and 5th embodiment of this invention. It is a schematic diagram which shows an example of the blind spot target on the road in 3rd and 6th embodiment of this invention. It is a block diagram explaining the structure of the driving assistance device of the vehicle of 2nd Embodiment of this invention. It is a flowchart explaining operation | movement of the driving assistance device of the vehicle of 2nd Embodiment of this invention.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Detection means 2 Acquisition means 3 Extraction means 4 Notification means 5 Own vehicle information detection means 10 Computer 20 High wall

Claims (7)

Detection means for detecting target information around the vehicle;
Acquisition means for acquiring target information around the other vehicle detected by the other vehicle;
Extraction means for extracting blind spot target information not included in the own vehicle target information detected by the detection means from other vehicle target information acquired by the acquisition means;
Informing means for informing the driver of the own vehicle of blind spot target information extracted by the extracting means;
A vehicle driving support apparatus comprising: The acquisition means receives other vehicle target information transmitted from another vehicle by inter-vehicle communication, and transmits the own vehicle target information.
The driving support apparatus for a vehicle according to claim 1. The notification means notifies the blind spot target information by display,
The driving support apparatus for a vehicle according to claim 1 or 2. The notification means notifies the blind spot target information by voice,
The driving support apparatus for a vehicle according to any one of claims 1 to 3. Course estimation means for estimating the course of the host vehicle;
Collision determination means for determining a collision risk between the own vehicle and the target related to the blind spot target information based on the course of the host vehicle and the blind spot target information estimated by the course estimation means;
Avoidance support means for supporting the collision avoidance operation of the host vehicle when the collision determination means determines that the risk of collision is high;
The vehicle driving support device according to any one of claims 1 to 4, further comprising: The avoidance support means operates a braking device to decelerate or stop the host vehicle,
The vehicle driving support device according to claim 5, wherein: The informing means only informs the driver of the host vehicle of the blind spot target information when the collision determination unit determines that the risk of collision between the host vehicle and the target related to the blind spot target information is high. The driving support apparatus for a vehicle according to claim 5 or 6.

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