JP2010123026A - Information provision device and information provision method - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an information provision device and an information provision method, allowing supply and release of information provision in proper timing by performing more robust driving support for encounter collision prevention in a safe driving support system. <P>SOLUTION: The information provision device includes: a road condition decision part 13b for deciding whether a road on which a target vehicle travels is a priority road 27 or a non-priority road 28 intersecting the priority road 27 at an intersection; a time condition decision part 13c for deciding crossing of the target vehicle and a moving body intersecting the target vehicle in the intersection by use of intersection prediction arrival times until two sides arrive at the intersection; a distance condition decision part 13d for deciding the crossing of the target vehicle and the moving body by use of intersection prediction arrival distances until the two sides arrive at the intersection; and a driving condition decision part 13e for deciding a movement state of the target vehicle. Based on decision results of the respective decision parts, the information provision device decides whether or not to perform the information provision or attention arousing. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention relates to an information providing apparatus and an information providing method provided in a safe driving support system.

  Conventionally, various technologies have been proposed for road-to-vehicle communication in which various types of information are transmitted and received between an in-vehicle device mounted on a vehicle traveling on a road and a road-side communication device installed on the road side. As an example, DSRC (Dedicated Short Range Communication) has been developed, which is an extension of the communication technology in ETC (Electronic Toll Collection System). Using such high-speed transmission technology, provision of information on safe driving support is about to be put into practical use.

  For providing information related to safe driving support, DSSS (Driving Safety Support Systems), which prevents traffic accidents by coordinating road-to-vehicle communication using conventional optical beacons and road-to-vehicle communication technology using DSRC, has been studied. As a result, expectations for reducing traffic accidents are growing.

  Conventionally, as a technology for preventing encounter accidents by using communication, for example, for vehicles traveling on non-priority roads, vehicles can meet each other by supporting safe access to intersections between priority roads and non-priority roads. There has been proposed a system that can prevent accidents and prevent accidents between vehicles by assisting the vehicle that has stopped before the intersection to start after stopping (for example, Patent Documents). 1).

JP 2002-163789 A

  In Patent Document 1, an encounter accident at the intersection of a priority road and a non-priority road is determined by crossing the roadside infrastructure using the distance condition between vehicles. It is not advantageous in that it uses HMI (Human Machine Interface) information for danger detection, such as difficulty in grasping the distance. In addition, the roadside infrastructure performs intersection determination by receiving deceleration information from the vehicle, and for vehicles entering the intersection, intersection determination is performed under limited communication conditions. Not robust. For this reason, when information related to safe driving support is provided, information provision may end immediately due to changes or lack of judgment conditions, or information may continue to be provided without termination, which is uncertain for the driver. It is assumed that the function as a safe driving support is not fulfilled due to the confusion caused by the provision of information. Furthermore, it is difficult to simultaneously control a large number of vehicles by the roadside infrastructure because the roadside load increases rapidly, and there is a possibility that reliability for providing safe driving support information may be reduced.

  The present invention has been made to solve these problems, and provides an information provision apparatus and information that can provide driving assistance for preventing encounter accidents more robustly in a safe driving assistance system and provide information provision at an appropriate timing. An object is to provide a providing method.

  In order to solve the above problems, an information providing apparatus according to the present invention includes a communication unit that acquires traffic information, a sensor unit that acquires vehicle information of a target vehicle, and a parameter management unit that manages reference parameter information. Information provision judging means for judging whether to provide information or alerting based on traffic information, vehicle information, and parameter information, and information provision and alerting based on a judgment result by the information provision judging means HMI information output control means for controlling the output of HMI (Human Machine Interface) information including information, and the information provision judgment means is a priority road or a priority road where the road on which the target vehicle is traveling intersects with the priority road. A road condition determination unit that determines one of the priority roads, and a moving object that intersects the target vehicle at the intersection and the target vehicle at the intersection The time condition determination unit that determines the intersection between the two using the predicted arrival time until reaching the intersection, and the distance that determines the intersection between the target vehicle and the moving object using the predicted arrival distance until the intersection reaches the intersection It includes a condition determination unit and a driving condition determination unit that determines the operation state of the target vehicle, and is characterized by determining whether to provide information or call attention based on a determination result by each determination unit.

  According to the present invention, the information provision determination means includes a road condition determination unit that determines whether the road on which the target vehicle is traveling is a priority road or a non-priority road that intersects the priority road at the intersection, and the target vehicle and the intersection. The time condition determination unit that determines the intersection of the two using the predicted intersection arrival time until the moving vehicle and the target vehicle that intersect at the intersection reach the intersection, and the intersection prediction until the target vehicle and the moving vehicle reach the intersection Whether to provide information or call attention based on the determination result by each determination unit, including a distance condition determination unit that determines the intersection of both using the reach distance and a driving condition determination unit that determines the operation state of the target vehicle In order to determine whether or not, the safe driving support system can provide more robust driving assistance for encounter accidents and provide information at an appropriate timing.

  Embodiments of the present invention will be described below with reference to the drawings.

  DSSS system application services include a right-hand accident prevention information provision service, a left turn accident prevention information provision service, a rear-end collision prevention information provision service, a temporary stop accident prevention information provision service, an encounter accident prevention information provision service, etc. Have been considered. In the present embodiment, the determination of information provision of the encounter accident prevention information provision service will be described below.

  FIG. 1 is a block diagram of a safe driving support system that implements an information providing apparatus according to an embodiment of the present invention. The in-vehicle device 1 (information providing device) mounted on the target vehicle assumes a configuration having a DSSS determination processing function based on an ITS (Intelligent Transport System) on-vehicle device. The optical beacon receiver 2 and the DSRC in-vehicle device 3 can transmit and receive road-vehicle communication information between the optical beacon roadside device 8 and the DSRC roadside device 9 by wireless communication. Here, the wireless communication medium may be a vehicle-to-vehicle communication device, a wireless tag, a wireless LAN (including WiFi and WiMAX), a mobile phone, and the like. The vehicle sensor 4 can acquire sensor information related to the speed, acceleration, brake, winker, accelerator, steering, wiper, engine, shift, and the like of the subject vehicle that is the target vehicle. From the in-vehicle device 1, images, sounds, texts, codes, and the like, which are HMI information, can be transmitted to the car navigation 5 as a safe driving support system and displayed on the display 7, or the transmission to the car navigation 5 can be canceled. it can. The other processing device 6 is a vehicle-mounted system different from the vehicle-mounted device 1 according to the present embodiment. For example, there is a vehicle-mounted device in an ASV (Advanced Safety Vehicle). The in-vehicle device 1 can display the safe driving support information in another system on the car navigation 5 by transmitting the information determination result to the other processing device 6. Here, the DSRC vehicle-mounted device 3 and the car navigation 5 may be ITS vehicle-mounted devices.

  Since the optical communication area of the optical beacon roadside machine 8 is as narrow as several meters, basically only one vehicle can exist in the optical communication area, and a plurality of vehicles cannot exist at the same time. Accordingly, the optical beacon receiver 2 receives only information directed to the own vehicle, and does not receive information directed to other vehicles. Therefore, the optical beacon receiver 2 can obtain the safety support information as the downlink information by uplinking the DSSS service ID, and the in-vehicle device 1 obtains the lane information while traveling and relates to the intersection encounter. Information can be obtained.

  Since the DSRC roadside unit 9 has a wide radio communication area of several tens of meters, there may be a plurality of vehicles at the same time in the radio communication area. Therefore, the DSRC in-vehicle device 3 may receive information directed to other vehicles in addition to the information directed to the own vehicle. Therefore, the DSRC in-vehicle device 3 selects whether or not the downlink information is information necessary for the own vehicle, and outputs only the downlink information necessary for the own vehicle to the in-vehicle device 1. At this time, the downlink information may be acquired from the optical beacon roadside device 8 even if the DSRC roadside device 9 is not installed.

  The optical beacon roadside machine 8 and the DSRC roadside machine 9 installed on the roadside are connected to the information relay device 29. Similarly, the vehicle detection information and the traffic signal detected by the vehicle detection sensor 20 connected to the information relay device 29 are connected. 25 signal information is received via the information relay device 29 and transmitted to the vehicle.

  The car navigation 5 has a car navigation function and functions as HMI information between the vehicle and the driver. In addition, the car navigation system 5 may include a GPS (Global Positioning System) receiver, obtain position information of the host vehicle from the GPS receiver, and output the vehicle information as vehicle information. The car navigation 5 performs image display, voice output, text display, and the like based on the safe driving support HMI information received from the in-vehicle device 1. Therefore, the alerting information of the encounter accident is notified to the driver of the own vehicle, and the encounter accident in front of the own vehicle can be avoided in advance.

  FIG. 2 is a block diagram of an information providing apparatus according to an embodiment of the present invention. As shown in FIG. 2, the in-vehicle device 1 includes a communication unit 10 that acquires traffic information 17, a sensor unit 11 that acquires vehicle information 18 of a target vehicle, and a parameter management unit 14 that manages reference parameter information. Based on the traffic information 17, the vehicle information 18, and the parameter information, the information provision judgment means 13 for judging whether or not to provide information or alert, and the information provision based on the judgment result by the information provision judgment means 13 And HMI information output control means 15 for controlling the output of the HMI information 16 including the warning.

  The in-vehicle device 1 is, for example, an in-vehicle device that supports VICS, DSRC, and DSSS, which are road-to-vehicle communication using wireless communication. Each of VICS, DSRC, and DSSS is a part of UTMS (Universal Traffic Management System), a VICS optical beacon receiver 2 that provides road traffic information, and communication technology in ETC. Car decision to provide information for preventing traffic accidents by using at least one of DSRC on-board device 3 of DSRC that extends and provides information, optical beacon receiver 2 and DSRC on-board device 3 Operates as a type of DSSS (Safe Driving Support System).

  FIG. 3 is a block diagram of the information provision judging means 13 according to the embodiment of the present invention. As shown in FIG. 3, the information provision determination unit 13 uses the traffic information 17 managed by the data management unit 12 to determine whether the information is the target information of the encounter accident prevention support service. A road condition determination unit 13b that determines whether the road on which the target vehicle is traveling is a priority road or a non-priority road that intersects the priority road at an intersection; and a moving object that intersects the target vehicle at the intersection and the target vehicle Both using the time condition determination unit 13c that determines the intersection of the two using the predicted intersection arrival time until each reaches the intersection, and the predicted intersection arrival distance until each of the target vehicle and the moving body reaches the intersection. A distance condition determination unit 13d that determines the intersection of the vehicle and a driving condition determination unit 13e that determines the operation state of the target vehicle. Determines whether to perform the information provision or caution against hand, is output to the HMI information output control section 15. Each determination unit performs a calculation process using information obtained from the traffic information 17 and the vehicle information 18. In addition, each of the time condition determination part 13c, the distance condition determination part 13d, and the driving condition determination part 13e may be combined according to the specification of the vehicle-mounted apparatus 1, and one part may be used. The HMI information output control means 15 outputs the HMI information 16 about the intersection with the moving body traveling on the non-priority road when the target vehicle is determined to be traveling on the priority road by the driving condition determination unit 13e. When it is determined by the driving condition determination unit 13e that the target vehicle is traveling on the non-priority road, the HMI information 16 about the intersection with the moving body traveling on the priority road is output.

  FIG. 4 is a diagram illustrating an example of a system arrangement on the infrastructure side in the safe driving support system according to the embodiment of the present invention. FIG. 4 illustrates the information providing service for the second car among the functions of the encounter accident prevention information providing service. As shown in FIG. 4, a two-wheeled vehicle 22 (target vehicle) traveling on the priority road 27 toward the intersection 26, traveling on the non-priority road 28 and approaching the intersection 26 ( The approach information of the mobile body is provided as traffic information from a roadside system such as the optical beacon roadside machine 8 or the DSRC roadside machine 9. The approach information of the single car 23 may be travel lane information, speed information, and position information. The roadside system may also provide signal information, stop line information, and the like near the intersection 26. The in-vehicle device 1 mounted on the two-wheeled vehicle 22 determines the traffic information provided from the roadside system, and transmits alert information for preventing accidents to the driver according to the situation.

  By the above service, at the intersection where the encounter accident occurs, the two-wheeled vehicle 22 traveling on the priority road 27 can recognize in advance the one-vehicle 23 that is about to enter the intersection 26 from the non-priority road 28. This is effective in preventing accidental encounters caused by jumping out of one car 23.

  In the infrastructure system according to the present embodiment shown in FIG. 4, the vehicle detection sensor 20 is installed on the non-priority road 28 side at the intersection 26 where the non-priority road 28 and the priority road 27 intersect. The vehicle detection sensor 20 can calculate the distance and speed from the center of the intersection 26 to the one wheel 23 and the type of the one wheel 23 (four wheels, two wheels, etc.). The optical beacon roadside machine 8 is installed upstream of the priority road 27 from the center of the intersection 26, and the DSRC roadside machine 9 is defined as the DSRC communication area 19 from the center of the intersection 26 to the optical beacon roadside machine 8. The DSRC communication area 19 can be changed according to the transmission power of the DSRC roadside device 9.

  Regarding the design parameters of the in-vehicle device 1, parameters that serve as design criteria such as the installation position of the optical beacon roadside machine 8 and the DSRC roadside machine 9, which are roadside infrastructure, the vehicle detection area 21, and information provision judgment are as follows. The following parameters can be changed.

The application upper limit speed is set to the regulation speed +10 km / h. The traveling speed of the intersection 26 is assumed to be reduced to 20 km / h when turning right or left. For design deceleration, the deceleration after the alert (Cognitive miss assumed) is a passenger car 0.3G (2.94m / s ^2), and 0.18G (1.8m / s ²⁾ in large vehicles. The design acceleration is the acceleration when starting normally after a temporary stop, and the acceleration from the stop state until the rear end of the vehicle passes the collision point (collision point). In this case, 0.1G in the passenger car length 5m (0.98m / s ^2), and 0.05G (0.49m / s ²⁾ in a large vehicle car length 12m. The reaction time is the time from the start of safe driving support until the driver starts to move, and the time is 3.2 seconds. The system delay time is a maximum of 2.0 seconds. However, the time until roadside infrastructure + vehicle side reception, determination processing, and display processing may be included, and display processing time for the car navigation system 5 may be included. Also, system delay time = [infrastructure information transmission delay (0.4 seconds: ASV specification)] + [optical beacon reception processing delay (0.3 seconds)] + [in-vehicle device determination processing delay (0.3 seconds)] + [Navigation display processing delay (0.5 seconds)] + [Delay time fluctuation (maximum 0.5 seconds)], and each delay time and item can be changed. It may be 0 seconds. Note that the design parameters defined in the present embodiment are held in the parameter management means 14 of the in-vehicle apparatus 1 and can be changed.

  The installation standards of the optical beacon roadside machine 8, the DSRC roadside machine 9, and the vehicle detection sensor 20 which are roadside infrastructures are shown below.

  The optical beacon roadside unit 8 includes an optical receiver and a controller, and is installed at various locations on the road such as an intersection, and performs optical communication with the two-wheeled vehicle 22 using near infrared rays. The in-vehicle device 1 acquires safe driving support information as optical beacon information from the optical beacon receiver 2 that is the communication unit 10. On the other hand, the DSRC roadside machine 9 performs radio wave communication with the in-vehicle device 1 using a radio wave signal of 5.8 GHz in a DSRC communication area 19 of several meters to several tens of meters. Safe driving support information is acquired as DSRC information from a certain DSRC in-vehicle device 3.

  The vehicle detection sensor 20 is, for example, an image sensor that detects a vehicle from a camera image. The vehicle detection sensor 20 detects the one vehicle 23 in a vehicle detection area 21 of several meters to several tens of meters or more and outputs it as vehicle detection information. The vehicle detection information is information related to the vehicle detected by the vehicle detection sensor 20 and includes information such as the position, distance, and speed of the vehicle to be detected and the vehicle type. The vehicle detection sensor 20 may be configured with a single-function sensor such as an ultrasonic sensor or an optical sensor, and the vehicle detection sensor 20 may be configured with an optical beacon with a vehicle detection function or a DSRC roadside device.

  The traffic light 25 is installed at an intersection 26 or the like, and outputs a signal lamp display and signal information to the information relay device 29. The signal information indicates control signals such as red, yellow, blue, and arrows in the traffic light 25 in real time.

  The information relay device 29 is connected to the optical beacon roadside machine 8, the DSRC roadside machine 9, the vehicle detection sensor 20, and the traffic light 25, and is installed near the intersection 26. The information relay device 29 acquires, for example, the vehicle detection information of the vehicle detection sensor 20 and the signal information of the traffic light 25, processes the vehicle detection information, the vehicle type information, the signal information, and the like. It is periodically distributed to the DSRC roadside device 9. Since the optical beacon receiver 8 and the DSRC roadside unit 9 that have received the traffic information 17 are periodically delivered to the vehicle, the optical beacon roadside unit 8 and the DSRC are provided to provide safe driving support information. The installation position of the roadside machine 9 is important.

  The traffic information 17 (road-to-vehicle communication information) distributed from the optical beacon roadside machine 8 or the DSRC roadside machine 9 includes obstacle detection information indicating support data classification for encounter support, and obstacles of the own vehicle in the vehicle detection area 21. It represents the detection information of the four-wheeled vehicle or two-wheeled vehicle, and the obstacle event expression information or the obstacle detection event expression information indicating the position, type, quantity, lane, etc., the road of the target intersection and the pedestrian traffic light information Represents the signal traffic direction, intersection route, lamp number, number of lamps, lamp color, etc., and the stop line information of the four-wheeled and two-wheeled vehicles at the target intersection, lane number, number of lanes, route Signal event expression information indicating distance, latitude and longitude is included. In particular, the traffic information 17 distributed from the optical beacon roadside machine 8 includes AMIS (Advanced Mobile Information Systems) basic information indicating the lane and the number of lanes, and the target intersection from the optical beacon representing the road shape from the target intersection. Road alignment information that expresses the distance to the road with nodes and links is included.

The installation standard of the optical beacon roadside machine 8 is a point that is away from the center of the intersection 26 in the upstream direction by a distance L1 or more. The distance L1 indicates the idle travel distance (service speed × reaction time) and the braking distance ((service speed) when the two-wheeled vehicle 22 equipped with the in-vehicle device 1 uses the travel speed when passing through the optical beacon roadside machine 8 as the service speed. ) the total distance between the ^2/2 × (design deceleration)).

Distance from the center of the intersection 26 to the optical beacon roadside unit 8: L1 [m]
Service speed of two-wheeled vehicle 22: V2 = 60 [km / h]
System delay time of the second car 22: Tp2 = 2 [sec]
Reaction time of second wheel 22: Td2 = 3.2 [sec]
Design deceleration of double wheel 22: α2 = 3 [m / s ² ]
Then,
L1 = V2 ² / 2α2 + V2 (Tp2 + Td2) ≈133 [m]
It becomes.

  The DSRC communication area 19 of the DSRC roadside machine 9 has a communication area length L2 in the upstream direction from the center of the intersection 26.

      L2 = distance L1 [m] to the optical beacon roadside machine 8 (depending on transmission power)

  The communication area length L2 may be L1 or less or L1 or more depending on the transmission power of the DSRC roadside device 9. When the DSRC roadside machine 9 cannot be installed, only the optical beacon roadside machine 8 may be installed.

In this embodiment, the vehicle detection sensor 20 is an image sensor using a camera. The vehicle detection area 21 has a sensing area length Ls for detecting the one vehicle 23 from the center of the intersection 26.
Distance from the center of the intersection 26 to the detection start position of the one car 23: Ls [m]
Speed of one car 23: V1 = 40 [km / h]
Design deceleration of one car 23: α1 = 3 [m / s ² ]
Time until the vehicle 23 reaches the center of the intersection 26: T1 = Tp2 + Td2 = 5.2 [sec]
Then,
Ls = V1 ² / 2α1 + V1T1≈78 [m]
In the present embodiment, the information target section of the safe driving support is the section upstream of the non-priority road 28 from the intersection 26 and is a section where the image sensor that is the vehicle detection sensor 20 can detect the vehicle.

  The determination of the provision of information for safe driving assistance to the driver is performed using road-to-vehicle data, that is, obstacle detection information (support data classification = meeting) and obstacle event expression information (obstacle information).

  The information display content for the driver assumes that the two-wheeled vehicle 22 stops toward the center of the intersection 26 (vehicle speed is 0 km / h), and the encounter warning information (image, voice, text, vibration) as the HMI information 16 Etc.). In addition, when the one car 23 is away from the center of the intersection 26, service provision information (image, voice, text, vibration, etc.) indicating that the intersection 26 is an encounter accident prevention provision service target is provided.

  A device that can directly alert the driver who is driving the mounted vehicle, such as the display of the car navigation 5, the output of the audio speaker, the vibration of the steering wheel and seat, the tightening of the seat belt, etc., by the HMI information 16 provided to the driver To provide safe driving support.

  FIG. 5 is a diagram illustrating an example of car navigation display output for safe driving support according to the embodiment of the present invention. As shown in FIG. 5, for example, when the optical beacon receiver 2 or the DSRC in-vehicle device 3 receives the DSSS data from the traffic information 17 or the vehicle information 18 acquired by the in-vehicle device 1, the DSSS service in 32 is displayed on the map screen 30. An icon is displayed, and a DSSS service screen 31 showing an encounter accident prevention service is displayed. The icon of the DSSS service-in 32 is the HMI information 16 indicating service-in, and may be a graphic or text indicating the encounter accident prevention service, or may not be displayed.

  In FIG. 5 (a), when there is no one-off car 23 on the non-priority road 28, a text or a similar image showing that the intersection 26 is an intersection for which the encounter accident prevention service is provided is displayed on the DSSS service screen. 31.

  In FIG. 5B, when a one-wheeled vehicle 23 exists on the non-priority road 28 and it is determined that an encounter accident will occur, an HMI display useful for alerting to prevent an encounter accident, for example, a jump-out notice, etc. A text that can guide the deceleration of the two-wheeled vehicle 22 and a similar image are displayed. The road information in the HMI information 16 may clearly indicate the priority road 27 and the non-priority road 28, or may be clearly indicated by changing the paint color or shape for the road to be alerted. Further, the vehicle type information of the vehicle to be alerted may be displayed by switching from the type such as a four-wheeled vehicle or a two-wheeled vehicle to an image corresponding to the vehicle type. The display of the image on the DSSS service screen 31 may be an entire screen or may be displayed on the map screen 30. Moreover, you may display on the right and left of the intersection currently displayed on the DSSS service screen 31 according to whether the vehicle used as an alerting object approaches from the right or left of the intersection 26.

  As another method for providing the HMI information 16 that directly alerts the driver, a beep sound may be emitted from a speaker in the vehicle. For example, when there is no one-on-one car 23 on the non-priority road 28, it is determined that a single sound is generated by a beep sound of a certain frequency, or a one-on-one car 23 exists on the non-priority road 28 and an encounter accident occurs. In this case, the frequency may be different from the above frequency, and a repeated sound of the frequency is generated. At this time, the frequency may be switched depending on the vehicle type based on the vehicle type information. Further, when the one-off vehicle 23 does not exist on the non-priority road 28, it may be pronounced as an encounter warning based on the obstacle detection information.

  Further, as another method of directly alerting the driver, vibration may be added to the seat or the handle. For example, if the one-off car 23 does not exist on the non-priority road 28, it may be issued in a short time with a constant frequency vibration, and it is determined that the first car 23 exists on the non-priority road 28 and an encounter accident occurs. In such a case, the frequency may be different from the above-mentioned frequency, and vibration of the frequency may be repeatedly generated. At this time, the frequency may be switched depending on the vehicle type based on the vehicle type information. Further, when the one-off vehicle 23 does not exist on the non-priority road 28, the vehicle may vibrate to indicate a head-on accident notice from the obstacle detection information.

The provision condition of the HMI information 16 to the driver defines “attention” when there is obstacle detection information by a time condition or a distance condition. Note that either the time condition or the distance condition may be used.
Vehicle speed of second car 22: V2 (60 [km / h])
Distance from second car 22 to center of intersection 26: L2 [m]
Distance from car 23 to center of intersection 26: Ls [m]
Vehicle speed of one car 23: V1 (40 [km / h])
Then, the conditions for providing HMI information are as follows.

The time condition in the time condition determination unit 13c for determining information provision to the driver of the two-wheeled vehicle 22 is:
Time until the second car 22 reaches the center of the intersection 26 at a constant speed: Tc2 = L2 / V2 [sec]
Or
Time until the second wheel 22 decelerates and reaches the center of the intersection 26: Tc2 = (Tdr + Tds) +2 (L2- (Tdr + Tds) V2) / V2 [sec]
Time until the vehicle 23 reaches the center of the intersection 26 at a constant speed: Tc1 = Ls / V1 [sec]
When
Determination condition: Tc1 ≦ Tc2 or Tc1 <Tc2
It becomes.

The distance condition in the distance condition determination unit 13d for determining information provision to the driver of the two-wheeled vehicle 22 is:
Acceleration when the car 23 restarts after stopping: α = 1 [m / s ² ]
Minimum time for the second wheel 22 to reach the center of the intersection 26 at a constant speed: Tc2min = L2 / V2 = 8 [sec]
Or
Distance until the second wheel 22 decelerates and reaches the center of the intersection 26: Tc2min = (Tdr + Tds) +2 (L2- (Tdr + Tds) V2) / V2 [sec]
Maximum distance that the vehicle 23 can accelerate and enter the intersection 26: Lmax = α / 2 × Tc2min2≈32 [m]
When
Judgment conditions: Ls ≦ Lmax or Ls <Lmax
It becomes.

The driving conditions in the driving condition determination unit 13e that determines the provision of information to the driver of the two-wheeled vehicle 22 are:
Brake: OFF (no brake applied)
Vehicle speed of the second wheel 22: The minimum speed (for example, 20 km / h) or higher.

  In this way, the driving condition determination unit 13e determines that the operation state of the two-wheeled vehicle 22 (target vehicle) satisfies a predetermined condition, and the road condition determination unit 13b determines that the two-wheeled vehicle 22 is traveling on the priority road 27. In such a case, the information provision determination means 13 determines the predicted travel time and the predicted reach distance until the second car 22 reaches the intersection 26 at a constant speed, or the time until the second car 22 decelerates and reaches the intersection 26. The predicted travel time and the predicted travel distance are compared with the predicted travel time and the predicted travel distance until the one vehicle 23 (moving body) traveling on the non-priority road 28 reaches the intersection 26 at a constant speed. If it is determined that the one vehicle 23 is shorter or equal in at least one of the travel time and the predicted reach distance, the HMI information output control means 15 outputs a warning of crossing as the HMI information 16.

The erasing condition for erasing the HMI information 16 for the driver is satisfied by satisfying any one of the time condition, the distance condition, and the driving condition. Each of the time condition, the distance condition, and the driving condition includes a time condition determination unit 13c, The distance condition determining unit 13d and the driving condition determining unit 13e determine. As described above, the information provided by satisfying the provision condition of the HMI information 16 is deleted according to the following condition.
Time condition: Fixed time [sec] (for example, 4 [sec] (duration after the display condition is not satisfied))
Distance condition: L2 ≦ 0 (after passing through the center of the intersection 26) or L2 <0
Driving condition: V2 <minimum speed (for example, 20 [km / h]) (speed of the second wheel 22 after the display condition is not satisfied). At this time, V2 may satisfy V2 ≦ 20 [km / h].

  In this way, the driving condition determination unit 13e determines that the operation state of the two-wheeled vehicle 22 (target vehicle) satisfies a predetermined condition, and the road condition determination unit 13b determines that the two-wheeled vehicle 22 is traveling on the priority road 27. In such a case, the HMI information output control means 15 uses the predetermined time condition in the time condition determination unit 13c, the distance condition to the intersection 26 in the distance condition determination unit 13d, and the driving condition determination unit 13e after the display of the HMI information 16. The HMI information 16 is deleted by using the speed condition of the second wheel 22.

  FIG. 6 is a flowchart showing an example of the operation of the information providing apparatus according to the embodiment of the present invention. FIG. 6 shows the operation determination for the two-wheeled vehicle 22 traveling on the priority road 27. When entering the road-to-vehicle communication area after starting the in-vehicle device 1 mounted on the two-wheeled vehicle 22, the optical beacon receiver 2 and the DSRC in-vehicle device 3 obtain the traffic information 17 by repeatedly acquiring the DSSS information, Vehicle information 18 of the host vehicle is repeatedly obtained by the vehicle sensor 4. The obtained traffic information 17 and vehicle information 18 are accumulated and updated in the data management means 12, and the determination process of the two-wheeled vehicle 22 is performed using these information.

  As shown in FIG. 6, the information provision judging means 13 determines whether or not it is an encounter accident prevention support service from the acquired traffic information 17, and if it is another support service or a different road information service, the encounter accident The prevention support service is not started (step S601). When the encounter accident prevention support service is started in step S601, it is determined from the acquired traffic information 17 whether the road on which the vehicle is currently traveling is the priority road 27 or the non-priority road 28, and the vehicle is If it is determined that the vehicle is traveling on the priority road 27, an accident prevention support service is started for the second car 22 (step S602). If it is determined in step S602 that the vehicle is not the priority road 27, it is determined that the vehicle is traveling on the non-priority road 28, and the determination process for the one-vehicle 23 traveling on the non-priority road 28 is started (step S606).

  If it is determined in step S602 that the road is the priority road 27, the road information is processed from the acquired traffic information 17, and it is determined whether or not it is before the stop line of the intersection 26 that is the target of the encounter accident prevention support service. If it is determined that it is before the stop line, the process proceeds to step S604 (step S603). Next, the travel speed is calculated from the vehicle information 18 based on the speed and acceleration of the host vehicle, and if it is equal to or higher than the minimum speed compared with the minimum speed of the design parameter defined by the parameter management means 14, the process proceeds to step S605. The process proceeds (step S604). If it is determined in step S604 that the host vehicle is above the minimum speed, the host vehicle (second car 22) traveling on the priority road 27 and the non-priority road 28 are determined from the acquired traffic information 17 and vehicle information 18. Crossing at the intersection 26 with a traveling vehicle (one car 23) or a stopped vehicle is determined by predicting the intersection arrival time and intersection arrival distance (step S605), and the determination result is output as HMI information. The data is output to the control means 15, and the process returns to step S601. The information provision determination unit 13 repeatedly performs the series of processes described above.

  In the HMI information output control means 15, the latest determination result is repeatedly input from the information provision determination means 13 (step S607), and at the same time, the determination result input last time is held (step S608). Then, the latest determination result in step S607 is compared with the previous determination result in step S608, and it is determined whether the determination result of crossing input from the information provision determination means 13 is the same or different (step S609). . As a result of the determination in step S609, if the crossing determination is different, the HMI information 16 is updated (step S610). If the crossing determination is the same, the HMI information 16 is retained (step S611), and these processes are performed. Repeated during the ongoing accident prevention support service.

  The HMI information 16 output as a result of the crossing determination in step S609 is displayed and output to the driver because it is in the alert state and matches the information display conditions when updated in step S610. On the other hand, when it is held in step S611, the alert state is maintained, and the HMI information 16 displayed and output to the driver is deleted according to the determination of the predetermined information deletion condition (step S612) (step S613). ). The HMI information output control means 15 repeats the above series of processing.

  In this way, the information provision determination means 13 determines whether the two-wheeled vehicle 22 (target vehicle) traveling on the priority road 27 reaches the intersection 26 at a constant speed, The predicted travel time and predicted reach distance until the vehicle 22 decelerates to reach the intersection 26, and the one vehicle 23 (moving body) traveling on the non-priority road 28 stops at a constant acceleration and then starts. When the predicted travel time and the predicted travel distance until reaching the intersection 26 are compared, and it is determined that at least one of the predicted travel time and the predicted travel distance is shorter or equal for the vehicle 23, the HMI information output control means 15 outputs the warning of crossing as HMI information 16. Therefore, for example, even if the communication state in the communication area is bad and a part of the traffic information is missing, the intersection determination process can be performed on the basis of the acquired traffic information 17, so that the robustness against the lack of the traffic information 17 is achieved. It becomes.

  FIG. 7 is a diagram illustrating an example of a system arrangement on the infrastructure side in the safe driving support system according to the embodiment of the present invention. In FIG. 7, the information providing service for the one car 23 in the encounter prevention information providing service will be described. As shown in FIG. 7, the approach information of the two-wheeled vehicle 22 approaching the intersection 26 traveling on the priority road 27 with respect to the one-vehicle 23 traveling on the non-priority road 28 toward the intersection 26 is shown. Provided by roadside system. The approach information of the two-wheeled vehicle 22 may be travel lane information, speed information, and position information. Further, in the vicinity of the intersection 26, signal information, stop line information, and the like may be provided together. The in-vehicle device 1 mounted on the vehicle 23 judges the information provided from the roadside system, and transmits alert information about encounter accident prevention to the driver according to the situation.

  By the above service, at the intersection 26 that is difficult for the two-wheeled vehicle 22 to see, the one-wheeled vehicle 23 traveling on the non-priority road 28 recognizes in advance the two-wheeled vehicle 22 that is about to enter the intersection 26 from the priority road 27. This is effective in preventing crossing accidents at encounters.

  In the infrastructure system according to the present embodiment shown in FIG. 7, the vehicle detection sensor 20 is installed on the priority road 27 side at the intersection 26 where the non-priority road 28 and the priority road 27 intersect. The vehicle detection sensor 20 can calculate the distance and speed from the center of the intersection 26 to the two-wheeled vehicle 22 and the type of the two-wheeled vehicle 22 (four wheels, two wheels, etc.). The optical beacon roadside machine 8 is installed upstream from the center of the intersection 26 to the upstream of the non-priority road 28, and the DSRC roadside machine 9 is connected to the DSRC communication area 19 from the center of the intersection 26 to the optical beacon roadside machine 8 including the stop line. To do. The DSRC communication area 19 can be changed according to the transmission power of the DSRC roadside device 9.

  The installation standards of the optical beacon roadside machine 8, the DSRC roadside machine 9, and the vehicle detection sensor 20 which are roadside infrastructures are shown below.

  The optical beacon roadside machine 8 is installed at a position of a distance L4 in the downstream direction from the stop line.

  The DSRC communication area 19 of the DSRC roadside machine 9 has a communication area length L2 in the upstream direction from the center of the intersection 26. L2 is assumed to be variable according to transmission power and antenna gain.

In this embodiment, the vehicle detection sensor 20 is an image sensor using a camera. The vehicle detection area 21 has a sensing area length Ls for detecting the two-wheeled vehicle 22 from the center of the intersection 26.
Distance from the center of the intersection 26 to the detection start position of the two-wheeled vehicle 22: Ls [m]
Speed of second wheel 22: V2 = 60 [km / h]
Design deceleration of double wheel 22: α2 = 3 [m / s ² ]
Time until the second car 22 reaches the center of the intersection 26: T2 = Tp2 + Td2 = 5.2 [sec]
Then,
Ls = V2 ² / 2α2 + V2T2≈133 [m]
In the present embodiment, the information target section of the safe driving support is the section upstream of the priority road 27 from the intersection 26 and can be detected by the image sensor that is the vehicle detection sensor 20.

  The determination of the provision of information for safe driving assistance to the driver is performed using road-to-vehicle data, that is, obstacle detection information (support data classification = meeting) and obstacle event expression information (obstacle information).

  The information displayed for the driver includes the HMI information 16 (notifying the driver to suppress the start of the one car 23 that is about to depart after the temporary stop when the two car 22 is approaching the intersection 26. Image, sound, text, vibration, etc.). Since the display method of the HMI information 16 is the same as that described above with reference to FIG. 5, the description thereof is omitted here. However, in the description of FIG. 5 described above, the first car 23 and the second car 22 are replaced, and the non-priority road 28 and the priority road 27 are replaced.

The provision condition of the HMI information 16 to the driver defines “information provision” and “attention” when there is obstacle detection information, by time or relative distance. Note that either the time condition or the distance condition may be used.
Vehicle speed of second car 22: V2 (60 [km / h])
Sensor detection distance from the second car 22 to the center of the intersection 26: L2 [m]
Vehicle reaction time of one car 23: Tp1 = 3.2 [sec]
Display reaction time of one car 23: Td1 = 0.5 [sec]
Free running time to the center of the intersection 26 by one car 23: T1 = Tp1 + Td1 = 3.5 [sec]
Design acceleration of one car 23: α1 [m / s ² ]
Time for one car 23 to pass through intersection 26: T0 = 2 [sec] (normal car), 4 [sec] (large car)
Then, the conditions for providing HMI information are as follows.

The time condition in the time condition determination unit 13c for determining the provision of information to the driver of the first car 23 is the time until the second car 22 reaches the center of the intersection 26: Tc2 = L2 / V2 [sec]
When
Determination condition: Tc2 ≦ max (T1, T0) or Tc2 <max (T1, T0)
It becomes. Here, when there are a plurality of sensor areas at the intersection 26, the approach of the two-wheeled vehicle 22 is determined based on the shorter Tc2.

The distance condition in the distance condition determination unit 13d for determining the provision of information to the driver of the vehicle 23 is:
Distance until the second wheel 22 reaches the center of the intersection 26: Lc2 = L2 [m]
When
Determination condition: Lc2 ≦ max (1 / 2α1 2 T1,1 / 2α1 2 T0), or, Lc2 <max (1 / 2α1 2 T1,1 / 2α1 2 T0)
It becomes.

The driving condition in the driving condition determination unit 13e that determines the provision of information to the driver of the vehicle 23 is:
Brake: OFF (no brake applied)
Vehicle speed of the current vehicle 23: less than the minimum speed (for example, 20 km / h). In addition, after the information display condition is satisfied, information may be displayed again when the brake is released from ON to OFF.

  As described above, when the road condition determination unit 13b determines that the one-shot vehicle 23 (target vehicle) is traveling on the non-priority road 28, the information provision determination unit 13 determines that the one-vehicle 23 is at a constant speed. Predicted travel time and predicted travel distance until reaching 26, or predicted travel time and predicted travel distance until one vehicle 23 decelerates and reaches intersection 26, and two travels on priority road 27 The predicted traveling time and the predicted reaching distance until the vehicle 22 (moving body) reaches the intersection 26 at a constant speed are compared, and at least one of the predicted traveling time and the predicted reaching distance is shorter for the two-wheeled vehicle 22 or If it is determined that they are equal, the HMI information output control means 15 outputs an alert for crossing as the HMI information 16.

The erasure condition for erasing the HMI information 16 for the driver of the vehicle 23 is satisfied by satisfying any one of the time condition, the distance condition, and the driving condition. As described above, the information provided by satisfying the provision condition of the HMI information 16 is deleted according to the following condition.
Time condition: It is after Tc2 + crossing allowance time [sec] of the last vehicle of the two-wheeled vehicle 22. Here, for example, the intersection passage allowance time may be 0.5 [sec], or after T0 has elapsed.
Position condition: After passing through the intersection 26 Speed condition: V1> minimum speed (for example, 20 [km / h]) or V2 ≧ minimum speed.

  As described above, the driving condition determination unit 13e determines that the operation state of the one car 23 (target vehicle) satisfies a predetermined condition, and the road condition determination unit 13b determines that the one car 23 is traveling on the non-priority road 28. In this case, after the HMI information 16 is displayed, the HMI information output control means 15 performs a predetermined time condition in the time condition determination unit 13c, a distance condition to the intersection 26 in the distance condition determination unit 13d, and an operation condition determination unit 13e. The HMI information 16 is deleted by using the speed condition of the one-wheeled vehicle 23 in FIG.

  FIG. 8 is a flowchart showing an example of the operation of the information providing apparatus according to the embodiment of the present invention. In FIG. 8, the operation determination for the one vehicle 23 traveling on the non-priority road 28 is shown. In the flowchart shown in FIG. 8, the processing operation (steps S809 to S815) in the HMI information output control means 15 is the same as the processing operation (steps S607 to S613) in the HMI information output control means 15 in FIG. Therefore, the description is omitted here, and only the processing operation (steps S801 to S808) in the information provision determination unit 13 will be described.

  As shown in FIG. 8, the information provision judging means 13 determines whether or not it is an encounter accident prevention support service from the acquired traffic information 17, and if it is another support service or a different road information service, the encounter accident The prevention support service is not started (step S801). When the encounter accident prevention support service is started in step S801, it is determined from the acquired traffic information 17 whether the road on which the vehicle is currently traveling is the priority road 27 or the non-priority road 28. If it is determined that the vehicle is traveling on the non-priority road 28, an accident prevention support service is started for the one car 23 (step S802). If it is determined in step S802 that the road is not the non-priority road 28, it is determined that the vehicle is traveling on the priority road 27, and the determination process for the two-wheeled vehicle 22 traveling on the priority road 27 is started (step S806).

  If it is determined in step S802 that the road is a non-priority road 28, the road information is processed from the acquired traffic information 17, and it is determined whether or not it is before the stop line of the intersection 26 that is the target of the encounter accident prevention support service. If it is determined that it is before the stop line, the process proceeds to step S804 (step S803). Next, the traveling speed is calculated from the vehicle information 18 based on the speed and acceleration of the host vehicle, and if it is equal to or higher than the minimum speed compared with the minimum speed of the design parameter defined by the parameter management means 14, the process proceeds to step S805. The process proceeds (step S804). If it is determined in step S804 that the host vehicle is above the minimum speed, the host vehicle (one car 23) traveling on the non-priority road 28 and the priority road 27 are determined from the acquired traffic information 17 and vehicle information 18. The intersection at the intersection 26 with the traveling vehicle (second car 22) or the stopped vehicle is determined by predicting the intersection arrival time and the intersection arrival distance (step S805), and the determination result is controlled by the HMI information control. The data is output to the means 15, and the process returns to step S801. The information provision determination unit 13 repeatedly performs the series of processes described above.

  In addition, the encounter accident prevention support service for the one car 23 may be continued even after the one car 23 passes the stop line. In other words, the service is continued even when the one-wheeled vehicle 23 restarts after temporarily stopping before the stop line. As shown in FIG. 8, when it is determined in step S803 that the own vehicle (one-vehicle 23) is not before the stop line (when it is determined that the own vehicle is after the stop line), the one-vehicle 23 It is determined whether or not the vehicle has restarted after the temporary stop (step S807). If it is determined in step S807 that the one-wheeled vehicle 23 is re-starting, it is determined whether or not the traveling speed of the one-wheeled vehicle 23 is less than the optimum speed (step S808). If it is determined in step S808 that the one-wheeled vehicle 23 is traveling below the optimum speed, the process proceeds to step S805.

  As described above, since the HMI information 16 is erased from the condition determination after the one-wheeled vehicle 23 has passed the stop line, the one-wheeled vehicle 23 restarts after being temporarily stopped near the stop line. The approach situation of the intersection is judged based on the acceleration and speed of the vehicle. Further, the movement of the two-wheeled vehicle 22 entering the intersection 26 is predicted from the acquired information, and until the two-wheeled vehicle 22 passes the intersection 22 for the driver of the one-wheeled vehicle 23, the intersection 26 The HMI information 16 for alerting the vehicle so as not to enter the vehicle is output to suppress departure. Such operation processing is repeated, and the HMI information 16 is erased under a certain condition after the two-wheeled vehicle 22 passes the intersection or the two-wheeled vehicle 23 passes the intersection.

  From the above, it is possible to provide driving assistance for preventing encounter accidents more robustly in the safe driving support system, and to provide and cancel information provision at an appropriate timing.

1 is a block diagram of a safe driving support system that implements an information providing apparatus according to an embodiment of the present invention. It is a block diagram of the information provision apparatus by embodiment of this invention. It is a block diagram of the information provision judgment means by embodiment of this invention. It is a figure which shows an example of the system arrangement | positioning by the side of the infrastructure in the safe driving assistance system by embodiment of this invention. It is a figure which shows an example of the car navigation display output for safe driving assistance by embodiment of this invention. It is a flowchart which shows an example of operation | movement of the information provision apparatus by embodiment of this invention. It is a figure which shows an example of the system arrangement | positioning by the side of the infrastructure in the safe driving assistance system by embodiment of this invention. It is a flowchart which shows an example of operation | movement of the information provision apparatus by embodiment of this invention.

Explanation of symbols

  DESCRIPTION OF SYMBOLS 1 In-vehicle apparatus, 2 Optical beacon receiver, 3 DSRC in-vehicle apparatus, 4 Vehicle sensor, 5 Car navigation system, 6 Other processing apparatus, 7 Display, 8 Optical beacon roadside machine, 9 DSRC roadside machine, 10 Communication means, 11 Vehicle information, 12 Data management means, 13 Information provision judgment means, 13a Meeting service judgment part, 13b Road condition judgment part, 13c Time condition judgment part, 13d Distance condition judgment part, 13e Driving condition judgment part, 14 Parameter management means, 15 HMI information output control Means, 16 HMI information, 17 Traffic information, 18 Vehicle information, 19 DSRC communication area, 20 Vehicle detection sensor, 21 Vehicle detection area, 22 Two-wheeled vehicle, 23 One-wheeled vehicle, 24 Intersection prediction point, 25 Traffic light, 26 Intersection, 27 priority road, 28 non-priority road, 29 information relay device, 30 map screen, 31 D SS service screen, 32 DSSS service Inn.

Claims (7)

Communication means for obtaining traffic information;
Sensor means for acquiring vehicle information of the target vehicle;
Parameter management means for managing reference parameter information;
Information provision judging means for judging whether to provide information or call attention based on the traffic information, the vehicle information, and the parameter information;
HMI information output control means for controlling the output of HMI (Human Machine Interface) information including the information provision and the alerting based on the determination result by the information provision determination means;
With
The information provision determination means includes a road condition determination unit that determines whether a road on which the target vehicle is traveling is a priority road or a non-priority road that intersects the priority road at an intersection; the target vehicle and the intersection A time condition determination unit that determines the intersection between the moving body and the target vehicle that intersect each other using the predicted predicted arrival time until the target vehicle reaches the intersection; and the target vehicle and the moving body reach the intersection. A distance condition determination unit that determines the intersection of the two using the predicted intersection reach until the vehicle, and a driving condition determination unit that determines the operation state of the target vehicle,
An information providing apparatus that determines whether or not to provide the information or call attention based on a determination result by each of the determination units. When the driving condition determination unit determines that the operation state of the target vehicle satisfies a predetermined condition, and the road condition determination unit determines that the target vehicle is traveling on the priority road,
The information providing determination means predicts the travel time and the predicted travel distance until the target vehicle reaches the intersection at a constant speed, or the predicted travel time and the prediction until the target vehicle decelerates and reaches the intersection. Comparing the travel distance and the predicted travel time and the predicted travel distance until the moving body traveling on the non-priority road reaches the intersection at a constant speed, and at least the predicted travel time and the predicted travel distance If one determines that the mobile is shorter or equal,
The information providing apparatus according to claim 1, wherein the HMI information output control means outputs a warning of crossing as the HMI information. The information providing determination means predicts the travel time and the predicted travel distance until the target vehicle reaches the intersection at a constant speed, or the predicted travel time and the prediction until the target vehicle decelerates and reaches the intersection. The predicted travel time is compared with the predicted travel time and the predicted travel distance until the mobile object traveling on the non-priority road temporarily stops and then starts at equal acceleration and reaches the intersection. And determining that at least one of the predicted reach distances is shorter or equal for the moving object,
The information providing apparatus according to claim 2, wherein the HMI information output control means outputs a warning of crossing as the HMI information. When the driving condition determination unit determines that the operation state of the target vehicle satisfies a predetermined condition, and the road condition determination unit determines that the target vehicle is traveling on the priority road,
The HMI information output control means, after displaying the HMI information, a predetermined time condition in the time condition determination unit, a distance condition to the intersection in the distance condition determination unit, and the target in the driving condition determination unit 2. The information providing apparatus according to claim 1, wherein the HMI information is erased by using a vehicle speed condition. In the case where the road condition determination unit determines that the target vehicle is traveling on the non-priority road,
The information providing determination means predicts the travel time and the predicted travel distance until the target vehicle reaches the intersection at a constant speed, or the predicted travel time and the prediction until the target vehicle decelerates and reaches the intersection. Comparing the travel distance with the predicted travel time and the predicted travel distance until the moving body traveling on the priority road reaches the intersection at a constant speed, and at least one of the predicted travel time and the predicted travel distance Determines that the mobile is shorter or equal,
The information providing apparatus according to claim 1, wherein the HMI information output control means outputs a warning of crossing as the HMI information. When the driving condition determination unit determines that the operation state of the target vehicle satisfies a predetermined condition, and the road condition determination unit determines that the target vehicle is traveling on the non-priority road,
The HMI information output control means, after displaying the HMI information, a predetermined time condition in the time condition determination unit, a distance condition to the intersection in the distance condition determination unit, and the target in the driving condition determination unit 2. The information providing apparatus according to claim 1, wherein the HMI information is erased by using a vehicle speed condition. A communication means for obtaining traffic information;
A sensor means for acquiring vehicle information of the target vehicle;
A step in which parameter management means manages parameter information as a reference;
A step of determining whether or not to provide information or call attention based on the traffic information, the vehicle information, and the parameter information;
HMI information output control means for controlling output of HMI information including the information provision and the alerting based on the judgment result by the information provision judgment means;
The step of determining whether or not the information provision determining means provides information or alerts is performed by a road condition determination unit in which the road on which the target vehicle is traveling intersects the priority road or the priority road at an intersection. A step of determining one of the priority roads, and a time condition determining unit using the intersection predicted arrival time until the target vehicle and the moving object that intersects the target vehicle and the target vehicle reach the intersection. A step in which the distance condition determination unit determines the intersection between the target vehicle and the moving body using the predicted predicted arrival distance until the vehicle reaches the intersection, and the driving condition determination unit includes the target Determining whether or not the information provision determination means performs the information provision or the alert based on the determination result by each determination unit. And wherein the determining, the information providing method.

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