JP6001852B2 - Mobile communication device - Google Patents

Description

  The present invention relates to a mobile communication device and a driving support method that support prevention of collision with a vehicle that merges from a side road (non-priority road) or the like.

  In recent years, intelligent transport systems (Intelligent Transport Systems, hereinafter referred to as “ITS”) aiming to solve road traffic problems such as traffic accidents and traffic jams by networking people, roads, and vehicles with information using information communication technology. Is being researched and developed. The form of wireless communication for automobiles in the field dealing with the safe driving support system (DSSS) in ITS can be broadly divided into road-to-vehicle communication and vehicle-to-vehicle communication. Vehicle-to-vehicle communication directly communicates information between vehicles (in-vehicle devices), while road-to-vehicle communication involves devices and vehicles (in-vehicle devices) installed on the roadside or on the roadside such as roadside units and optical beacons. Communicates information.

  Information transmitted from a device such as a roadside device or an optical beacon to the vehicle by road-to-vehicle communication is considered to include system information including information indicating the contents of the provided service and information necessary for the service. For example, when the encounter service includes an encounter collision prevention support system as the provided service, information necessary for the in-vehicle device to perform the encounter collision prevention support system (providing the encounter collision prevention support to the driver) (for example, collision) Information indicating the current position of the vehicle, the moving speed, etc.) is provided to the in-vehicle device.

  FIG. 10 is a conceptual diagram of an encounter collision prevention support (hereinafter, “encounter collision prevention support” may be referred to as “collision prevention support”). In FIG. 10, it is assumed that road X is a priority road with two lanes on one side, and road Y is a non-priority road that merges with road X. Vehicle A and vehicle B are traveling (running) in the direction of arrow S1, and vehicle C is traveling (running) in the direction of arrow S2. After reaching the intersection (intersection Z) between the road X and the road Y, the vehicle C makes a left turn and proceeds in the direction of the arrow S1 like the vehicles A and B. In such a situation, if the vehicle C jumps from the road Y to the road X, such as once neglecting to stop, there is a possibility that a collision with the vehicle A or the vehicle B may occur and a danger occurs.

  Therefore, in the encounter collision prevention support system, for example, the navigation device mounted on the vehicle A determines the necessity of assistance, and when it determines that the assistance is necessary, it provides assistance for preventing the encounter collision. For preventing encounter collision, for example, a vehicle that is present on a non-priority road (more specifically, a sensing area set around an intersection and set on a non-priority road) travels on the priority road. It is considered to prevent a collision accident at the head of the vehicle by informing the driver of the vehicle in question and calling attention. According to this encounter collision prevention support system, the vehicle jumps from the non-priority road to the priority road by notifying the driver of the vehicle that the vehicle is present in the sensing area on the non-priority road and calling attention. It is possible to prevent a collision accident at the time of encounter.

In addition, information on vehicles existing in the sensing area is included in the sensor information. Sensor information (information indicating the position (range) of the sensing area, information on the number, type, speed, etc. of vehicles existing in the sensing area) Information) is output from the sensor (details will be described later). Sensor information output from the sensor is provided to the in-vehicle device via the information relay / determination device, the roadside device, and / or the optical beacon. Information output from traffic signal controllers (information including intersection information and traffic signal information) and information output from DSSS subordinate devices (information including road alignment information and regulatory information) are also used as information relay / determination devices. It is provided to the in-vehicle device via a roadside machine and / or an optical beacon. In other words, the information relay / determination device aggregates and edits information (received information) output from information sources (DSSS subordinate devices, traffic signal controllers, sensors) and provides downlink information (from roadside devices and optical beacons). Information to be transmitted to the in-vehicle device) is registered in the roadside device or the optical beacon.

JP 2009-078735 A

  By the way, if the driving road of one's own vehicle is a multi-lane road on one side, in addition to attention to other vehicles, the merging lane (the first entry when another vehicle traveling on a non-priority road joins the priority road) It is desirable to inform the driver that traveling on the first lane on the first road increases the risk of encounter crashes.

  In Patent Document 1, the collision risk when the own vehicle changes lanes is calculated based on the relative distance and relative speed between the own vehicle and the other vehicle, and it is determined whether or not the lane change is possible. A driving support device is disclosed that sets a target speed so that the lane can be changed when it is determined, and controls the speed of the host vehicle to be the target speed.

In view of the situation described above, when the driving lane of the vehicle is plural lanes, to provide a mobile communications equipment to effectively prevent collisions Crossing at the confluence of another vehicle With the goal.

In order to achieve the above object, a mobile communication device according to the present invention is provided in a mobile body and detects a collision with another mobile body traveling on a second road that joins the first road on which the mobile body travels. A mobile communication device capable of providing collision prevention support at the time of joining, a communication unit for receiving information including information on other mobiles existing in a sensing area set on the second road, and notification A control unit that determines a mode and performs a predetermined notification that prompts attention at the time of merging via the notification unit, and the control unit acquires information that can specify the number of lanes of the first road, When there is another moving body in the sensing area, the notification mode is determined based on whether or not the first road is a one-side multi-lane road, and the first road is a one-side multi-lane road. The second road in relation to the lane on which the moving body travels. The attention notification for the other vehicles to join the performed via the notification unit is characterized in that.

In order to achieve the above object, a mobile communication device according to the present invention is provided in a mobile body and detects a collision with another mobile body traveling on a second road that joins the first road on which the mobile body travels. It is a mobile communication device that can provide collision prevention support at the time of merging to prevent a communication unit that receives information including moving body information of other moving bodies, a notification mode, and a merging via the notification unit A control unit that performs a predetermined notification that calls attention to the vehicle, wherein the control unit is configured such that the road on which the other moving body is traveling is the second road based on the moving body information of the other moving body. And when the road on which the other moving body is traveling is the second road, notification is made based on whether the first road is a one-sided multi-lane road. determine the embodiment, when the first road is road with plural lanes, the movable body is traveling That the attention notification for the other vehicles merging from the second road in relation to the lane, performed via the notification unit is characterized in that.

In the mobile communication device having the above-described configuration, the control unit may further include a merge lane where the second road merges on the first road when the first road is a multi-lane road on one side. It is desirable to perform notification for calling attention to the other vehicle that merges from the second road in the relationship between the merged lane and the lane in which the moving body travels through the reporting unit .

In the mobile communication device having the above-described configuration, the control unit may further include a travel lane other than the travel lane of the mobile body on the first road when the first road is a multi-lane road on one side. It is determined whether a third vehicle exists in the vehicle, and a notification mode is determined based on whether the third vehicle exists in a travel lane other than the travel lane of the mobile body. The mobile communication device according to any one of claims 1 to 4.

  According to the present invention, it is possible to more effectively prevent a collision accident at the time of meeting when another vehicle joins.

These are block diagrams which show the structure of the navigation apparatus of this invention. These are 1st flowcharts which show the flow of the process which the control part of the navigation apparatus of this invention performs. These are figures which show the example of the alerting | reporting content table which the alerting | reporting content table memory | storage part of the navigation apparatus of 1st Embodiment memorize | stores. These are 2nd flowcharts which show the flow of the process which the control part of the navigation apparatus of this invention performs. These are figures which show the example of the alerting | reporting content table which the alerting | reporting content table memory | storage part of the navigation apparatus of 2nd Embodiment memorize | stores. These are 3rd flowcharts which show the flow of the process which the control part of the navigation apparatus of this invention performs. These are figures which show the example of the alerting | reporting content table which the alerting | reporting content table memory | storage part of the navigation apparatus of 3rd Embodiment memorize | stores. These are 4th flowcharts which show the flow of the process which the control part of the navigation apparatus of this invention performs. These are figures which show the example of the alerting | reporting content table which the alerting | reporting content table memory | storage part of the navigation apparatus of 4th Embodiment memorize | stores. FIG. 3 is a conceptual diagram of an encounter collision prevention support (collision prevention support at the time of joining) system.

In describing an embodiment of the present invention, first, sensor information will be described with reference to FIG. The sensor information is information output from the sensor as described above, and includes information indicating the range of the sensing area (information on the sensing area), information on vehicles existing in the sensing area, and the like. For example, a plurality of sensors are installed around an intersection, and each sensor monitors a sensing area set around the intersection and transmits a detection result to the information relay / determination device. In the present embodiment, two sensors are installed around the intersection Z, one sensor monitors the sensing area P set on the priority road (road X), and the other sensor is a non-priority road. Assume that the sensing area Q set on (road Y) is being monitored.

  The range of the sensing area can be set as appropriate. In this embodiment, the sensing area P set on the road X and the sensing area Q set on the road Y are determined based on a certain standard. Each sensing area will be described below. The sensing area P is an area where the vehicle ahead cannot be seen due to an obstacle or a sharp curve (a blind spot area), thereby enabling to provide a rear-end collision prevention support. (See Japanese Patent Application No. 2011-187613). The range of the sensing area P (dead angle area) is determined based on the stop visual distance determined based on the design speed (calculated on the basis of the speed limit). The stop viewing distance is defined in Article 119 of the Road Structure Ordinance, and the stopping viewing distance at a design speed of 40 km is set to 40 m.

  The range of the sensing area P will be described in more detail. In the present embodiment, the starting point of the sensing area P is a point on the center line of each lane, and is 40 m (stop viewing distance) ahead in a straight line from one point on the center line. This is another point when there is an obstacle (such as a corner) between another point on the same central line and the stop viewing distance cannot be secured. Further, the end point of the sensing area P is a point after the start point of the sensing area P and is a point where a stop viewing distance can be secured. That is, the sensing area P is determined based on whether or not a stop viewing distance can be secured. Note that, according to the method for setting the sensing area P described above, the range of the sensing area varies depending on the road shape and the speed limit of the target road.

  The sensing area Q is an area where a vehicle joining from the road Y to the road X can be detected, thereby enabling to provide collision prevention support at the time of joining. In this embodiment, the end point of the sensing area Q is the position coordinate of the stop line, and the starting point of the sensing area Q is a point separated from the end point of the sensing area Q by a predetermined distance (a predetermined distance away from the direction opposite to the traveling direction of the vehicle). Is the point). The predetermined distance may be an arbitrary distance.

  As described above, the range of the sensing area is merely an example, and is not limited to the above range. For example, the range of the sensing area Q is determined based on the position coordinates of the stop line, but is not limited to this. The position coordinates serving as the reference of the sensing area Q may be any position coordinates that can be handled as the position coordinates of the intersection (in other words, the junction of the road X and the road Y). For example, the center position coordinates of the intersection, the node position of the intersection It may be coordinates.

  For example, a plurality of sensing areas may be set on one road, and for example, a sensing area corresponding to the sensing area Q may be set on the road X. That is, the start point of the sensing area P may be a position coordinate based on the above-described stop visual distance, and the end point of the sensing area P may be a position coordinate of the stop line.

  Information indicating the start point / end point of the sensing area (information on the sensing area) includes the optical beacon position coordinates (may be the current position when receiving information from the optical beacon) and the distance from the optical beacon position coordinates (to the target point). Distance measured along the road), intersection position coordinates, distance from the intersection position coordinates, latitude and longitude (position coordinates of the start point / end point of the sensing area itself), etc. .

  The design speed may be the speed limit on the road, but assuming that the vehicle is running at a speed higher than the speed limit, for example, the speed limit +10 km / h may be set as the design speed, or may be determined according to the road shape. (For example, if the current position of the vehicle is a sharp curve, it is assumed that the vehicle is traveling at a speed slower than the speed limit, so the speed limit is set to -10 km / h).

  Next, information regarding vehicles existing in the sensing area will be described. Information on vehicles existing in the sensing area includes information indicating the type of vehicle (large vehicle, medium-sized vehicle or ordinary vehicle, motorcycle, etc.) existing in the sensing area, information indicating the number of vehicles, and the current position of the vehicle. Information, information indicating the moving speed of the vehicle, and the like are included. In the present invention, it is determined whether or not the own vehicle and another vehicle collide based on the sensor information, as will be described later. In addition, when the sensor can detect a pedestrian or the like existing in the detection area, information on the pedestrian (information indicating the number of pedestrians, the current position, and the moving speed) may be included.

  Embodiments of the present invention will be described below with reference to the drawings. However, the embodiment described below shows a navigation device which is an example of the mobile communication device of the present invention in order to embody the technical idea of the present invention, and the present invention is specified to this navigation device. And is equally applicable to other embodiments of the device falling within the scope of the claims. For example, a mobile communication terminal such as a device without a navigation function or a mobile phone may be used. In the following description, a case where the navigation device is attached to an automobile is illustrated, but a motorcycle or the like may include the navigation device.

  FIG. 1 is a block diagram showing the configuration of the navigation apparatus of the present invention. The navigation device 20 includes a control unit 1, a display unit 2, an operation unit 3, a current position detection unit 4, a speed detection unit 5, a map information storage unit 6, a beacon communication unit 7, and a beacon information storage unit 8. A battery 9, a communication unit 10, a notification unit 11, and a notification content table storage unit 12.

  The control unit 1 is a control unit that comprehensively controls the entire navigation device 20. The control unit 1 includes a CPU, a ROM, and a RAM (all not shown). The ROM stores a program executed by the control unit 1 and parameters and data necessary for executing the program. The CPU executes various programs stored in the ROM. The RAM temporarily stores data obtained during various processes and data obtained as a result of various processes. These CPU, RAM, ROM and the like are connected via a bus. Note that the CPU, ROM, and RAM may be partially or fully integrated on one chip.

  The display unit 2 indicates the current position of the map screen (route to the destination, vehicle equipped with the navigation device 20 (hereinafter, “vehicle equipped with the navigation device 20” may be referred to as “own vehicle”)). Display screen for displaying a map image including a mark or the like) and a menu screen.

  The operation unit 3 is an input operation means for a user to input a destination or operate a menu. As the operation unit 3, various keys and buttons may be provided on the navigation device 20 body, or a touch panel function may be added to the display unit 2. Further, a remote controller for remotely operating the navigation device 20 main body as the operation unit 3 may be used as the operation unit 3.

  The current position detection unit 4 detects the current position of the host vehicle and includes a GPS receiver, a self-contained navigation means, a position calculation CPU, and the like. The self-contained navigation means includes a steering angle sensor, an acceleration sensor, a distance sensor, a direction sensor, and the like, detects the travel distance and the traveling direction of the own vehicle, and obtains the current position based on these values. The GPS receiver receives radio waves transmitted from a plurality of GPS satellites with a GPS antenna and performs a three-dimensional positioning process or a two-dimensional positioning process to calculate the absolute position and traveling direction of the own vehicle. Here, the traveling direction is calculated based on the current vehicle position and the previous vehicle position. In addition, the detection method of the advancing direction is not specifically limited, For example, it is good also as detecting from the rotation direction of a tire, and you may detect using a direction sensor. Further, a traveling direction detection unit may be provided separately from the current position detection unit 4 to detect the traveling direction of the host vehicle.

  The speed detector 5 detects the moving speed of the own vehicle. The moving speed may be calculated from the output of the vehicle speed sensor or the acceleration sensor, or may be calculated from the difference between the travel distance between the GPS histories and the GPS reception time. In addition, it is good also as the present position detection part 4 detecting the moving speed of the own vehicle. When the current position detection unit 4 can detect the moving speed in addition to the current position of the host vehicle, the speed detection unit 5 can be omitted. In this case, the current position detection unit 4 includes the speed detection unit 5.

  The steering angle sensor, the acceleration sensor, the speed sensor, the azimuth sensor, and the like may be included in the navigation device 20, or the vehicle (own vehicle) includes the various sensors. The navigation device 20 includes the various sensors. It is good also as a structure provided with the interface which acquires these outputs.

  The map information storage unit 6 stores map information that is referred to when performing route search or guidance to the destination. The map information includes network data (node data, link data). Further, the map information may include a map image, or the map image may be drawn on the display unit 2 based on network data (node data, link data) included in the map information. In addition to storing map information in advance in the map information storage unit 6, the communication unit 10 described later receives map information from a roadside machine or the like, and the received map information is stored in the map information storage unit 6. Also good.

  Note that a storage medium such as a NAND flash or an SD memory card can be suitably used as the map information storage unit 6, the beacon information storage unit 8 described later, and the notification content table storage unit 12. Each storage unit may share one storage medium, or each storage unit may have a storage medium. Each storage unit may be built in the navigation device 20 or may be configured to be detachable from the navigation device 20.

  In the present invention, the network data includes road node data and link data. When the road on which the vehicle is currently traveling is specified, the control unit 1 detects the current position of the vehicle detected by the current position detection unit 4 (the traveling direction and the moving speed may be added), map information, Can be specified by performing a map matching process.

  The map matching process may be performed by the control unit 1 or the current position detection unit 4. That is, based on the current position detected using a GPS receiver and / or autonomous navigation means and map information, map matching processing is performed, and the current position where map matching processing has been performed is output to the control unit 1 as the current position. Also good. Alternatively, the current position detection unit 4 including the map matching process of the control unit 1 may be used.

  The beacon communication unit 7 receives various information from optical beacons installed on the road. An optical beacon installed on a road can limit its communication range to be within one travel lane width. By installing an optical beacon for each lane, a vehicle traveling in a specific travel lane It is possible to transmit beacon information only for that.

  Information received from the optical beacon by the beacon communication unit 7 is provided downlink information registered by the information relay / determination device as described above, and includes system information, sensor information, intersection information, traffic signal information, road linear information, Includes regulatory information. In addition to the information received by the beacon communication unit 7 from the optical beacon, the communication unit 10 described later can receive these information from a roadside device or the like via the ITS.

Here, each information will be briefly described. As described above, the system information includes information indicating the content of the provided service, and also includes information indicating the service providing time, the service operating state, and the like. The control unit 1 can determine what kind of driving support service can be provided to the driver by acquiring the system information. In the present embodiment, it is assumed that the navigation device 20 has a function of performing an encounter collision prevention support for the driver when the system information includes the collision prevention support system at the time of joining as a provided service.

  As described above, the sensor information is information including information indicating the position (range) of the detection area, information indicating the type of vehicle existing in the detection area, the number of vehicles / pedestrians, the current position, and the moving speed. The controller 1 can determine the state of the sensing area (eg, there is a vehicle traveling toward the road X) by acquiring the sensor information.

  Intersection information is information for identifying the center position coordinates (latitude / longitude) of the intersection, the identification number (traffic number) of the traffic signal associated with the approach direction (route) to the intersection, the roadside device (intersection), Node data of stop line position coordinates (stop line position (latitude / longitude) associated with the approach direction (route) to the intersection), and points that should be the start and end points of the intersection (node position coordinates of the intersection) Etc. are included.

  The traffic signal information includes identification information (signal number) for identifying the traffic signal, current signal display information of the traffic signal (information indicating the display color of the traffic signal), and time until the current signal display is changed to the next signal display. And information such as display order of signal display (information indicating the cycle of signal display) and the like are associated with each other. In other words, the traffic signal information includes information that can specify the signal display at a predetermined time point (current time or any time after the current time) and / or the time until the signal display at the predetermined time point is changed to the next signal display. It can be said.

  The road alignment information is information indicating the road structure of the target road section (intersection / single road), and includes, for example, information indicating the distance from the optical beacon to the stop line, the connection angle of the road, and the like.

  The restriction information is information indicating the traffic restriction of the target section / intersection, and includes information indicating the restriction type, the restriction target vehicle type, the restriction time, and the like.

  In the encounter collision prevention support (collision collision prevention support) system, traffic signal information may not be included in the received information.

  It is desirable that the beacon communication unit 7 also receives lane information (information that can specify whether the vehicle is traveling on one side or not, and on which lane the vehicle is traveling) from the optical beacon.

  The beacon information storage unit 8 stores the beacon information received by the beacon communication unit 7.

  The battery 9 is a power supply means when the navigation device 20 is carried around, and a secondary battery such as a lithium ion battery or a nickel metal hydride battery can be suitably used. Of course, as the battery 9, a primary battery such as an alkaline manganese dry battery or a manganese dry battery may be used, or a fuel cell may be used.

The communication unit 10 transmits information to other communication devices that can communicate with the navigation device 20 (hereinafter referred to as “other communication devices”) and information transmitted from the other communication devices. A receiving unit (not shown) for receiving. The communication method is preferably non-contact communication such as wireless communication or infrared communication. The other communication device may be an in-vehicle communication device such as a navigation device mounted on another vehicle (when a pedestrian is on another vehicle, a mobile communication terminal such as a mobile phone held by the pedestrian may be used. ), Mobile communication terminals such as mobile phones possessed by roadside devices, pedestrians, etc. (pedestrians, bicycle drivers, etc.).

  Information received from the roadside device by the communication unit 10 is provided downlink information registered by the information relay / determination device as described above, and includes system information, sensor information, intersection information, traffic signal information, road alignment information, and regulation information. Etc.

  In this embodiment, the communication unit 10 receives provided downlink information transmitted in the 700 MHz band. The transmission range may be about 300 m in radius, and the navigation device 20 can acquire the latest provided downlink information even after passing the optical beacon (after receiving the provided downlink information from the optical beacon). .

  The notification unit 11 is a notification unit that notifies various types of information. The notification means is not particularly limited, but is preferably a mode suitable for assisting in preventing a collision with another moving body. For example, voice guidance (voice output) performed via a speaker (not shown), Examples include screen display of characters, images, and the like performed via the display unit 2. Note that audio output and screen display may be performed simultaneously. In order to simplify the description, the notification unit 11 and the display unit 2 are provided as separate configurations. However, when the notification method includes a predetermined display on the display unit 2, the notification unit 11 includes the display unit 2. You may provide as.

  The notification content table storage unit 12 stores a notification content table performed via the notification unit 11. As will be described later, the notification content is stored in association with whether or not the traveling road of the vehicle is a one-side multiple lane road.

[First embodiment]
A first embodiment of the navigation device 20 of the present invention will be described with reference to FIG. FIG. 2 is a first flowchart showing a flow of processing executed by the control unit 1 of the navigation device 20 of the present invention.

  In the following description, the case where the vehicle is the vehicle A is illustrated in FIG. In other words, the vehicle is traveling on the road X (priority road), a sensor is provided near the road Y (non-priority road) that merges with the road X, and there is a vehicle C that merges from the road Y to the road X. Whether the vehicle is traveling in the sensing area Q and traveling toward the road X is detected. A case will be described in which the vehicle receives a detection result (detector information) of the detection area Q and determines whether or not there is a vehicle C joining the road Y to the road X.

  In step S01, the control unit 1 determines whether system information has been acquired. When system information is acquired (that is, when system information or sensor information is received from a roadside device or an optical beacon) (Y in step S01), the process proceeds to step S02, and when system information is not acquired (step S01). N) returns to step S01.

  In step S02, the control unit 1 determines whether or not the system information includes an encounter collision prevention support (collision prevention support system) system as a provided service. When the system information includes the encounter collision prevention support system as a provision service (Y in step S02), the process proceeds to step S03, and when the encounter collision prevention support system is not included (N in step S02), the process returns to step S01.

In this embodiment and the following embodiments, when the encounter collision prevention support system is not included, the process returns to step S01. However, the system information includes a driving support service other than the encounter collision prevention support system as a provided service. In addition, when the navigation device 20 has a function of performing the driving support service, driving support other than the encounter collision prevention support system may be provided.

  In step S03, the control unit 1 acquires the moving body information (current position, vehicle speed, etc.) and map information of the host vehicle from the current position detection unit 4 and the map information storage unit 6. In this flowchart, the control unit 1 acquires system information in step S01 and acquires moving body information and map information of the own vehicle in step S03, but these information may be acquired in step S01. . In addition, the timing at which the control unit 1 acquires system information, sensor information, and moving body information of the own vehicle is not limited to this timing. It may be acquired periodically or irregularly (for example, based on the transmission timing of another communication device), and when acquiring information multiple times regularly or irregularly, it is the newest of the acquired information Information may be used. Further, when the latest sensor information is acquired, based on the moving body information of the own vehicle at that time, step S04 (step S14 of the second embodiment described later, step S24 of the third embodiment described later, It is good also as performing the process after step S34) of 4th Embodiment mentioned later.

  In step S04, the control unit 1 determines whether there is another vehicle in the sensing area. When another vehicle exists in the sensing area (Y in step S04), the process proceeds to step S05, and when no other vehicle exists in the sensing area (N in step S04), the process returns to step S01. The sensor information is considered to be sensor information to be referred to in association with the road or lane of the vehicle, and the sensor information acquired by the control unit 1 indicates that the vehicle is traveling. The information about the sensing area set in the road (second road) that merges with the existing road (first road) is included. That is, in FIG. 10, when the vehicle is traveling on the road X (priority road), information related to the sensing area Q set on the road Y (non-priority road) joining the road X is included in the sensor information. It is.

  In step S05, the control unit 1 specifies whether or not the traveling road of the own vehicle is a one-side multiple lane road. Whether or not the traveling road of the own vehicle is a one-sided multi-lane road can be specified by, for example, map matching the current position of the own vehicle on a map image, but is not limited thereto. For example, when acquiring information indicating how many lanes of a lane road the vehicle is traveling from from a light beacon, it is determined based on the information, or based on a captured image if a camera is mounted on the vehicle. May be specified.

  Hereinafter, in the present embodiment and the following embodiment, the case where the traveling road of the own vehicle is a one-sided multiple lane road will be described as the traveling road being a one-sided two-lane road. There may be. In addition, the left-hand traffic (Article 17 Paragraph 4 of the Road Traffic Law), which is a traffic classification in Japan, will be described as an example of the traffic classification of automobiles.

  In step S06, the control unit 1 determines the notification mode based on whether or not the traveling road of the host vehicle is a one-side multiple lane road. In this embodiment and the following embodiments, “determining the notification mode” means determining whether or not to perform notification, and if so, what type of notification means to perform notification. It is. However, one means may be set in advance as the notification means, and in this embodiment and the following embodiments, the case where the notification means for performing notification is set to audio output will be described as an example. However, the control unit 1 may determine the notification unit according to the situation (for example, determine whether to display the screen or to output the sound). Further, when the notification means is an audio output, the volume may be determined together with the notification content. For example, when the danger is higher (for example, when the traveling lane of the host vehicle is a merge lane as shown in the second embodiment described later), the user can be alerted by increasing the volume.

  When determining the notification content, the control unit 1 determines the notification content with reference to the notification content table stored in the notification content table storage unit 12. FIG. 3 is a diagram illustrating an example of a notification content table stored in the notification content table storage unit 12 included in the navigation device 20 of the present embodiment. As shown in FIG. 3, each notification content is stored in association with whether or not the traveling road of the vehicle is a one-side multiple lane road.

  In step S07, the control unit 1 performs a predetermined notification that calls attention at the time of merging based on the notification mode determined in step S06 via the notification unit 11. As shown in FIG. 3, the contents to be notified include the contents to call attention to the merging vehicle. At least when the traveling road of the own vehicle is a lane on one side, the merging lane (second road (side road, non-priority road) ) When other vehicles traveling on the first road (priority road) join the first road (the driving lane on the first road that enters the first road)) Includes content to call attention. This allows the driver of the vehicle traveling in the merged lane to recognize whether or not he / she is traveling in the merged lane when the traveling road of the own vehicle is one side multiple lanes. Can be encouraged.

According to the present embodiment, there is another vehicle traveling on a road (side road, non-priority road) that merges with the traveling road (priority road) of the own vehicle, and the traveling road of the own vehicle is on one side When the road is a multi-lane road, the driver of the own vehicle can be alerted to other vehicles that join the merge lane. Thus, for example, if the own vehicle is traveling in the merge lane, the lane change is performed, or if the own vehicle is not traveling in the merge lane, driving in the corresponding lane is continued to prevent an accidental collision. Can be prompted directly or indirectly to do. Therefore, the collision accident at the time of meeting at the time of the merging of other vehicles can be prevented more effectively.
[Second Embodiment]
A second embodiment of the navigation device 20 of the present invention will be described with reference to FIG. FIG. 4 is a second flowchart showing the flow of processing executed by the control unit 1 of the navigation device 20 of the present invention. In the first embodiment described above, when the other vehicle merges from the non-priority road to the priority road, the non-priority road is described as merging with the left lane of the priority road. There is a case where the vehicle is not limited to the left lane of the priority road and may join the right lane (for example, when the expressway joins the general road or when the general road joins the expressway). Accordingly, in the present embodiment, notification is performed by changing the notification mode based on which lane of the priority road is the lane where the non-priority roads merge. Hereinafter, this embodiment will be described in detail.

  Note that steps S11 to S15 of the present embodiment are the same as steps S01 to S05 of the first embodiment, and are omitted.

  In step S16, the control unit 1 specifies whether the merge lane is the left lane or the right lane on the traveling road of the host vehicle. It can be specified on the basis of map information, lane information acquired from an optical beacon, and the like to which lane the road that merges with the traveling road of the own vehicle joins on the traveling road of the own vehicle. Based on the position information of the sensing area (latitude / longitude (position coordinates of the start point / end point of the sensing area)) and map information, it is possible to determine whether the sensing area is on the right side or the left side with respect to the traveling direction. The sensing area is associated with the traveling lane (information from the optical beacon), and if the traveling lane can be identified (when information is acquired from the optical beacon), the sensing area to be referenced is detected. The vessel information can be specified.

In step S <b> 17, the control unit 1 determines the notification mode based on whether or not the traveling road of the host vehicle is a one-side multiple lane road and whether or not the merged lane is the left lane or the right lane on the traveling road of the host vehicle. When determining the notification content, the control unit 1 determines the notification content with reference to the notification content table stored in the notification content table storage unit 12. FIG. 5 is a diagram illustrating an example of a notification content table stored in the notification content table storage unit 12 included in the navigation device 20 of the present embodiment. Each notification content is stored in association with whether or not the traveling road of the own vehicle is a one-side multiple lane road and whether or not the merging lane is the left lane or the right lane on the traveling road of the own vehicle. Each of the notification content tables shown in FIG. 5 and FIGS. 7 and 9 to be described later is a notification content table to be referred to when the traveling lane of the vehicle is a one-side multiple lane road. Although the item of whether the traveling lane of the own vehicle shown in FIG. 2 is a one-sided multiple lane is not included, it may be a notification content table having the item.

  In step S <b> 18, the control unit 1 performs a predetermined notification that calls attention at the time of merging based on the notification mode determined in step S <b> 17 via the notification unit 11. As shown in FIG. 5, the information to be notified is a content for notifying which traveling lane is a merging lane and then calling attention to the merging vehicle. The content of the notification may further include content that prompts the user to travel in a lane that is not a merged lane (for example, when the merged lane is a left lane, “run the right lane”).

According to the present embodiment, the same effects as in the first embodiment can be obtained. In addition, since the merging lane on the traveling road of the own vehicle is specified and the notification mode is determined, it is possible to provide safer encounter collision prevention support.
[Third embodiment]
A third embodiment of the navigation device 20 of the present invention will be described with reference to FIG. FIG. 6 is a third flowchart showing the flow of processing executed by the control unit 1 of the navigation device 20 of the present invention. In the first embodiment and the second embodiment, the notification is made without considering the traveling lane of the own vehicle. However, if the traveling lane of the own vehicle is a merging lane, there is a high risk of encounter collision. The risk of encounter collision is low if the vehicle lane is not a confluence lane. Therefore, in this embodiment, the notification mode is changed based on whether or not the traveling lane of the host vehicle is a merge lane. Hereinafter, this embodiment will be described in detail.

  Note that steps S21 to S26 of the present embodiment are the same as steps S11 to S16 of the second embodiment, and thus are omitted.

  In step S27, the control unit 1 specifies whether or not the traveling lane of the host vehicle is a merged lane. The driving lane of the vehicle is captured by lane information acquired from the optical beacon, high-accuracy map matching based on the vehicle's current position and map information, and imaging means such as a camera mounted on the vehicle. It can be specified based on the image (for example, if the line marked on the right side of the lane in which the vehicle is traveling in the image is the center line (yellow line), the right lane is specified).

  And since it is specified in step S26 (step S16 of 2nd Embodiment) which running lane is a merge lane, by comparing the information which shows a merge lane with the information which shows the run lane of the own vehicle, It is possible to specify whether or not the traveling lane of the own vehicle is a merging lane.

  In step S28, the control unit 1 determines whether the traveling road of the own vehicle is a one-sided multi-lane road, whether the merging lane is the left lane or the right lane, and the traveling lane of the own vehicle is a merging lane. The notification mode is determined based on whether or not there is. When determining the notification content, the control unit 1 determines the notification content with reference to the notification content table stored in the notification content table storage unit 12. FIG. 7 is a diagram illustrating an example of a notification content table stored in the notification content table storage unit 12 included in the navigation device 20 of the present embodiment. The contents of each notification are whether or not the traveling road of the own vehicle is a multi-lane road on one side, whether the merging lane is a left lane or a right lane and whether the traveling lane of the own vehicle is a merging lane It is stored in association with whether or not.

  In step S29, the control unit 1 performs a predetermined notification that calls attention at the time of merging based on the notification mode determined in step S28 via the notification unit 11. As shown in FIG. 7, the information to be notified is a content that calls attention to the joining vehicle after notifying the relationship between the traveling lane and the joining lane of the own vehicle. The content of the notification is the content that prompts the vehicle to travel in a lane that is not a merged lane as in the second embodiment (for example, when the merged lane is the left lane and the vehicle's travel lane is the left lane, "Please change the lane to the right lane").

According to the present embodiment, the same effects as those of the first embodiment can be obtained. In addition, since it is determined whether the driving lane of the host vehicle is a merging lane and the notification mode is determined, driving with a high risk that the current driving lane of the host vehicle meets the driver's current driving lane. It can be recognized whether it is a lane. Therefore, it is possible to provide safer encounter collision prevention support.
[Fourth embodiment]
A seventh embodiment of the navigation device 20 of the present invention will be described with reference to FIG. FIG. 8 is a fourth flowchart showing a flow of processing executed by the control unit 1 of the navigation device 20 of the present invention. In the first to third embodiments, the notification is made without considering the presence of a vehicle (third vehicle) traveling on a traveling lane other than the traveling lane of the own vehicle on the traveling road of the own vehicle. When the driving lane of the host vehicle is a merging lane and the lane change is urged, there is a risk of contact with a third vehicle traveling in another driving lane, while the driving lane of the host vehicle is not a merging lane There is a risk that the third vehicle may change the lane from the other traveling lane to the traveling lane of the own vehicle and come into contact with the own vehicle. Therefore, in the present embodiment, the notification mode is changed based on whether or not the third vehicle exists in a travel lane other than the travel lane of the own vehicle on the travel road of the own vehicle. Hereinafter, this embodiment will be described in detail.

  Note that steps S31 to S37 in the present embodiment are the same as steps S21 to 27 in the third embodiment, and thus are omitted.

  In step S38, the control unit 1 specifies whether or not a third vehicle exists in another travel lane on the travel road of the host vehicle. Whether there is a third vehicle in another travel lane is determined by the number of vehicles in each travel lane transmitted by the optical beacon, information indicating the current position of the third vehicle, travel road / lane, etc. Information indicating whether the vehicle is running (the information may be received by the optical beacon communication unit 7 from the optical beacon, or may be acquired by the communication unit 10 from a roadside machine or the like by ITS communication), It can be specified based on an image taken by an imaging means such as a camera mounted on a car.

  In step S39, the control unit 1 determines whether or not the traveling road of the own vehicle is a one-sided multiple lane road, whether the merging lane is the left lane or the right lane, and the traveling lane of the own vehicle is a merging lane. The notification mode is determined based on whether or not there is a third vehicle on another traveling lane on the traveling road of the host vehicle. When determining the notification content, the control unit 1 determines the notification content with reference to the notification content table stored in the notification content table storage unit 12. FIG. 9 is a diagram illustrating an example of a notification content table stored in the notification content table storage unit 12 included in the navigation device 20 of the present embodiment. The contents of each notification are whether or not the traveling road of the own vehicle is a multi-lane road on one side, whether the merging lane is a left lane or a right lane and whether the traveling lane of the own vehicle is a merging lane No. and whether or not a third vehicle is present in another traveling lane on the traveling road of the host vehicle.

  In step S <b> 40, the control unit 1 performs a predetermined notification that calls attention at the time of merging based on the notification mode determined in step S <b> 39 via the notification unit 11. As shown in FIG. 9, the contents to be notified include the contents for calling attention to the merging vehicle as described in the above embodiments, and at least when the third vehicle exists in the other traveling lane, the other traveling lane The content that calls attention to the vehicle (third vehicle) is included.

  The content of the notification further urges the user to travel in a lane that is not a merged lane as in the second and third embodiments (for example, the merged lane is the left lane and the vehicle's travel lane is the left lane). If there is a third vehicle in the right lane, “please change lanes paying attention to the vehicle traveling in the right lane” may be included.

According to the present embodiment, the same effects as those of the first embodiment can be obtained. In addition, when there is a vehicle (third vehicle) that travels on a traveling lane different from the traveling lane of the own vehicle on the traveling road of the own vehicle, attention to the third vehicle is also urged. While preventing a collision accident at the time of encounter, it is possible to prevent a collision accident (contact accident) with a third vehicle traveling on another lane, and to provide safer support for the prevention of encounter collision.
[Other embodiments]
In each of the above embodiments, the sensor information acquired by the control unit 1 has been described as including information related to the sensing area set on the road that joins the road on which the vehicle is traveling. It is also conceivable that information relating to a sensing area set for a road that merges with a road other than the current road (for example, an opposite lane in the own road) is also included. Therefore, the control part 1 is good also as specifying whether the information regarding the acquired sensing area is the information regarding the sensing area set to the road which joins the driving road of the own vehicle.

  In each of the embodiments described above, the navigation device 20 uses the sensor information to support the collision prevention of the encounter. However, the sensor information may not be used. Specifically, the vehicle information of other vehicles (information including the current position of other vehicles, the information indicating the moving speed, the information indicating the traveling direction, etc.) is obtained by inter-vehicle communication, etc. It is also possible to determine (specify) whether or not the current position of the vehicle is a junction road that merges with the traveling road of the vehicle. When the current position of the other vehicle is a merging road that merges with the traveling lane of the own vehicle, whether or not the traveling road of the own vehicle is a one-sided multiple lane road (step S05 in the first embodiment, the second implementation described above) Form step S15, step S25 of the third embodiment, step S35 of the fourth embodiment) whether the merging lane is the left lane or the right lane (step S16 of the second embodiment, step S26 of the third embodiment, above Step S36 of the fourth embodiment, whether or not the traveling road of the own vehicle is a merging lane (step S27 of the third embodiment, step S37 of the fourth embodiment), the third vehicle is on another traveling road Whether or not it exists (step S38 of the fourth embodiment) may be specified and a notification mode may be determined and notified.

  In addition, when the destination of other vehicles traveling on a non-priority road that joins the traveling road of the own vehicle is not limited to the traveling road of the own vehicle (for example, when the joining destination is a four-way intersection without a traffic light). Acquires information (winker information) indicating the blinker display of the other vehicle, and only when the blinker display indicates that the vehicle has joined the traveling road of the own vehicle, the traveling road of the own vehicle has multiple lanes on one side If the notification mode is determined based on whether or not it is a road and the notification is made and the blinker display does not indicate that it will merge with the road on which the vehicle is traveling, simply pay attention to other vehicles, such as `` Caution on merging ''. It is good also as performing the alerting | reporting to urge.

  However, if the current position of the vehicle is on a highway, it is desirable to determine the notification mode based on whether or not the traveling road of the vehicle is a multi-lane road on one side regardless of the blinker display. . This is because if the current position of the host vehicle is on a highway, the other vehicles traveling on the side road (acceleration lane) do not have a destination other than the traveling road (main lane) of the host vehicle. That is, whether or not to use the blinker information may be variable based on whether the current position of the own vehicle is a general motorway or a highway.

INDUSTRIAL APPLICABILITY The present invention can be used for a mobile communication device and a driving support method that support collision prevention with a vehicle that merges from a side road (non-priority road) or the like.

DESCRIPTION OF SYMBOLS 1 Control part 2 Display part 3 Operation part 4 Current position detection part 5 Speed detection part 6 Map information storage part 7 Beacon communication part 8 Beacon information storage part 9 Battery 10 Communication part 11 Notification part 12 Notification content table storage part 20 Navigation apparatus

Claims (5)

A mobile communication device provided in a mobile body and capable of providing collision prevention support at the time of joining to prevent a collision with another mobile body traveling on a second road that joins the first road on which the mobile body travels There,
A communication unit for receiving information including information on other moving objects present in the sensing area set on the second road;
A control unit that determines a notification mode and performs a predetermined notification to call attention at the time of merging through the notification unit;
With
The control unit acquires information capable of specifying the number of lanes of the first road, and when there is another moving body in the sensing area, whether or not the first road is a one-sided multi-lane road. When the first road is a one-sided multi-lane road, the attention is paid to the other vehicle that merges from the second road in relation to the lane on which the moving body travels. A mobile communication device, characterized in that notification for prompting is performed via the notification unit. A mobile communication device provided in a mobile body and capable of providing collision prevention support at the time of joining to prevent a collision with another mobile body traveling on a second road that joins the first road on which the mobile body travels There,
A communication unit that receives information including mobile body information of the other mobile body;
A control unit that determines a notification mode and performs a predetermined notification to call attention at the time of merging through the notification unit;
With
The control unit determines whether the road on which the other moving body is traveling is the second road based on the moving body information of the other moving body, and the other moving body is traveling. When the road being operated is the second road, the notification mode is determined based on whether or not the first road is a one-sided multi-lane road, and the first road is a one-sided multi-lane road. In some cases, the mobile communication device is characterized in that, through the notification unit, performs a notification that calls attention to the other vehicle that merges from the second road in relation to a lane in which the mobile body travels. .   When the first road is a multi-lane road on one side, the control unit further identifies a merging lane where the second road merges on the first road, and the merging lane and the moving body travel. 3. The mobile communication according to claim 1, wherein notification that calls attention to the other vehicle that merges from the second road in relation to a lane is performed via the notification unit. 4. apparatus.   When the first road is a one-side multi-lane road, the control unit further specifies the traveling lane of the moving body on the first road, and the identified traveling lane of the moving body is the merge lane. In the notification mode including changing the notification mode based on whether or not the identified travel lane of the moving body is the merge lane, the other moving body joins the travel lane, The mobile communication apparatus according to claim 3, wherein the notification is performed via a mobile phone.   When the first road is a one-side multi-lane road, the control unit further determines whether or not a third vehicle exists in a travel lane other than the travel lane of the moving body on the first road. 5. The notification mode is determined based on whether or not a third vehicle exists in a travel lane other than the travel lane of the mobile body. 6. Mobile communication device.

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