Driving assistance system, driving assistance server, and driving assistance method

Abstract

The invention relates to a driving support system, a driving support server, and a driving support method. The purpose of the present invention is to suppress unnecessary driving support for a driver. A driving assistance system (1) is provided with a plurality of vehicles (100) that perform predetermined driving assistance, and a server (200) configured so as to be able to communicate with the vehicles. The server (200) is configured so as to set, on the basis of predetermined information stored in the server (200), an assistance region in which the vehicle (100) performs driving assistance, and to set, as an assistance section, a section in which the frequency of occurrence of at least one of an accident and a hidden trouble in each section of an intersection in the assistance region is high. Information relating to a specific intersection having a support section is transmitted to the vehicle (100). A vehicle (100) is configured so as to receive information relating to a specific intersection from a server (200), and to perform driving assistance when traveling on an assistance road section.

Description

Technical Field

[0001] The present invention relates to a driving support system, a driving support server, and a driving support method. Background Art

[0002] As an existing driving support system, Patent Document 1 discloses the following driving support system: Information on events of narrow escapes and lucky escapes (hereinafter referred to as "hidden dangers") that occur to the driver of a vehicle traveling in a specific area such as an intersection is collected together with the place where the hidden danger occurs, and based on the current position information of the vehicle, the driver is notified of the information on the hidden dangers around the current position of the vehicle.

[0003] Prior Art Documents

[0004] Patent Documents

[0005] Patent Document 1: Japanese Unexamined Patent Application Publication No. 2014-146289 Summary of the Invention

[0006] Problems to be Solved by the Invention

[0007] In the section (road) leading to the center of the intersection, in addition to the section (road) on which the own vehicle is traveling, there are other sections (roads) that intersect the traveling section (road) of the own vehicle, for example, from the left direction, the right direction, etc. The aforementioned existing driving support system notifies the driver of the information on the hidden dangers around the current position of the vehicle. Therefore, even if the place where the hidden danger occurs is a section other than the traveling section of the own vehicle, the driver is notified of the information on the hidden danger. Therefore, information on hidden dangers that is unnecessary for the driver is notified, and the driver may be annoyed by the notification of the information on the hidden dangers.

[0008] The present invention has been made in view of such a problem point, and an object thereof is to suppress unnecessary driving support for the driver.

[0009] Technical Means for Solving the Problems

[0010] In order to solve the above problems, a driving support system according to a certain technical means of the present invention includes: a plurality of vehicles that perform predetermined driving support, and a server configured to be able to communicate with the vehicles. The server is configured to set a support area in which the vehicles perform driving support based on predetermined information stored in the server, and set a section with a high occurrence frequency of at least one of accidents and hidden dangers in each section (each road) of the intersections in the support area as a support section, and transmit information related to a specific intersection having the support section to the vehicles. The vehicles are configured to receive information related to the specific intersection from the server and perform driving support when traveling on the support section.

[0011] In addition, a driving support server according to a certain technical solution of the present invention includes: a communication unit configured to be able to communicate with a vehicle; a storage unit for storing information; and a control unit. The control unit is configured to set a support area for causing the vehicle to perform predetermined driving support based on predetermined information stored in the storage unit, set a section with a high occurrence frequency of at least one of accidents and potential hazards in each section (each road) of an intersection within the support area as a support section for performing driving support, and send information related to a specific intersection having the support section to the vehicle.

[0012] In addition, in a driving support method according to a certain technical solution of the present invention, a support area for causing a vehicle to perform driving support is set based on predetermined information stored in a server, a section with a high occurrence frequency of at least one of accidents and potential hazards in each section of an intersection within the support area is set as a support section, and when the vehicle is traveling on the support section, the vehicle is caused to perform driving support.

[0013] Effects of the Invention

[0014] According to these technical solutions of the present invention, it is possible to suppress unnecessary execution of driving support on sections with a low occurrence frequency of accidents and potential hazards, and thus, it is possible to suppress drivers from getting bored with the driving support. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 is a schematic configuration diagram of a driving support system according to the first embodiment of the present invention.

[0016] Figure 2 is a schematic system configuration diagram of a vehicle according to the first embodiment of the present invention.

[0017] Figure 3 is a diagram showing an example of an intersection.

[0018] Figure 4 is a schematic configuration diagram of a driving support server according to the first embodiment of the present invention.

[0019] Figure 5 is a flowchart illustrating an example of a specific intersection extraction process according to the first embodiment of the present invention executed between each vehicle and the driving support server 200.

[0020] Figure 6 is a flowchart illustrating an example of an intersection support process according to the first embodiment of the present invention executed between each vehicle and the driving support server.

[0021] Figure 7 is a schematic configuration diagram of a driving support server according to the second embodiment of the present invention.

[0022] Figure 8 This is a flowchart showing an example of the specific intersection extraction process according to the second embodiment of the present invention.

[0023] Figure 9 This is a schematic configuration diagram of the driving support server according to the third embodiment of the present invention.

[0024] Figure 10 This is a flowchart showing an example of the specific intersection extraction process according to the third embodiment of the present invention.

[0025] Figure 11 This is a flowchart showing an example of the intersection support process according to the third embodiment of the present invention.

[0026] Figure 12 This is a schematic configuration diagram of the driving support server according to the fourth embodiment of the present invention.

[0027] Figure 13 This is a flowchart showing an example of the process implemented by the driving support server to set the driving support level for the supported road section.

[0028] Figure 14 This is an example of the process implemented by the control device of the vehicle to perform intersection support corresponding to the driving support level. Detailed Embodiment

[0029] Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings. In addition, in the following description, the same reference numerals are assigned to the same components.

[0030] (First Embodiment)

[0031] Figure 1 This is a schematic configuration diagram of the driving support system 1 according to the first embodiment of the present invention.

[0032] The driving support system 1 includes a plurality of vehicles 100 and a driving support server 200.

[0033] The vehicle 100 and the driving support server 200 can communicate with each other via a network 3 formed by an optical communication line or the like. The vehicle 100 is connected to the network 3 via a wireless base station 4 or the like, for example. The driving support server 200 is connected to the network 3 via a gateway (not shown), for example.

[0034] Details will be described later, but each vehicle 100 periodically sends vehicle information related to the vehicle 100 to the driving support server 200. The driving support server 200 stores the received vehicle information in a database, and based on the stored vehicle information, extracts intersections (hereinafter referred to as "specific intersections") having sections (hereinafter referred to as "supported sections") that are the objects of intersection support from among the intersections on the map, and sends intersection support information including information related to the specific intersections to each vehicle 100. Each vehicle 100 performs intersection support based on the driving support information.

[0035] In addition, intersection support is driving support implemented in each vehicle 100, and is driving support that performs at least one of notification to the driver, braking assistance, and automatic braking as needed when driving on a section toward an intersection.

[0036] Hereinafter, with reference to Figures 2 to 4 , the configurations of the vehicle 100 and the driving support server 200 will be described.

[0037] Figure 2 is a schematic system configuration diagram of the vehicle 100.

[0038] The vehicle 100 includes a surrounding sensor 10, a vehicle sensor 20, an HMI (Human Machine Interface) 30, an actuator 40, a communication device 50, and a control device 60. The surrounding sensor 10, the vehicle sensor 20, the HMI 30, the actuator 40, the communication device 50, and the control device 60 are communicably connected via an in-vehicle network 80 that complies with a standard such as Controller Area Network.

[0039] The surrounding sensor 10 is a sensor for generating surrounding data representing the situation around the vehicle 100. In the present embodiment, as the surrounding sensor 10, one or more external cameras 11 for photographing the periphery of the vehicle 100 are provided. The external camera 11 photographs the periphery of the vehicle 100 at a predetermined frame rate (for example, 10 [Hz] to 40 [Hz]) and generates a surrounding image showing the periphery of the vehicle 100. Whenever the external camera 11 generates a surrounding image, the generated surrounding image is sent to the control device 60 as surrounding data.

[0040] In addition, instead of the external camera 11 or in addition to the external camera 11, a ranging sensor for measuring the distance to targets such as the vehicle 100 and pedestrians present around the vehicle 100 may be provided as the peripheral sensor 10. Examples of the ranging sensor include, for example, a lidar (Light Detection And Ranging) that emits laser light and measures the distance based on the reflected light thereof, and a millimeter-wave radar sensor that emits radio waves and measures the distance based on the reflected waves thereof.

[0041] The vehicle sensor 20 is a sensor for generating various data related to the vehicle 100. In the present embodiment, as the vehicle sensor 20, a speed sensor 21 for generating speed data indicating the traveling speed of the vehicle 100, a positioning sensor 22 for generating current position data indicating the current position of the vehicle 100 such as longitude and latitude, an acceleration sensor 23 for generating acceleration data indicating the acceleration of the vehicle 100, a braking sensor 24 for generating braking operation data indicating whether the brake pedal of the vehicle 100 is depressed, and an impact detection sensor 25 for generating airbag operation data indicating whether the airbag of the vehicle 100 has operated are provided. However, the vehicle sensor 20 is not limited to these sensors 21 to 25. Each of the sensors 21 to 25 sends the acquired data to the control device 60.

[0042] The HMI 30 is a user interface for exchanging information between the vehicle 100 and its occupants. The HMI 30 includes an output device 31 for notifying the vehicle occupants through the physical sensations (e.g., vision, hearing, and touch) of the vehicle occupants, and an input device 32 for the vehicle occupants to perform input operations and response operations. In the present embodiment, as the output device 31, for example, display devices such as an instrument display, a center display, and a head-up display, and a speaker are provided, and as the input device 32, a touch panel and a microphone are provided.

[0043] The HMI 30 displays information (e.g., text information, image information) corresponding to the display signal received from the control device 60 on the display, and outputs voice corresponding to the voice signal from the speaker. In addition, the HMI 30 sends the data input by the vehicle occupants via the input device 32 to the control device 60.

[0044] The HMI 30 may be pre-mounted on the vehicle 100, or may be a terminal such as a smartphone possessed by the vehicle occupants. In the latter case, for example, information can be exchanged by communicating using short-range wireless communication between the vehicle 100 and the terminal of the vehicle occupants, or communication can be performed between the terminal of the vehicle occupants and an external server (not shown), and information can be exchanged indirectly via the server.

[0045] The actuator 40 is a device for controlling the running of the vehicle 100. In the present embodiment, as the actuator 40, an acceleration actuator 41 (for example, at least one of an engine and a motor) for performing acceleration control of the vehicle 100, a brake actuator 42 (for example, a hydraulic actuator) for performing brake control of the vehicle 100, and a steering actuator 43 (for example, a steering motor) for performing steering control of the vehicle 100 are provided.

[0046] The communication device 50 has a communication interface circuit for connecting the vehicle 100 to the network 3 (refer to Figure 1 ) via a wireless base station 4, and is configured to be able to communicate with the driving support server 200 via the network 3. Figure 1 )

[0047] The control device 60 is an ECU (Electronic Control Unit) including a communication unit 61, a storage unit 62, and a processing unit 63.

[0048] The communication unit 61 has an interface circuit for connecting the control device 60 to the in-vehicle network 80. The communication unit 61 supplies various data and the like received from the peripheral sensors 10, the vehicle sensors 20, the communication device 50, etc. to the processing unit 63. In addition, the communication unit 61 outputs various signals and the like output from the processing unit 63 to the HMI 30, the actuator 40, the communication device 50, etc.

[0049] The storage unit 62 has storage media such as an HDD (Hard Disk Drive), an SSD (Solid Disk Drive), and a semiconductor memory, and stores various computer programs, data, etc. for processing in the processing unit 63.

[0050] The processing unit 63 has one or more CPUs (Central Processing Unit) and their peripheral circuits, and executes various computer programs stored in the storage unit 62. The processing unit 63 is, for example, a processor. The processing unit 63 may also have other arithmetic circuits such as a logical arithmetic unit, a numerical arithmetic unit, or a graphics processing unit. The processing unit 63 functions as a driving support unit 71, a vehicle information acquisition unit 72, and a vehicle information transmission unit 73 by executing processing according to a computer program, and operates as a functional unit (module) for realizing a predetermined function. In the following description, when the processing is described with each of the functional units 71 to 73 as the subject, it means that the processing unit 63 is executing a program for realizing each of the functional units 71 to 73.

[0051] The driving support unit 71 implements driving support for the driver. The driving support unit 71 implements, for example, pre-crash safety (PCS, Pre-crash Safety System), intersection support, etc. as driving support.

[0052] Pre-crash safety is a driving support that implements at least one of notification to the driver, brake assistance, automatic braking, and steering support when there is a possibility of collision with various targets (other vehicles, motorcycles, bicycles, pedestrians, walls, etc.) detected by the surrounding sensors 10.

[0053] As described above, intersection support is a driving support that implements at least one of notification to the driver, brake assistance, and automatic braking as needed when driving on a road section leading to an intersection.

[0054] In addition, there are multiple road sections leading to an intersection. For example, in Figure 3 the example shown, as the road sections leading to the intersection 300, there are four road sections: the first road section 301, the second road section 302, the third road section 303, and the fourth road section 304. In each of the road sections 301 to 304, depending on the configuration and height of the buildings around the intersection and the differences in road widths, etc., that is, the surrounding road environment of each intersection, there are road sections where accidents and potential hazards are likely to occur, and road sections where accidents and potential hazards are less likely to occur. Therefore, if intersection support is also implemented when driving on a road section where accidents and potential hazards are less likely to occur, the driver may become bored with the intersection support.

[0055] Therefore, in the present embodiment, from among the multiple road sections leading to an intersection, the road sections with a high frequency of occurrence of accidents and potential hazards are set as the support road sections that are the targets of intersection support, and intersection support is implemented when driving on the support road sections. Thus, when driving on a road section where accidents and potential hazards are less likely to occur, it is possible to suppress the unnecessary implementation of intersection support.

[0056] The vehicle information acquisition unit 72 periodically acquires vehicle information related to the vehicle 100 for transmission to the driving support server 200.

[0057] The vehicle information includes, for example: data required on the driving support server 200 side to determine whether a collision accident has occurred in the vehicle 100 that is the transmission source of this vehicle information, data required to determine whether an action for avoiding a collision (hereinafter referred to as "collision avoidance action") has been implemented in the vehicle 100, and data required to determine whether the driver has anticipated a danger in the vehicle 100 and thus the driver has taken an action to prevent the danger (hereinafter referred to as "danger anticipation action"), etc.

[0058] In the present embodiment, as vehicle information, speed data, acceleration data, current position data, acceleration data, braking operation data, airbag operation data, pre-collision safety operation data (operation with or without alarm, operation with or without braking assistance, operation with or without automatic braking, operation with or without steering assistance), and intersection support operation data (operation with or without alarm, operation with or without braking assistance, operation with or without automatic braking) are acquired. However, the vehicle data is not limited to these data.

[0059] The vehicle information transmission unit 73 transmits the acquired vehicle information to the driving support server 200 in association with the vehicle ID (vehicle number), the acquisition time of the vehicle information, and the like.

[0060] Figure 4 It is a schematic configuration diagram of the driving support server 200.

[0061] The driving support server 200 includes a server communication unit 210, a server storage unit 220, and a server processing unit 230.

[0062] The server communication unit 210 has a communication interface circuit that connects the driving support server 200 to the network 3 (refer to Figure 1 ) via, for example, a gateway, and is configured to be able to communicate with each vehicle 100 (more specifically, the communication device 50 of each vehicle 100) via the network 3.

[0063] The server storage unit 220 has storage media such as HDD, SSD, and semiconductor memory, and stores various computer programs, data, etc. for processing in the server processing unit 230.

[0064] The server processing unit 230 has one or more CPUs (Central Processing Unit) and their peripheral circuits, and executes various computer programs stored in the server storage unit 220. The server processing unit 230 is, for example, a processor. The server processing unit 230 may also have other arithmetic circuits such as a logical arithmetic unit, a numerical arithmetic unit, or a graphics processing unit. By executing processing according to the computer program, the server processing unit 230 functions as a vehicle information storage unit 231, a support area setting unit 232, a specific intersection extraction unit 233, and an information transmission unit 234, and operates as a functional unit (module) that realizes a predetermined function. In the following description, when the processing is described with each functional unit 231 to 234 as the subject, it means that the server processing unit 230 is executing the programs that realize each functional unit 231 to 234.

[0065] The vehicle information storage unit 231 stores the vehicle information in a database by geographical grid based on the current position data in the vehicle information received from each vehicle 100. The geographical grid is formed by dividing a map into meshes (grids) of approximately the same size based on latitude and longitude. The vehicle information stored in the database can be set as, for example, the vehicle information for the most recent predetermined period.

[0066] The support area setting unit 232 evaluates the occurrence frequencies of accidents and potential hazards in each geographical grid in three levels, level 1 to level 3, based on the vehicle information (feature quantities) of each geographical grid, for example, by using a machine learning model that has been pre-trained, and sets the geographical grid with the highest occurrence frequency of accidents and potential hazards, level 3, as the support area.

[0067] The specific intersection extraction unit 233 extracts intersections with support sections that are the objects of intersection support, that is, specific intersections, from each intersection within the support area.

[0068] In the present embodiment, the specific intersection extraction unit 233 first extracts, based on the current position data in the vehicle information, the vehicle information obtained within a predetermined distance range from the center of each intersection within the support area from the vehicle information within the support area.

[0069] Next, based on the current position data in the extracted vehicle information, it is determined which section of each intersection the vehicle information was obtained from, and the number of collision accidents and the number of collision avoidance actions are counted by section. For example, in the example Figure 3 shown above, as the sections leading to intersection 300, there are four sections, section 301, section 302, section 303, and section 304. Therefore, the number of collision accidents and the number of collision avoidance actions for each of the sections 301 to 304 are counted.

[0070] Finally, the sections with the number of collision accidents equal to or more than a predetermined number and the sections with the number of collision avoidance actions equal to or more than a predetermined number are respectively set as support sections, and the intersections with support sections are extracted as specific intersections. That is, the sections with a high occurrence frequency of at least one of accidents and potential hazards are set as support sections, and the intersections with support sections are extracted as specific intersections.

[0071] In addition, the number of collision accidents and the number of collision avoidance actions can be grasped and counted as follows, for example. That is, when the airbag has been activated, it can be considered that a collision accident has occurred. Therefore, the number of collision accidents can be grasped, for example, based on the airbag activation data.

[0072] In addition, when any one of pre-collision safety alerts, braking assistance, automatic braking, and steering assistance works, it can be considered that a collision avoidance action has been implemented through the driving support function. Therefore, the number of occurrences of the collision avoidance action can be grasped based on, for example, the working data of pre-collision safety. In addition, when a sudden deceleration occurs, it can also be considered that a collision avoidance action has actually been carried out. Therefore, the number of occurrences of the collision avoidance action can also be grasped based on, for example, acceleration data. Of course, the number of occurrences of the collision avoidance action can also be grasped based on the working data of pre-collision safety and acceleration data.

[0073] The support information transmission unit 234 transmits intersection support information including information related to a specific intersection to each vehicle 100 as needed.

[0074] Figure 5 It is a flowchart showing an example of a specific intersection extraction process executed between each vehicle 100 and the driving support server 200.

[0075] In step S1, the control device 60 of the vehicle 100 periodically (for example, every 1 minute) acquires the vehicle information of the vehicle 100 and transmits the acquired vehicle information to the driving support server 200.

[0076] In step S2, when the driving support server 200 receives the vehicle information from the vehicle 100, based on the current position data in the vehicle information, it differentiates (divides) the vehicle information by geographical grid (area grid, area grille, grille area) and stores it in the database.

[0077] In step S3, the driving support server 200 determines whether it is the extraction period for a specific intersection. For example, if a predetermined period has elapsed since the last extraction period of the specific intersection, the driving support server 200 can determine that it is the extraction period for the specific intersection. If it is the extraction period for the specific intersection, the driving support server 200 proceeds to the process of step S4. On the other hand, if it is not the extraction period for the specific intersection, the driving support server 200 ends the process.

[0078] In step S4, the driving support server 200 evaluates the occurrence frequency of accidents and potential hazards in each geographical grid in three levels of level 1 to level 3, and sets the geographical grid of level 3 with the highest occurrence frequency of accidents and potential hazards as the support area.

[0079] In step S5, the driving support server 200 extracts, from among the intersections within the support area, the intersections having support road sections, that is, specific intersections. As described above, in the present embodiment, among the road sections of each intersection within the support area, the road sections with the number of collision accidents equal to or more than a predetermined number and the road sections with the number of collision avoidance actions equal to or more than a predetermined number are respectively set as support road sections.

[0080] Figure 6 It is a flowchart illustrating an example of intersection support processing executed between each vehicle 100 and the driving support server 200.

[0081] In step S11, the control device 60 of the vehicle 100 determines whether it is the request period for intersection support information. For example, if a predetermined period has elapsed since the last request for intersection support information, the vehicle 100 can determine that it is the request period for intersection support information. If it is the request period for intersection support information, the control device 60 proceeds to the processing of step S12. On the other hand, if it is not the request period for intersection support information, the control device 60 ends the current processing.

[0082] In step S12, the control device 60 of the vehicle 100 sends a support information request signal to the driving support server 200. The support information request signal includes, for example, the current position data of the own vehicle.

[0083] In step S13, when the driving support server 200 receives the support information request signal, based on the current position data included in the signal, it determines whether the vehicle that is the source of the signal is traveling within the support area. If the vehicle that is the source of the support information request signal is traveling within the support area, the driving support server 200 proceeds to the processing of step S14. On the other hand, if the vehicle 100 that is the source of the support information request signal is not traveling within the support area, the driving support server 200 ends the current processing.

[0084] In step S14, the driving support server 200 determines whether there is a specific intersection around the vehicle that is the source of the support information request signal, based on the current position data included in the support information request signal. If there is a specific intersection around the vehicle that is the source of the support information request signal, the driving support server 200 proceeds to the processing of step S15. On the other hand, if there is no specific intersection around the vehicle that is the source of the support information request signal, the driving support server 200 ends the current processing.

[0085] In step S15, the driving support server 200 sends information related to the specific intersection around the vehicle that is the source of the support information request signal (intersection support information) to the vehicle that is the source of the signal.

[0086] In step S16, the control device 60 of the vehicle 100 performs intersection support based on the received intersection support information. For example, the control device 60 determines whether the own vehicle is traveling on a supported section based on the intersection support information and the current position data. When the own vehicle is traveling on a supported section, as intersection support, it is possible to notify via the HMI 30 that the own vehicle is traveling on a supported section. In addition, when the traveling speed of the own vehicle is equal to or higher than a predetermined speed, etc., it is possible to control the brake actuator 42 to perform brake assistance and automatic braking.

[0087] In addition, when it is determined in step S13 that the source vehicle of the support information request signal is not traveling within the supported area, and when it is determined in step S14 that there is no specific intersection around the source vehicle of the support information request signal, the driving support server 200 may also notify the source vehicle of the support information request signal of this situation, and the vehicle 100 may notify the driver of this situation.

[0088] In addition, in Figure 6 , an example in which the driving support server 200 passively sends intersection support information to the vehicle 100 when a request is made from the vehicle 100 side has been described, but it is not limited to this. The driving support server 200 may also actively send intersection support information to the vehicle 100 with a high necessity for intersection support. For example, based on the current position data received from each vehicle 100, etc., the driving support server 200 sends intersection support information to the vehicle 100 around a specific intersection. In addition, for example, it is also possible to send intersection support information to the infrastructure provided at each intersection and capable of communicating with the vehicles around the intersection, and via the infrastructure provided at a specific intersection, send intersection support information to the vehicle 100 around the specific intersection.

[0089] Moreover, in Figure 6 , in step S16, the vehicle 100 side determines whether to perform intersection support based on the intersection support information received from the driving support server 200, but it is not limited to this. For example, it is also possible to determine on the driving support server 200 side whether the vehicle 100 is traveling on a supported section based on the current position data of the vehicle 100. When the vehicle 100 is traveling on a supported section, the driving support server 200 instructs the vehicle 100 to perform intersection support. That is, it is also possible to determine on the driving support server 200 side whether to perform intersection support for each vehicle 100.

[0090] The driving support system 1 of the embodiment described above includes multiple vehicles 100 that implement intersection support (predetermined driving support), and a server 200 configured to be able to communicate with the vehicles 100. The server 200 is configured to set a support area for the vehicles 100 to implement intersection support based on vehicle information (predetermined information) stored in the server 200, and set a section with a high occurrence frequency of at least one of accidents and potential hazards in each section of the intersections within the support area as a support section, and send information related to a specific intersection having a support section to the vehicle 100. The vehicle 100 is configured to receive information related to a specific intersection from the server 200 and implement intersection support when driving on the support section.

[0091] Thereby, the implementation of intersection support on sections with a low occurrence frequency of accidents and potential hazards is suppressed, and thus, the driver's boredom with intersection support can be suppressed. On the other hand, intersection support is implemented on the support sections with a high occurrence frequency of accidents and potential hazards, and thus, the safe driving of the driver can be appropriately supported at intersections.

[0092] In addition, in the present embodiment, the server 200 is configured to collect vehicle information (predetermined information) from the vehicle 100. The vehicle information includes at least one of data capable of determining whether a collision accident has occurred in the vehicle 100 and data capable of determining whether a collision avoidance action for avoiding a collision has been implemented in the vehicle 100.

[0093] Thereby, based on the latest vehicle information collected from each vehicle 100, a support area for each vehicle 100 to implement intersection support can be set, and a section with a high occurrence frequency of at least one of accidents and potential hazards in each section of the intersections within the support area can be set as a support section.

[0094] (Second Embodiment)

[0095] Next, a second embodiment of the present invention will be described. This embodiment is different from the first embodiment in the following aspect: it is determined whether there is a section (hereinafter referred to as a "quasi-support section") that is not a support section but is preferably set as an object of intersection support in each section of a specific intersection. In the case where there is a quasi-support section, in addition to the support section, intersection support is also implemented on the quasi-support section. Hereinafter, the description will be centered on this difference.

[0096] Figure 7 It is a schematic configuration diagram of the driving support server 200 of this embodiment.

[0097] The server processing unit 230 of the driving support server 200 of this embodiment further includes a quasi-support section setting unit 241.

[0098] The quasi-support road section setting unit 241 sets, as quasi-support road sections, road sections in each road section of a specific intersection that do not meet the setting criteria for support road sections but meet the setting criteria for quasi-support road sections.

[0099] Specifically, the quasi-support road section setting unit 241 extracts, from specific intersections, specific intersections where the road sections intersecting with the support road sections (hereinafter referred to as "intersecting road sections") are not set as support road sections, determines whether each intersecting road section of the extracted specific intersections meets the setting criteria for quasi-support road sections, and sets the intersecting road sections that meet the setting criteria for quasi-support road sections as quasi-support road sections.

[0100] For example, in the intersection 300 shown in the foregoing Figure 3 when only the first road section 301 is set as the support road section, the second road section 302 and the third road section 303 become the intersecting road sections of the first road section 303 that is the support road section. Therefore, in this case, it is determined whether the second road section 302 and the third road section 303 respectively meet the setting criteria for quasi-support road sections.

[0101] In addition, in the present embodiment, it is set that the degree of poor visibility of the intersecting road section when observing the intersecting road section from the support road section is a certain degree or more as the setting criterion for the quasi-support road section. That is, it is determined whether to set the intersecting road section as a quasi-support road section based on the visual recognition of the intersecting road section from the support road section. The degree of poor visibility of the intersecting road section can be judged based on, for example, the height and number of buildings built near the corner of the intersection, the road width of the support road section, the road width of the intersecting road section, etc. Such information can be obtained from map information, etc. Briefly, for example, it can be set that there are buildings above a predetermined height near the corner of the intersection as the setting criterion for the quasi-support road section. In addition, for example, when the surrounding images captured by the external camera 11 are collected from each vehicle 100, etc., the degree of poor visibility of the intersecting road section can also be judged based on the surrounding images.

[0102] Figure 8 is a flowchart illustrating an example of the specific intersection extraction process of the present embodiment. In Figure 8 the content of the processes in steps S1 to S5 is the same as that in the first embodiment, and thus the description thereof is omitted here.

[0103] In step S21, the driving support server 200 extracts, from specific intersections, specific intersections where the intersecting road sections intersecting with the support road sections are not set as support road sections.

[0104] In step S22, the driving support server 200 determines whether each cross-section of each specific intersection extracted in step S21 meets the setting criteria for a quasi-support section, and sets the cross-section that meets the setting criteria for the quasi-support section as the quasi-support section.

[0105] In the present embodiment, the intersection support information sent from the driving support server 200 to the vehicle 100 includes, in addition to the information related to the support section, the information related to the quasi-support section. Moreover, when the vehicle 100 travels towards the intersection on the support section and the quasi-support section, intersection support is implemented.

[0106] The server 200 of the present embodiment described above is configured such that, when there is a cross-section that intersects with the support section among the sections of a specific intersection and the cross-section is not set as the support section, based on the visual recognition of the cross-section from the support section, it is determined whether to set the cross-section as the quasi-support section based on the support section. And the vehicle 100 is configured to implement intersection support also when traveling on the quasi-support section.

[0107] Accidents and potential hazards at the support section may be caused by other vehicles traveling on the cross-section. In particular, it is considered that the possibility is higher at a specific intersection where the view of the cross-section from the support section is poor. Therefore, by setting the cross-section with poor visual recognition from the support section as the quasi-support section and implementing intersection support also on the quasi-support section, the occurrence frequency of accidents and potential hazards at the specific intersection can be reduced.

[0108] (Third Embodiment)

[0109] Next, the third embodiment of the present invention will be described. This embodiment is different from the above-described embodiments in that intersection support can be implemented as needed not only in the area grid of grade 3 where the occurrence frequency of accidents and potential hazards is the highest, but also in the area grids of grade 1 and grade 2. Hereinafter, the description will be centered on this difference.

[0110] Figure 9 It is a schematic configuration diagram of the driving support server 200 of this embodiment.

[0111] The server processing unit 230 of the driving support server 200 of this embodiment further includes a quasi-support area setting unit 251 and a candidate specific intersection extraction unit 252.

[0112] The quasi-support area setting unit 251 selects the area grid for implementing intersection support from the area grids of grade 1 or grade 2, and sets the selected area grid as the quasi-support area.

[0113] For example, the quasi-support area setting unit 251 may set the area grid of level 1 or level 2 adjacent to the support area as the quasi-support area. However, the method of setting the quasi-support area is not limited to such a method.

[0114] For example, the quasi-support area setting unit 251 may also set the area grid of level 1 or level 2 adjacent to the support area where there are a predetermined number or more of specific intersections as the quasi-support area. Additionally, the quasi-support area setting unit 251 may further set the area grid of level 1 or level 2 where there are a predetermined number or more of specific intersections among the area grids of level 1 or level 2 adjacent to the support area where there are a predetermined number or more of specific intersections as the quasi-support area.

[0115] The candidate specific intersection extraction unit 252 extracts intersections having candidate support road segments that are candidates for becoming support road segments, that is, candidate specific intersections, from the intersections within the quasi-support area. The method of extracting candidate specific intersections is the same as the method of extracting the aforementioned specific intersections. The road segments with a high occurrence frequency of at least one of accidents and potential hazards in each road segment of the intersections within the quasi-support area are set as candidate support road segments, and the intersections having candidate support road segments are extracted as candidate specific intersections.

[0116] Figure 10 It is a flowchart illustrating an example of the specific intersection extraction process of this embodiment. In Figure 10 it, the contents of the processes in steps S1 to S5 are the same as those in the first embodiment, and thus the description thereof is omitted here.

[0117] In step S31, the driving support server 200 selects the area grid for implementing intersection support from the area grids of level 1 or level 2, and sets the selected area grid as the quasi-support area.

[0118] Figure 11 It is a flowchart illustrating an example of the intersection support process of this embodiment. In Figure 11 it, the contents of the processes in steps S11 to S15 are the same as those in the first embodiment, and thus the description thereof is omitted here.

[0119] In step S41, the driving support server 200 determines whether the sending source vehicle of the support information request signal is traveling within the quasi-support area based on the current position data included in the support information request signal. If the sending source vehicle of the support information request signal is traveling within the quasi-support area, the driving support server 200 proceeds to the process in step S42. On the other hand, if the sending source vehicle is not traveling within the quasi-support area, the driving support server 200 ends the current process.

[0120] In step S42, the driving support server 200 determines whether there is a candidate specific intersection around the vehicle that is the source of the signal based on the current position data included in the support information request signal. If there is a candidate specific intersection around the vehicle that is the source of the support information request signal, the driving support server 200 proceeds to the process of step S43. On the other hand, if there is no candidate specific intersection around the vehicle that is the source of the support information request signal, the driving support server 200 ends the current process.

[0121] In step S43, the driving support server 200 transmits, to the vehicle that is the source of the signal, information related to the candidate specific intersection around the vehicle that is the source of the support information request signal as intersection support information for the quasi-support area.

[0122] In step S44, the control device 60 of the vehicle 100 performs intersection support based on the received intersection support information.

[0123] For example, when the control device 60 receives the intersection support information for the support area, that is, when the own vehicle is traveling within the support area, the control device 60 performs intersection support when the own vehicle is traveling on the support road section.

[0124] On the other hand, when the control device 60 receives the intersection support information for the quasi-support area, that is, when the own vehicle is traveling within the quasi-support area, the control device 60 performs intersection support when the own vehicle is traveling on the candidate support road section and there is a tendency for the traffic volume in the surrounding area of the candidate specific intersection to which the own vehicle is heading while traveling on the candidate support road section to increase.

[0125] Whether there is a tendency for the traffic volume in the surrounding area of the candidate specific intersection to increase can be judged based on, for example, road traffic information obtained from an external road traffic information center or the like. For example, if the number of one or both of the vehicles and other traffic participants in the surrounding area of the candidate specific intersection has increased compared to a predetermined time ago (for example, 15 minutes ago), it can be judged that there is a tendency for the traffic volume in the surrounding area of the candidate specific intersection to increase.

[0126] In addition, whether there is a tendency for the traffic volume in the surrounding area of the candidate specific intersection to increase can also be judged on the side of the driving support server 200 based on the current position data received from each vehicle 100. In this way, when judging on the side of the driving support server 200 whether there is a tendency for the traffic volume in the surrounding area of the candidate specific intersection to increase, in the above step S43, information related to whether there is a tendency for the traffic volume in the surrounding area of the candidate specific intersection to increase can also be included in the intersection support information for the quasi-support area and transmitted to the vehicle 100.

[0127] The driving support server 200 of the driving support system 1 described above is configured to set, as candidate support road sections, road sections in each road section of an intersection within a grid area that is not set as a support area and is adjacent to the support area, and in which at least one of accidents and potential hazards has a high occurrence frequency, and transmit information related to a candidate specific intersection having the candidate support road section to the vehicle 100. The vehicle 100 is configured to receive information related to the candidate specific intersection from the driving support server 200, and perform intersection support according to the traffic volume around the candidate specific intersection when driving on the candidate support road section.

[0128] Accordingly, it is possible to suppress unnecessary implementation of intersection support in areas (quasi-support areas) other than the support area where the occurrence frequency of accidents and potential hazards is high, and at the same time appropriately implement intersection support as needed.

[0129] (Fourth Embodiment)

[0130] Next, a fourth embodiment of the present invention will be described. This embodiment is different from the first embodiment in that a driving support level is set for each support road section, and intersection support corresponding to the driving support level is implemented. Hereinafter, the description will be centered on this difference.

[0131] Figure 12 It is a schematic configuration diagram of the driving support server 200 of this embodiment.

[0132] The server processing unit 230 of the driving support server 200 of this embodiment further includes a driving support level setting unit 261.

[0133] The driving support level setting unit 261 sets a driving support level for each support road section when performing intersection support on each support road section. In this embodiment, three levels of driving support levels, level 1 to level 3, are prepared in ascending order of the driving support level.

[0134] When the driving support level is higher, for example, the manner of physically notifying the driver through vision, hearing, touch, etc. (in addition, for example, display content, voice content, vibration rhythm, etc.) can be changed to a manner that is more likely to attract the driver's attention. In addition, when the driving support level is higher, the control amount when physically notifying the driver (for example, volume, vibration magnitude, etc.), the control amount during braking assistance and automatic braking (for example, deceleration), etc. can be increased, thereby increasing the control amount when performing intersection support. In addition, when the driving support level is higher, the timing of notifying the driver, performing braking assistance, and automatic braking can be advanced, for example, thereby advancing the timing when performing intersection support.

[0135] Figure 13 This is a flowchart showing an example of the processing performed by the driving support server 200 to set the driving support level for a support section.

[0136] In step S51, the driving support server 200 determines whether the intersection of the support section is set as a semi-support section. If the intersection of the support section is set as a semi-support section, the driving support server 200 proceeds to the processing of step S52. On the other hand, if the intersection of the support section is not set as a semi-support section, the driving support server 200 proceeds to the processing of step S56.

[0137] In step S52, the driving support server 200 determines whether the number of collision accidents occurring at the support section is equal to or more than a certain number. If the number of collision accidents occurring at the support section is equal to or more than a certain number, the driving support server 200 proceeds to the processing of step S53. On the other hand, if the number of collision accidents occurring at the support section is less than a certain number, the driving support server 200 proceeds to the processing of step S54.

[0138] In step S53, the driving support server 200 sets the driving support level of the support section to level 3.

[0139] In step S54, the driving support server 200 determines whether the number of collision avoidance actions occurring at the support section is equal to or more than a certain number. If the number of collision avoidance actions occurring at the support section is equal to or more than a certain number, the driving support server 200 proceeds to the processing of step S55. On the other hand, if the number of collision avoidance actions occurring at the support section is less than a certain number, the driving support server 200 proceeds to the processing of step S56.

[0140] In step S55, the driving support server 200 determines whether the occurrence ratio of danger prediction actions at the support section is equal to or more than a certain ratio. If the occurrence ratio of danger prediction actions at the support section is equal to or more than a certain ratio, the driving support server 200 proceeds to the processing of step S53. On the other hand, if the occurrence ratio of danger prediction actions at the support section is less than a certain ratio, the driving support server 200 proceeds to the processing of step S56.

[0141] In step S56, the driving support server 200 sets the driving support level of the support section to level 1.

[0142] Thus, in the present embodiment, the driving support level of the support section of a specific intersection having a semi-support section is set to level 1 or level 3 based on the occurrence frequency of accidents and potential hazards in the support section. And for the support section of a specific intersection without a semi-support section, its driving support level is set to level 1.

[0143] Figure 14 This is an example of the processing performed by the control device 60 (driving support unit 71) of the vehicle 100 to implement intersection support corresponding to the driving support level.

[0144] In step S61, the control device 60 of the vehicle 100 determines whether the driving support level of the support section on which the own vehicle is traveling is level 3 based on the intersection support information received from the driving support server 200. The intersection support information in this embodiment includes the driving support level of each support section. If the driving support level of the support section on which the own vehicle is traveling is level 3, the control device 60 proceeds to the processing of step S62. On the other hand, if the driving support level of the support section on which the own vehicle is traveling is not level 3, the control device 60 proceeds to the processing of step S63.

[0145] In step S62, the control device 60 of the vehicle 100 implements intersection support with a driving support level of level 3. As described above, the manner, control amount, or implementation timing of intersection support can be changed according to the driving support level. For example, the higher the driving support level, the more the notification method when notifying the driver can be changed to a method that easily attracts the driver's attention. In addition, by increasing the notification sound when notifying the driver, or increasing the deceleration during braking assistance or automatic braking, etc., the control amount during the implementation of intersection support can be increased. In addition, by advancing the timing of notifying the driver, performing braking assistance, or automatic braking, etc., the implementation timing during the implementation of intersection support can be advanced.

[0146] In step S63, the control device 60 of the vehicle 100 determines whether the environment around the own vehicle is night or bad weather. The environment around the own vehicle can be determined based on, for example, the surrounding images detected by the surrounding sensor 10. If the environment around the own vehicle is night or bad weather, the control device 60 proceeds to the processing of step S64. On the other hand, if the environment around the own vehicle is not night or bad weather, the control device 60 proceeds to the processing of step S66.

[0147] In step S64, when the environment around the own vehicle is night or bad weather, accidents and potential hazards are more likely to occur compared to the case of daytime and sunny weather. Therefore, the control device 60 of the vehicle increases the driving support level compared to the current level. In this embodiment, the driving support level is changed from level 1 to level 2.

[0148] In step S65, the control device 60 of the vehicle 100 implements intersection support with a driving support level of level 2.

[0149] In step S66, the control device 60 of the vehicle 100 implements intersection support with a driving support level of level 1.

[0150] The driving support server 200 of the driving support system 1 according to the present embodiment described above is configured to set a driving support level for each support section based on at least one of the occurrence frequencies of accidents and potential hazards on the support section. The vehicle 100 is configured to change the method, control amount, or execution timing of intersection support based on the driving support level.

[0151] Thereby, it is possible to optimize the control amount or execution timing of intersection support based on at least one of the occurrence frequencies of accidents and potential hazards on each support section.

[0152] The embodiments of the present invention have been described above, but the above embodiments only show a part of the application examples of the present invention and are not intended to limit the technical scope of the present invention to the specific configurations of the above embodiments.

[0153] For example, when multiple support sections are set at a specific intersection, it is also possible to set a priority for each support section based on the occurrence frequencies of accidents and potential hazards on each support section. Regarding the priority, for example, in the order of the number of collision accidents, the number of collision avoidance actions, and the occurrence ratio of danger prediction actions, the number and ratio are compared, and the support section with a larger number or ratio can have a higher priority. In addition, for example, when the details of the collision accident, that is, which one of pedestrians, bicycles, two-wheelers, automobiles, etc. has collided, are known, the priority can also be determined based on the collision details.

[0154] Moreover, it is also possible to make the intersection support information include only the information related to the support section with the highest priority. Thereby, for example, even when there are limitations such as data communication volume, the intersection support information can be provided to each vehicle 100 under such limitations.

[0155] In addition, in the above embodiment, the computer program executed in the control device 60 can be provided in the form of a computer-readable removable recording medium such as a semiconductor memory, a magnetic recording medium, or an optical recording medium, or can also be provided as a computer program product.

Claims

1. A driving support system, comprising: Multiple vehicles that perform predetermined driving support; and A server configured to be able to communicate with the vehicles, wherein, The server is configured to: Based on predetermined information stored in the server, set a support area for the vehicles to perform the driving support, and set a section with a high occurrence frequency of at least one of accidents and potential hazards in each section of intersections within the support area as a support section, Send information related to a specific intersection having the support section to the vehicles, The vehicles are configured to: Receive information related to the specific intersection from the server, Perform the driving support when driving on the support section.

2. The driving support system according to claim 1, The server is configured to: When there is an intersecting section that intersects with the support section in each section of the specific intersection and the intersecting section is not set as the support section, based on the visual recognition of the intersecting section from the support section, determine whether to set the intersecting section as a quasi-support section based on the support section, The vehicles are configured to: Also perform the driving support when driving on the quasi-support section.

3. The driving support system according to claim 1 or 2, The server is configured to: Set a section with a high occurrence frequency of at least one of accidents and potential hazards in each section of intersections within a region that is not set as the support area and is adjacent to the support area as a candidate support section, Send information related to a candidate specific intersection having the candidate support section to the vehicles, The vehicles are configured to: Receive information related to the candidate specific intersection from the server, When driving on the candidate support section, perform the driving support according to the traffic volume around the candidate specific intersection.

4. The driving support system according to any one of claims 1 to 3, The server is configured to: Based on the occurrence frequency of at least one of accidents and potential hazards in the support section, set a driving support level for each support section, The vehicles are configured to: Based on the driving support level, change the mode, control amount, or implementation timing of the driving support.

5. The driving support system according to any one of claims 1 to 4, The driving support is to perform at least one of notification to the driver of the vehicle, braking assistance, and automatic braking as needed when driving on the support section.

6. The driving support system according to any one of claims 1 to 5, The server collects the predetermined information from the vehicles, The predetermined information includes: At least one of data capable of determining whether a collision accident has occurred in the vehicle and data capable of determining whether an avoidance action for avoiding a collision has been performed in the vehicle.

7. The driving support system according to claim 6, The predetermined information includes: Data capable of determining whether the driver of the vehicle anticipated a danger and thus the driver performed a danger anticipation action to prevent the danger.

8. A driving support server, comprising: A communication unit configured to communicate with a vehicle; A storage unit that stores information; and A processing unit, wherein the processing unit is configured to set a support area for causing the vehicle to perform predetermined driving support based on predetermined information stored in the storage unit, set, as a support section for performing the driving support, a section in each section of an intersection within the support area where at least one of the occurrence frequencies of accidents and potential hazards is high, based on the predetermined information, send information related to a specific intersection having the support section to the vehicle.

9. A driving support method, which is a driving support method for a vehicle, wherein a support area for causing the vehicle to perform predetermined driving support is set based on predetermined information stored in a server, a section in each section of an intersection within the support area where at least one of the occurrence frequencies of accidents and potential hazards is high is set as a support section based on the predetermined information, when the vehicle travels on the support section, the vehicle is caused to perform the driving support.

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