Vehicle driver assistance system

Abstract

A server (100) of a vehicle driver assistance system (10) receives position information wirelessly transmitted by a wireless communication terminal (300) owned by a moving object (350) via a communication network (150) and transmits determination information to the driver assistance device (200) via the communication network (150) when the server (100) determines, based on the position information, that a passage condition is met.A vehicle driver assistance device (200) of the vehicle driver assistance system (10) performs a notification in a first notification mode to inform an operator of a host vehicle (400) of the presence of a target moving object (350T) when a notification condition is met, and performs the notification in a second notification mode, which differs from the first notification mode, when a target detection condition is met while the notification in the first notification mode is being performed.

Description

BACKGROUND area

[0001] The present invention relates to a vehicle driver assistance system. Description of the related prior art

[0002] A vehicle assistance system is known that executes a notification to inform the driver of a host vehicle of the presence of a moving object approaching an intersection in front of the host vehicle. A vehicle assistance system is also known that provides the host vehicle with wireless communication information transmitted by a wireless communication terminal of the moving object via a network server and executes the notification based on this wireless communication information (see, for example, unexamined Japanese patent application disclosure no. 2022-123691).

[0003] In the vehicle driver assistance system described above, communication costs and communication load become high when wireless communication information is constantly transmitted. SUMMARY

[0004] The aim of the present invention is to provide a vehicle driver assistance system with low communication costs and low communication load.

[0005] According to the present invention, a vehicle driver assistance system comprises a vehicle driver assistance device mounted on a host vehicle and a server provided in a communication network. The server is configured to receive position information wirelessly transmitted via the communication network from a wireless communication terminal having a moving object and to transmit determination information to the vehicle driver assistance device via the communication network when the server determines, based on the position information, that a passage condition has been met. The passage condition is a condition that the moving object passes at least one predetermined point in the direction of a predetermined intersection.The at least one predetermined point is a point set on a predetermined junction and located a predetermined distance from the predetermined intersection along the predetermined junction. The predetermined junction is a road that intersects with another road at the predetermined intersection. The destination information is information indicating that the moving object is passing the at least one predetermined point on the predetermined junction in the direction of the predetermined intersection. The vehicle assistance system is configured to issue a notification in a first notification mode to inform an operator of the host vehicle of the presence of a target object when a notification condition is met.The notification condition is a condition that the predetermined intersection specified by the received destination information is a target intersection, and the predetermined junction specified by the received destination information is a target junction. The vehicle assistance system is configured to execute the notification in a second notification mode, different from the first, if a target detection condition is met while the notification is executed in the first notification mode. The target detection condition is a condition that the target moving object is directly detected by an in-vehicle device of the host vehicle. The target intersection is an intersection located ahead in the direction of travel of the host vehicle. The target junction is a road that intersects the host vehicle's path at the target intersection.The target movement object is a moving object that moves towards the target intersection along the target branch.

[0006] If communication between the server and the vehicle assistance system is continuous, communication costs and load increase. According to the vehicle assistance system of the present invention, when the server receives position information from the wireless communication terminal and the passage condition is met, it transmits the destination information to the vehicle assistance system. Furthermore, according to the vehicle assistance system of the present invention, when the vehicle assistance system receives the destination information from the server and the notification condition is met, it executes the notification. Therefore, according to the vehicle assistance system, it is possible to reduce communication costs and load.

[0007] In the vehicle driver assistance system according to one aspect of the present invention, the passage condition can be a condition that the moving object passes the at least one predetermined point in the direction of the predetermined intersection and that the speed of movement of the moving object is a speed within a predetermined speed range.

[0008] According to the vehicle assistance system according to this aspect of the present invention, it is possible to determine whether the determination information should be transmitted to the vehicle assistance device according to the speed of movement of the moving object.

[0009] In the vehicle assistance system according to a further aspect of the present invention, the at least one predetermined point can be a point set such that the arrival time of a moving object is longer than the delay time. The arrival time of the moving object can be the time required for the moving object to reach the intersection after reaching the at least one predetermined point. The delay time can be the time required from the wireless communication of the position information from the wireless communication terminal until the vehicle assistance system receives the destination information from the server.

[0010] According to the vehicle driver assistance system of this aspect of the present invention, the driver of the host vehicle can also be appropriately informed about the presence of the target moving object when the delay time occurs.

[0011] In the vehicle assistance system according to a further aspect of the present invention, the notification condition can be that the predetermined intersection specified by the received destination information is the target intersection, the predetermined junction specified by the received destination information is the target junction, and the host vehicle arrival time is a time within a predetermined notification time range. The host vehicle arrival time can be the time required from receiving the destination information until the host vehicle reaches the target intersection. The predetermined notification time range can be from two to five seconds.

[0012] If the driver of the host vehicle is notified of the presence of the target moving object immediately before the host vehicle reaches the target intersection, it may be too late for the host vehicle driver to take action to avoid a collision between the host vehicle and the target moving object. Conversely, if the driver of the host vehicle is notified of the presence of the target moving object significantly earlier than the time the host vehicle reaches the target intersection, it may be too early for the host vehicle driver to take action to avoid a collision between the host vehicle and the target moving object.

[0013] According to the vehicle assistance system of this aspect of the present invention, the driver of the host vehicle is informed of the presence of the target moving object if the time at which the determination information is received is between two and five seconds before the host vehicle reaches the target intersection. Therefore, the driver of the host vehicle can be adequately informed of the presence of the target moving object.

[0014] In the vehicle assistance system according to a further aspect of the present invention, the vehicle assistance device can be configured to use the time until the host vehicle collides with the target moving object as a predicted collision time and to initiate automatic brake control to decelerate and stop the host vehicle when the predicted collision time becomes equal to or shorter than a predetermined brake start time. The notification condition can be that the predetermined intersection specified by the received destination information is the target intersection, the predetermined branch specified by the received destination information is the target branch, and the host vehicle arrival time is a time within a predetermined notification time range.The host vehicle arrival time can be the time required from receiving the destination information until the host vehicle reaches the target intersection. The predetermined notification time range can be a range longer than the predetermined braking start time and equal to or shorter than a predetermined response start time. The predetermined response start time can be the maximum predicted time required for the host vehicle driver to initiate an action to avoid a collision between the target moving object and the host vehicle, and is predicted when the notification is initiated in the first notification mode.

[0015] In a case where the vehicle assistance system is configured to perform automatic braking control, the automatic braking control may already have been initiated when the driver of the host vehicle is notified of the presence of the target moving object at a time immediately before the host vehicle reaches the target intersection. Conversely, if the driver of the host vehicle is notified of the presence of the target moving object at a time significantly earlier than the time the host vehicle reaches the target intersection, it may be too early for the driver of the host vehicle to take action to avoid a collision between the host vehicle and the target moving object.

[0016] According to the vehicle assistance system of this aspect of the present invention, if the arrival time of the host vehicle at the point of receiving the destination information does not reach the predetermined braking start time and is equal to or shorter than the predetermined response start time, the driver of the host vehicle is notified of the presence of the target moving object. Therefore, the driver of the host vehicle can be appropriately notified of the presence of the target moving object.

[0017] In the vehicle assistance system according to a further aspect of the present invention, the at least one predetermined point can comprise a first point and a second point. The first point can be a point where the predetermined distance is a first distance. The second point can be a point where the predetermined distance is a second distance that is longer than the first distance. The passage condition can be a condition that the moving object passes the first point in the direction of the predetermined intersection and that the speed of the moving object is within a first speed range, or that the moving object passes the second point in the direction of the predetermined intersection and that the speed of the moving object is within a second speed range.A lower limit of the second speed range can be greater than an upper limit of the first speed range.

[0018] According to the vehicle driver assistance system of this aspect of the present invention, it is possible to determine whether the determination information should be transmitted to the vehicle driver assistance device according to the speed of movement of the moving object.

[0019] In the vehicle assistance system according to a further aspect of the present invention, the speed within the first speed range can be a speed of movement normally achieved by a pedestrian moving towards the predetermined intersection. The speed within the second speed range can be a speed of movement normally achieved by a bicycle moving towards the predetermined intersection.

[0020] According to the vehicle assistance system according to this aspect of the present invention, it is possible to determine whether the determination information is transmitted to the vehicle assistance device, depending on whether the moving object is a pedestrian or a bicycle.

[0021] In the vehicle assistance system according to a further aspect of the present invention, the at least one predetermined point can comprise a first point, a second point, and a third point. The first point can be a point where the predetermined distance is a first distance. The second point can be a point where the predetermined distance is a second distance that is longer than the first distance. The third point can be a point where the predetermined distance is a third distance that is longer than the second distance.The passage condition can be a condition that the moving object passes the first point in the direction of the predetermined intersection and that the moving object's speed is within a first speed range; or that the moving object passes the second point in the direction of the predetermined intersection and that the moving object's speed is within a second speed range; or that the moving object passes the third point in the direction of the predetermined intersection and that the moving object's speed is within a third speed range. A lower limit of the second speed range can be greater than an upper limit of the first speed range.A lower limit of the third speed range can be one value greater than an upper limit of the second speed range.

[0022] According to the vehicle driver assistance system of this aspect of the present invention, it is possible to determine whether the determination information should be transmitted to the vehicle driver assistance device according to the speed of movement of the moving object.

[0023] In the vehicle assistance system according to a further aspect of the present invention, the speed within the first speed range can be a speed normally achieved by a pedestrian moving towards the predetermined intersection. The speed within the second speed range can be a speed normally achieved by a bicycle moving towards the predetermined intersection. The speed within the third speed range can be a speed normally achieved by a motorcycle or a car moving towards the predetermined intersection.

[0024] According to the vehicle driver assistance system of this aspect of the present invention, it is possible to determine whether the determination information is transmitted to the vehicle driver assistance device, depending on whether the moving object is a pedestrian, a bicycle, a motorcycle, or a motor vehicle.

[0025] In the vehicle driver assistance system according to a further aspect of the present invention, the vehicle-internal device can be an image sensor or a sensor for electromagnetic waves.

[0026] According to the vehicle driver assistance system of this aspect of the present invention, the driver of the host vehicle can be notified of the presence of the target moving object, which has been detected by the image sensor or the electromagnetic wave sensor.

[0027] The elements of the present invention are not limited to those of the exemplary embodiments and modified examples of the present invention described with reference to the drawings. The other objectives, features, and associated advantages of the present invention can be readily understood with reference to the exemplary embodiments and modified examples of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS Fig. Figure 1 is a representation showing a vehicle driver assistance system according to an embodiment of the present invention. Fig. Figure 2 is a representation showing a moving object, an intersection, and a host vehicle. Fig. Figure 3 is a representation showing a driver assistance device for a vehicle according to the embodiment of the present invention. Fig. Figure 4 is a flowchart showing a routine performed by a wireless communication terminal according to the embodiment of the present invention. Fig. Figure 5 is a flowchart showing a routine that is executed by a server according to the embodiment of the present invention. Fig. Figure 6 is a flowchart showing a routine performed by a vehicle driver assistance system according to the embodiment of the present invention. Fig. Figure 7 is a representation that shows a predetermined point. Fig. Figure 8 is a representation showing a first point, a second point, and a third point. Fig. Figure 9 is a representation showing a target intersection. Fig. Figure 10 is a representation showing a target intersection point. Fig. Figure 11 is a representation showing a target movement object image. DETAILED DESCRIPTION

[0028] In the following, a vehicle driver assistance system according to an embodiment of the present invention is described with reference to the drawings. Fig. Figure 1 shows the vehicle driver assistance system 10 according to the embodiment of the present invention. As in Fig. As shown in Figure 2, the vehicle assistance system 10 notifies an operator of a host vehicle 400 of the presence of a moving object 350 entering an intersection 500 in front of the host vehicle 400. It should be noted that in this example, the moving object 350 includes a pedestrian, a bicycle, a motorcycle, and a car.

[0029] The vehicle driver assistance system 10 comprises a server 100 and a vehicle driver assistance device 200.

[0030] As in Fig. As shown in Figure 1, server 100 is located in a communication network 150. Server 100 receives position information IPO via communication network 150. In this example, the position information IPO is wireless communication information IW, transmitted wirelessly from a wireless communication terminal 300. The position information IPO specifies the position of the wireless communication terminal 300. In this example, the wireless communication terminal 300 is in possession of the moving object 350. Therefore, the position information IPO also specifies the position of the moving object 350 that is in possession of the wireless communication terminal 300. Furthermore, in this example, the position information IPO specifies the position of the wireless communication terminal 300 in terms of latitude and longitude.

[0031] When a predetermined condition is met, the server 100 transmits information about the moving object 350 via the communication network 150 to the vehicle driver assistance system 200.

[0032] The Wireless Communication Terminal 300 has a wireless communication function. The Wireless Communication Terminal 300 is, for example, a so-called mobile phone.

[0033] The Wireless Communication Terminal 300 includes an ECU (Electronic Control Unit) 390. The ECU 390 comprises a microcomputer as its main component. The microcomputer includes a CPU, a computer-readable storage medium, and an interface. The storage medium includes ROM, RAM, and non-volatile memory. The CPU is configured to perform various functions by executing instructions, programs, or routines stored in the storage medium. Specifically, in this example, the Wireless Communication Terminal 300 stores programs in the storage medium to implement various control functions performed by the Wireless Communication Terminal 300.

[0034] The Wireless Communication Terminal 300 transmits the position information IPO externally when a predetermined condition is met. As described above, the position information IPO specifies the location of the Wireless Communication Terminal 300. The Wireless Communication Terminal 300 determines its position using its GPS function.

[0035] It should be noted that in this example, the exchange of wireless communication information between the wireless communication terminal 300, the server 100, and the vehicle driver assistance system 200 uses a so-called V2N technology. Therefore, in this example, the communication network 150 is an internet communication network that is part of a communication infrastructure (equipment) used in V2N technology. However, the present invention is also applicable in cases where a communication infrastructure is used that includes a communication network used in a so-called V2X technology, including V2N technology.

[0036] As in Fig. As shown in Figure 3, the vehicle driver assistance device 200 is mounted in the host vehicle 400. The vehicle driver assistance device 200 is described below using an example where an operator of the host vehicle 400 is a driver of the host vehicle 400 (i.e., a person who gets into and drives the host vehicle 400).

[0037] The operator of the host vehicle 400 can, however, be a remote operator of the host vehicle 400 (i.e., a person who drives the host vehicle 400 remotely without entering it). In such a case, the vehicle driving assistance device 200 is installed both in the host vehicle 400 and in a remote control unit. The remote control equipment is installed outside the host vehicle 400 to remotely control it. In this case, the functions of the vehicle driving assistance device 200, described below, are shared between the vehicle driving assistance device 200 installed in the host vehicle 400 and the vehicle driving assistance device 200 installed in the remote control equipment.

[0038] As in Fig. As shown in Figure 3, the vehicle assistance system 200 includes an ECU (electronic control unit) 290 as a control device. The ECU 290 includes a microcomputer as its main component. The microcomputer includes a CPU, a computer-readable storage medium, and an interface. The storage medium includes ROM, RAM, and non-volatile memory. The CPU is configured to perform various functions by executing instructions, programs, or routines stored in the storage medium. In particular, in this example, the vehicle assistance system 200 stores programs in the storage medium to implement various control actions performed by the vehicle assistance system 200.

[0039] It should be noted that in this example the vehicle assistance device 200 comprises only one ECU 290, but can comprise a large number of ECUs and the functions of the vehicle assistance device 200, which are described below, may be divided between the respective ECUs.

[0040] Furthermore, the vehicle driver assistance system 200 can be configured to update programs stored in the storage medium via wireless communication (for example, internet communication) with external devices.

[0041] It should be noted that the vehicle driver assistance system 200 is not only applicable to a vehicle driven manually by the driver, but also to a vehicle driven automatically.

[0042] The host vehicle 400 is equipped with a braking device 210 and a notification device 220.

[0043] The braking device 210 applies a braking force to the host vehicle 400. The braking device 210 is, for example, a hydraulic braking device. The braking device 210 is electrically connected to the ECU 290. The vehicle assistance device 200 applies a braking force to the host vehicle 400 by controlling the operation of the braking device 210.

[0044] The notification device 220 issues various notifications to the driver of the host vehicle 400. The notification device 220 comprises a display device 221 and an audio device 222.

[0045] The display device 221 shows various images. The display device 221 includes, for example, a display. The display device 221 is electrically connected to the ECU 290. The vehicle driver assistance system 200 displays various images using the display device 221.

[0046] The audio device 222 emits various tones and / or voices. The audio device 222 includes, for example, a loudspeaker. The audio device 222 is electrically connected to the ECU 290. The vehicle driver assistance device 200 emits various tones and / or voices using the audio device 222.

[0047] Furthermore, the host vehicle 400 is equipped as in-vehicle devices with a wireless communication device 231, a GPS signal receiver 232, a map information database 233, an environment information acquisition device 240 and a vehicle speed acquisition device 250.

[0048] The wireless communication device 231 receives information about the moving object 350. This information about the moving object 350 is transmitted by the server 100 via the communication network 150. The wireless communication device 231 is electrically connected to the ECU 290. The vehicle assistance system 200 receives information about the moving object 350 via the wireless communication device 231.

[0049] The GPS signal receiver 232 receives GPS signals. The GPS signal receiver 232 is electrically connected to the ECU 290. The vehicle assistance system 200 receives GPS signals via the GPS signal receiver 232. The vehicle assistance system 200 determines the current position PE of the host vehicle 400 based on the GPS signals.

[0050] The map information database 233 stores map information. The map information database 233 is electrically connected to the ECU 290. The vehicle assistance device 200 obtains map information IM from the map information database 233 based on the current position PE of the host vehicle 400. The map information IM is map information about the environment of the host vehicle 400.

[0051] The environmental information acquisition device 240 acquires information about the environment of the host vehicle 400. The environmental information acquisition device 240 comprises a plurality of image sensors 241 and a plurality of electromagnetic wave sensors 242.

[0052] The image sensor 241 captures images of the environment surrounding the host vehicle 400. The image sensor 241 is, for example, a camera sensor. The image sensors 241 are electrically connected to the ECU 290. The vehicle assistance system 200 obtains image data or image information about the environment surrounding the host vehicle 400 using the image sensors 241 as environmental information (IS).

[0053] The electromagnetic wave sensor 242 obtains information about objects in the vicinity of the host vehicle 400. The electromagnetic wave sensor 242 is, for example, a millimeter-wave radar. The electromagnetic wave sensors 242 are electrically connected to the ECU 290. The vehicle assistance system 200 obtains object data or object information about objects around the host vehicle 400 using the electromagnetic wave sensors 242 as environmental information (IS).

[0054] The vehicle speed detection device 250 detects the driving speed of the host vehicle 400. The vehicle speed detection device 250 includes, for example, wheel rotation speed sensors provided on the respective wheels of the host vehicle 400. The vehicle speed detection device 250 is electrically connected to the ECU 290. The vehicle driving assistance device 200 obtains the driving speed of the host vehicle 400 as the host vehicle speed VE using the vehicle speed detection device 250. <Operation des Fahrzeugfahrassistenzsystems>

[0055] Next, the operation of the vehicle driver assistance system 10 is described. The wireless communication terminal 300 is configured to receive the data in Fig. The routine shown in section 4 is executed at predetermined time intervals. Server 100 is configured to execute the routine shown in Fig. The routine shown in section 5 is executed at predetermined time intervals. Furthermore, the vehicle assistance system 200 is configured to perform the tasks shown in section 5. Fig. The routine shown in Figure 6 is executed at predetermined time intervals. Accordingly, the vehicle assistance system 200 executes a notification, described later, when a predetermined condition is met.

[0056] The wireless communication terminal 300 starts the process from step S400 of the in Fig. The routine shown in step 4 is executed at a predetermined time and proceeds to step S405 to determine whether a transfer condition C1 is met.

[0057] The transmission condition C1 is a condition that the wireless communication terminal 300 reaches a pre-passing point Pa or a post-passing point Pc. In other words, the transmission condition C1 is a condition that the moving object 350, which possesses the wireless communication terminal 300, reaches a pre-passing point Pa or a post-passing point Pc.

[0058] As in Fig. As shown in Figure 7, the pre-pass point Pa is a point set on a predetermined branch 510P and located a pre-pass distance Da from a predetermined point Pb in one direction along the predetermined branch 510P. This one direction is away from a predetermined intersection 500P. Conversely, the post-pass point Pc is a point set on the predetermined branch 510P and located a post-pass distance Dc from the predetermined point Pb in the other direction along the predetermined branch 510P. This other direction is closer to the predetermined intersection 500P.

[0059] The predetermined intersection 510P is a road that intersects another road 520 at the predetermined intersection 500P.

[0060] The predetermined point Pb is a point set on the predetermined branch 510P and is a predetermined distance Db away from the predetermined intersection 500P along the predetermined branch 510P.

[0061] The predetermined distance Db is a distance set such that the arrival time TM of a moving object is longer than the delay time TD. That is, the predetermined point Pb is a point set such that the arrival time TM of the moving object is longer than the delay time TD.

[0062] The arrival time TM of the moving object is the time required for the wireless communication terminal 300 to reach the predetermined intersection 500P after reaching the predetermined point Pb. In other words, the arrival time TM of the moving object is the time required for the moving object 350, which possesses the wireless communication terminal 300, to reach the predetermined intersection 500P after reaching the predetermined point Pb.

[0063] The delay time TD is the time required from the time when the position information IPO is wirelessly transmitted from the wireless communication terminal 300 until the time when the vehicle driver assistance device 200 receives the destination information ID described later via the server 100.

[0064] The passing distance Da and the post-passing distance Dc can be the same or different. However, the passing distance Da and the post-passing distance Dc are set to distances suitable for server 100 to determine that the moving object 350 passes the predetermined point Pb at the predetermined junction 510P, as described later.

[0065] It should be noted that, as described above, the Wireless Communication Terminal 300 determines its current position using its GPS function. Based on its current position, determined using its GPS function, the Wireless Communication Terminal 300 decides whether to reach the forward transition point Pa or the post-transition point Pc.

[0066] Alternatively, the transmission condition C1 can be a condition that the wireless communication terminal 300 reaches a first pre-passing point Pa1, a first post-passing point Pc1, a second pre-passing point Pa2, a second post-passing point Pc2, a third pre-passing point Pa3, or a third post-passing point Pc3. In other words, the transmission condition C1 can be a condition that the moving object 350, which possesses the wireless communication terminal 300, reaches the first pre-passing point Pa1, the first post-passing point Pc1, the second pre-passing point Pa2, the second post-passing point Pc2, the third pre-passing point Pa3, or the third post-passing point Pc3.

[0067] As in Fig. As shown in Figure 8, the first passing point Pa1 is a point set on the predetermined intersection 510P and is located a first passing distance Da1 from a first point Pb1 in one direction along the predetermined intersection 510P. This first direction is away from the predetermined intersection 500P. The first post-passing point Pc1 is a point set on the predetermined branch 510P and is located a first post-passing distance Dc1 from the first point Pb1 in the other direction along the predetermined branch 510P. This other direction is closer to the predetermined intersection 500P.

[0068] The first point Pb1 is a point located on the predetermined branch 510P and a first distance Db1 from the predetermined intersection 500P along the predetermined branch 510P. The first distance Db1 is set such that the arrival time TM of the moving object 350, moving at a speed within a first speed range R1, is longer than the deceleration time TD. That is, the first point Pb1 is a point set such that the arrival time TM of the moving object 350, moving at a speed within the first speed range R1, is longer than the deceleration time TD.

[0069] The speed within the first speed range R1 is a speed of movement normally achieved by a pedestrian moving in the direction of the predetermined intersection 500P.

[0070] The first passing distance Da1 and the first post-passing distance Dc1 can be the same or different. However, the first passing distance Da1 and the first post-passing distance Dc1 are set to distances suitable for server 100 to determine that the moving object 350, moving at a speed within the first speed range R1, passes the first point Pb1 on the predetermined branch 510P, as described later.

[0071] Similarly, as in Fig. As shown in Figure 8, the second passing point Pa2 is a point set on the predetermined intersection 510P and is located a second passing distance Da2 away from a second point Pb2 in one direction along the predetermined intersection 510P. This one direction is away from the predetermined intersection 500P. The second post-passing point Pc2 is a point set on the predetermined intersection 510P and is located a second post-passing distance Dc2 away from the second point Pb2 in the other direction along the predetermined intersection 510P. This other direction is approaching the predetermined intersection 500P.

[0072] The second point Pb2 is a point located at the predetermined intersection 510P and a second distance Db2 away from the predetermined intersection 500P along the predetermined intersection 510P. The second distance Db2 is set such that the arrival time TM of the moving object 350, traveling at a speed within a second speed range R2, is longer than the deceleration time TD. In other words, the second point Pb2 is a point set such that the arrival time TM of the moving object 350, traveling at a speed within the second speed range R2, is longer than the deceleration time TD.

[0073] The speed within the second speed range R2 is a speed typically achieved by a bicycle moving towards the predetermined intersection 500P. It should be noted that the lower limit of the second speed range R2 is greater than the upper limit of the first speed range R1. Therefore, the second distance Db2 is greater than the first distance Db1.

[0074] The second passing distance Da2 and the second post-passing distance Dc2 can be the same or different. However, the second passing distance Da2 and the second post-passing distance Dc2 are set to distances suitable for server 100 to determine that the moving object 350, moving at a speed within the second speed range R2, passes the second point Pb2 at the predetermined junction 510P, as described later.

[0075] Similarly, as in Fig. Figure 8 shows the third passing point Pa3 as a point set on the predetermined intersection 510P and located a third passing distance Da3 from a third point Pb3 in one direction along the predetermined intersection 510P. This one direction is away from the predetermined intersection 500P. The third post-passing point Pc3 is a point set on the predetermined intersection 510P and located a third post-passing distance Da3 from the third point Pb3 in the other direction along the predetermined intersection 510P. This other direction is approaching the predetermined intersection 500P.

[0076] The third point Pb3 is a point located at the predetermined intersection 510P and a third distance Db3 away from the predetermined intersection 500P along the predetermined intersection 510P. The third distance Db3 is set such that the arrival time TM of the moving object 350, traveling at a speed within a third speed range R3, is longer than the delay time TD. That is, the third point Pb3 is a point set such that the arrival time TM of the moving object 350, traveling at a speed within the third speed range R3, is longer than the delay time TD.

[0077] The speed within the third speed range R3 is a speed typically achieved by a motorcycle or automobile moving towards the predetermined intersection 500P. It should be noted that the lower limit of the third speed range R3 is greater than the upper limit of the second speed range R2. Therefore, the third distance Db3 is greater than the second distance Db2.

[0078] The third passing distance Da3 and the third post-passing distance Dc3 can be the same or different. However, the third passing distance Da3 and the third post-passing distance Dc3 are set to distances suitable for server 100 to determine that the moving object 350, moving at a speed within the third speed range R3, passes the third point Pb3 at the predetermined junction 510P, as described later.

[0079] It should be noted that, as described above, the Wireless Communication Terminal 300 determines its current position using its GPS function. Based on its current position, determined using its GPS function, the Wireless Communication Terminal 300 determines whether it has reached the first transit point Pa1, the first post-transition point Pc1, the second transit point Pa2, the second post-transition point Pc2, the third transit point Pa3, or the third post-transition point Pc3.

[0080] If the wireless communication terminal 300 determines "Yes" in step S405, it proceeds to step S410 to wirelessly transmit the IPO position information to the outside of the wireless communication terminal 300. Next, the wireless communication terminal 300 proceeds to step S495 to complete this routine once.

[0081] If, however, the wireless communication terminal 300 determines "No" in step S405, it proceeds directly to step S495 to complete the process of this routine once.

[0082] Furthermore, server 100 starts the process at a predetermined time with a step S500 that is in Fig. 5 shown routine and continues with the process with step S505 to determine if it is receiving the position information IPO transmitted wirelessly from the wireless communication terminal 300.

[0083] If server 100 determines "Yes" in step S505, it proceeds to step S510 to obtain ITR transmission information based on the received position information (IPO). The ITR transmission information specifies the information transmission point (PT) of wireless communication terminal 300, the movement speed (VW) of wireless communication terminal 300, and the movement direction (DIR) of wireless communication terminal 300.

[0084] The information transmission point PT is a point at which the position information IPO is transmitted from the wireless communication terminal 300. Therefore, the information transmission point PT is also the position of the moving object s 350 that the wireless communication terminal 300 possesses at the time of the transmission of the position information IPO.

[0085] The velocity VW of the wireless communication terminal 300 is the speed at which the wireless communication terminal 300 moves. Therefore, the velocity VW of the wireless communication terminal 300 is also the velocity of the moving object 350 that the wireless communication terminal 300 possesses.

[0086] The direction of movement DIR of the wireless communication terminal 300 is the direction in which the wireless communication terminal 300 moves. Therefore, the direction of movement DIR of the wireless communication terminal 300 is also the direction of movement of the moving object 350 that the wireless communication terminal 300 possesses.

[0087] Next, server 100 proceeds to step S515 to determine whether a passing condition C2 is met, based on the information transfer point PT, the movement speed VW and the movement direction DIR of the wireless communication terminal 300, which were obtained in step S510.

[0088] The passage condition C2 is a condition that the wireless communication terminal 300 passes the predetermined point Pb in the direction of the predetermined intersection 500P. In other words, the passage condition C2 is a condition that the moving object 350, which possesses the wireless communication terminal 300, passes the predetermined point Pb in the direction of the predetermined intersection 500P.

[0089] In this example, the passage condition C2 is a condition that the wireless communication terminal 300, which transmits the position information IPO, passes the predetermined point Pb on the predetermined branch 510P in the direction of the predetermined intersection 500P. In other words, the passage condition C2 is a condition that the moving object 350, which possesses the wireless communication terminal 300 that transmits the position information IPO, passes the predetermined point Pb on the predetermined branch 510P in the direction of the predetermined intersection 500P.

[0090] Alternatively, the passage condition C2 can be a condition that the wireless communication terminal 300, which transmits the position information IPO, passes the predetermined point Pb at the predetermined intersection 510P in the direction of the predetermined intersection 500P, and that the movement speed VW of the wireless communication terminal 300 is within a predetermined speed range R0. That is, the passage condition C2 can be a condition that the moving object 350, which possesses the wireless communication terminal 300 that transmits the position information IPO, passes the predetermined point Pb at the predetermined junction 510P in the direction of the predetermined intersection 500P, and that the movement speed VM of the moving object 350 is within the predetermined speed range R0.

[0091] The predetermined speed range R0 is a range which has as its lower limit the minimum value of the speeds of movement normally achieved by pedestrians, bicycles, motorcycles and automobiles moving in the direction of the predetermined intersection 500P, and as its upper limit the maximum value thereof.

[0092] Alternatively, the passage condition C2 can be a condition that one of the first conditions C21 to third conditions C23 is fulfilled.

[0093] The first condition C21 is a condition that the wireless communication terminal 300, which transmits the position information IPO, passes the first point Pb1 on the predetermined branch 510P in the direction of the predetermined intersection 500P, and that the movement speed VW of the wireless communication terminal 300 is within the first speed range R1. In other words, the first condition C21 is a condition that the moving object 350, which possesses the wireless communication terminal 300 that transmits the position information IPO, passes the first point Pb1 on the predetermined branch 510P in the direction of the predetermined intersection 500P, and that the movement speed of the moving object 350 is within the first speed range R1.

[0094] As described above, the speed within the first speed range R1 is a speed of movement normally achieved by a pedestrian moving in the direction of the predetermined intersection 500P.

[0095] The second condition C22 is a condition that the wireless communication terminal 300, which transmits the position information IPO, passes the second point Pb2 on the predetermined branch 510P in the direction of the predetermined intersection 500P, and that the movement speed VW of the wireless communication terminal 300 is within the second speed range R2. In other words, the second condition C22 is a condition that the moving object 350, which possesses the wireless communication terminal 300 that transmits the position information IPO, passes the second point Pb2 on the predetermined branch 510P in the direction of the predetermined intersection 500P, and that the movement speed of the moving object 350 is within the second speed range R2.

[0096] As described above, the speed within the second speed range R2 is a speed typically achieved by a bicycle moving towards the predetermined intersection 500P. It should be noted that the lower limit of the second speed range R2 is greater than the upper limit of the first speed range R1.

[0097] The third condition C23 is a condition that the wireless communication terminal 300, which transmits the position information IPO, passes the third point Pb3 on the predetermined branch 510P in the direction of the predetermined intersection 500P, and that the movement speed VW of the wireless communication terminal 300 is within the third speed range R3. In other words, the third condition C23 is a condition that the moving object 350, which possesses the wireless communication terminal 300 that transmits the position information IPO, passes the third point Pb3 on the predetermined branch 510P in the direction of the predetermined intersection 500P, and that the movement speed of the moving object 350 is within the third speed range R3.

[0098] As described above, the speed within the third speed range R3 is a speed typically achieved by a motorcycle or automobile moving towards the predetermined intersection 500P. It should be noted that the lower limit of the third speed range R3 is greater than the upper limit of the second speed range R2.

[0099] If server 100 determines "Yes" in step S515, it proceeds to step S520 to transmit the destination information ID to the vehicle driver assistance system 200 via communication network 150. That is, if server 100 determines, based on the position information IPO, that the passage condition C2 is met, it transmits the destination information ID to the vehicle driver assistance system 200 via communication network 150. Next, server 100 proceeds to step S595 to complete this routine.

[0100] In this example, the destination information ID includes the transit information IPA and the type information ITY.

[0101] The passage information IPA is information indicating that the wireless communication terminal 300 passes the predetermined point Pb on the predetermined branch 510P in the direction of the predetermined intersection 500P. In other words, the passage information IPA is also information indicating that the moving object 350, which possesses the wireless communication terminal 300 transmitting the position information IPO, passes the predetermined point Pb on the predetermined branch 510P in the direction of the predetermined intersection 500P.

[0102] The type information ITY specifies the type of the moving object 350 possessed by the wireless communication terminal 300, which transmits the position information IPO. As described above, the moving object 350 in this example includes a pedestrian, a bicycle, a motorcycle, and a car. Therefore, the type information ITY indicates whether the moving object 350 is a pedestrian, a bicycle, a motorcycle, or a car.

[0103] Based on the speed (VW) of wireless communication terminal 300, server 100 determines whether the moving object 350, possessing wireless communication terminal 300, is a pedestrian, a bicycle, a motorcycle, or a car. Specifically, if the speed (VW) of wireless communication terminal 300 is within the first speed range (R1), server 100 determines that the moving object 350, possessing wireless communication terminal 300, is a pedestrian. If the speed (VW) of wireless communication terminal 300 is within the second speed range (R2), server 100 determines that the moving object 350 is a bicycle. If the speed (VW) is within the third speed range (R3), server 100 determines that the moving object 350 is a motorcycle or a car.

[0104] If, however, server 100 determines "No" in step S505 or in step S515, it proceeds directly to step S595 to complete the process of this routine once.

[0105] The vehicle driver assistance system 200 starts the process at a predetermined time with step S600 of the in Fig. The routine shown in step 6 continues the process to step S605 to determine if it receives the destination information ID transmitted by server 100.

[0106] If the vehicle driver assistance system determines “Yes” in step S605, it proceeds to step S610 to determine whether a notification condition C3 for “ ” is met.

[0107] In this example, the notification condition C3 is a condition that the predetermined intersection 500P specified by the received destination information ID is a destination intersection 500T and the predetermined branch 510P specified by the received destination information ID is a destination branch 510T.

[0108] As in Fig. As shown in Figure 9, the target intersection 500T is an intersection that lies ahead in the direction of travel of the host vehicle 400. Specifically, in this example, the target intersection 500T is an intersection that lies ahead in the direction of travel of the host vehicle 400 and is within a predetermined distance (intersection determination distance DI) of the host vehicle 400.

[0109] The destination junction 510T is a road that intersects the route 550 of the host vehicle 400 at the destination junction 500T.

[0110] Alternatively, notification condition C3 can be a condition that the predetermined intersection 500P, specified by the received destination information ID, is the target intersection 500T, the predetermined branch 510P, specified by the received destination information ID, is the target branch 510T, and a host vehicle arrival time TE is within a predetermined notification time range RT. Here, the host vehicle arrival time TE is the time required from receiving the destination information ID until the host vehicle 400 reaches the target intersection 500T. The predetermined notification time range RT is a range of two to five seconds.

[0111] Alternatively, in a case where the vehicle assistance device 200 is configured to perform automatic brake control, the notification condition C3 may be as follows. More specifically, in a case where the vehicle assistance device 200 obtains a predicted collision time TTC and initiates automatic brake control to slow down and stop the host vehicle 400 when the predicted collision time TTC becomes equal to or shorter than a predetermined brake start time TTC_BK, the notification condition C3 may be as follows.

[0112] That is, in this case, the notification condition C3 can be a condition that the predetermined intersection 500P specified by the received destination information ID is the destination intersection 500T, the predetermined branch 510P specified by the received destination information ID is the destination branch 510T, and the host vehicle arrival time TE is within the predetermined notification time range RT.

[0113] It should be noted that the predicted collision time (TTC) is the time until the host vehicle 400 collides with the target moving object 350T. More precisely, the predicted collision time (TTC) is the time required for the host vehicle 400 to reach a target intersection point (PC) when it is determined that the host vehicle 400 can collide with the target moving object 350T, based on the host vehicle speed (VE), a host vehicle collision distance (DE), the movement speed (VM) of the target moving object 350T, and a movement object collision distance (DM). Therefore, the predicted collision time (TTC) is the time obtained by dividing the host vehicle collision distance (DE) by the host vehicle speed (VE) when it is determined that the host vehicle 400 can collide with the target moving object 350T.

[0114] As in Fig. As shown in Figure 9, the target movement object 350T is a moving object that moves along the target branch 510T in the direction of the target intersection 500T.

[0115] As in Fig. As shown in Figure 10, the collision distance DE of the host vehicle is a distance from the host vehicle 400 to the target intersection point PC. The collision distance DM of the moving object is a distance from the target moving object 350T to the target intersection point PC. The target intersection point PC is the point where the predicted travel path of the host vehicle 400 and the predicted movement path of the target moving object 350T intersect.

[0116] As described above, the arrival time TE of the host vehicle is the time required from receiving the destination information ID until the host vehicle 400 reaches the destination intersection 500T.

[0117] The predetermined notification time range RT is a range that is longer than the predetermined brake start time TTC_BK and equal to or shorter than a predetermined response start time TR. Here, the predetermined response start time TR is the maximum predicted time required for the driver of the host vehicle 400 to initiate an action to avoid a collision between the target motion object 350T and the host vehicle 400, and is predicted when the notification is initiated in a first notification manner described later.

[0118] If the vehicle assistance system 200 determines "Yes" in step S610, it proceeds to step S615 to perform a notification in the first notification mode to inform the driver of the host vehicle 400 of the presence of the target moving object 350T. That is, if the notification condition C3 is met, meaning that the predetermined intersection 500P specified by the received destination information ID is the target intersection 500T and the predetermined branch 510P specified by the received destination information ID is the target branch 510T, the vehicle assistance system 200 performs the notification in the first notification mode to inform the driver of the host vehicle 400 of the presence of the target moving object 350T.

[0119] In this example, notification is carried out in a predetermined manner by the notification device 220 in the first notification mode. For example, as in Fig. As shown in Figure 11, notification is carried out in the first notification method by displaying a target motion object image IMG_T in a predetermined shape by the display device 221. Alternatively or instead, notification is carried out in the first notification method by emitting a tone of a predetermined pattern from the audio device 222. Alternatively or instead, notification is carried out in the first notification method by emitting a voice with predetermined content from the audio device 222.

[0120] It should be noted that the target motion object image IMG_T is an image representing the target motion object 350T. Specifically, if the target motion object 350D is a pedestrian, the target motion object image IMG_T is an image representing a pedestrian. If the target motion object 350D is a bicycle, the target motion object image IMG_T is an image representing a bicycle. If the target motion object 350D is a motorcycle or a car, the target motion object image IMG_T is an image representing a motorcycle and / or a car.

[0121] The target object 350D is a moving object specified by the target information ID.

[0122] In this example, notification continues in the first notification mode until the target moving object 350T enters the target intersection 500T. Alternatively, notification continues in the first notification mode for a predetermined time TP.

[0123] Next, the vehicle driver assistance system 200 proceeds to step S620 to determine whether a target acquisition condition C4 is met.

[0124] In this example, the target acquisition condition C4 is a condition that the target motion object 350T is acquired based on the environment information IS.

[0125] If the vehicle assistance system 200 determines "Yes" in step S620, it proceeds to step S625 to complete the notification in the first notification mode and initiate a notification in the second notification mode to inform the driver of the host vehicle 400 of the presence of the target moving object 350T. Next, the vehicle assistance system 200 proceeds to step S695 to complete this routine once.

[0126] In this example, notification in the second notification mode is carried out by the notification device 220 in a predetermined manner. However, notification in the second notification mode is carried out in a way that differs from notification in the first notification mode.

[0127] For example, in the second notification mode, the notification is carried out by displaying the target motion object image IMG_T in a form that differs from the predetermined form in the first notification mode, by the display device 221. In this case, for example, the vehicle driver assistance device 200 displays the target motion object image IMG_T in a size or color that differs from that in the first notification mode.

[0128] Alternatively or additionally, in the second notification method, the notification is carried out by emitting a tone with a pattern that differs from the predetermined pattern in the first notification method from the audio device 222. In this case, for example, the vehicle driver assistance device 200 emits a short tone in the notification method for the first notification method when a short tone is emitted by the audio device 222, and emits two short tones in succession in the notification method for the second notification method.

[0129] Alternatively or instead, the notification in the second notification mode is carried out by emitting a voice with content that differs from the predetermined content in the notification in the first notification mode from the audio device 222.

[0130] As described above, the vehicle assistance device 200 performs the notification in the first notification mode, while the target detection condition C4, that the vehicle assistance device 200 detects the target motion object 350T through the vehicle equipment (in this example the environment information detection device 240) of the host vehicle 400, causes the vehicle assistance device 200 to perform the notification in the second notification mode, which differs from the first notification mode.

[0131] However, if the vehicle assistance system 200 determines "No" in step S605, step S610 or step S620, it proceeds directly to step S695 to complete the process of this routine once.

[0132] The above is the operation of the vehicle driver assistance system 10.

[0133] If communication between the wireless communication terminal 300, the server 100, and the vehicle driver assistance device 200 is continuous, communication costs and load increase. According to the vehicle driver assistance system 10, the wireless communication terminal 300 transmits the position information IPO when it reaches a predetermined point (for example, the pre-transit point Pa and the post-transit point Pc). Furthermore, according to the vehicle driver assistance system 10, when the server 100 receives the position information IPO from the wireless communication terminal 300, the wireless communication terminal 300 transmits the position information IPO to the vehicle driver assistance device 200 if the pass condition C2 is met.Then, according to the vehicle assistance system 10, when it receives the destination information ID from server 100, the vehicle assistance device 200 executes the notification if the notification condition C3 is met. Therefore, according to the vehicle assistance system 10, the communication costs and communication load are reduced.

[0134] It should be noted that the present invention is not limited to the aforementioned embodiments and various modifications within the scope of the invention may be used.

Claims

[1] Vehicle driver assistance system (10), comprising a vehicle driver assistance device (200) mounted on a host vehicle (400) and a server (100) provided in a communication network (150), where the server (100) is configured to: Receiving position information wirelessly transmitted by a wireless communication terminal (300) possessed by a moving object (350) via the communication network (150); and Transmission of destination information to the vehicle driver assistance system (200) via the communication network (150) when the server (100) determines, based on the position information, that a passage condition is met, the passage condition is a condition that the moving object (350) passes at least one predetermined point in the direction of a predetermined intersection, wherein the at least one predetermined point is a point set on a predetermined branch (510P) and is a predetermined distance from the predetermined intersection (500P) along the predetermined branch (510P), where the predetermined turn (510P) is a road that intersects another road at the predetermined intersection (500P), wherein the destination information is information indicating that the moving object (350) passes the at least one predetermined point on the predetermined branch (510P) in the direction of the predetermined intersection (500P), where the vehicle driver assistance system (200) is configured to Performing a notification in a first notification manner to inform an operator of the host vehicle (400) of the presence of a target motion object (350T) when a notification condition is met, wherein the notification condition is a condition that the predetermined intersection (500P) specified by the received destination information corresponds to the target intersection (500P) and the predetermined branch (510P) specified by the received destination information corresponds to the target branch (510T); and Performing the notification in a second notification method, which differs from the first notification method, if a target capture condition is met while the notification is being performed in the first notification method, wherein the target acquisition condition is a condition that the target moving object (350T) is directly acquired by an in-vehicle device (240) of the host vehicle (400), wherein the target intersection (500T) is an intersection (500) that lies ahead in the direction of travel of the host vehicle (400), where the destination turn (510T) is a road that intersects a route of the host vehicle (400) at the destination intersection (500T), and where the target movement object (350T) is a moving object (350) that moves along the target branch (510T) in the direction of the target intersection (500T). [2] Vehicle driver assistance system (10) according to claim 1, wherein the passing condition is a condition that the moving object (350) passes the at least one predetermined point in the direction of the predetermined intersection (500P) and a speed of movement of the moving object (350) is a speed within a predetermined speed range. [3] Vehicle driver assistance system (10) according to claim 1, where at least one predetermined point is a point set such that the arrival time of the moving object is longer than the delay time, the arrival time of the moving object is the time required for the moving object (350) to reach the predetermined intersection after reaching at least one predetermined point, and The delay time is the time required from the wireless communication of the position information from the wireless communication terminal (300) until the vehicle driver assistance system (200) receives the destination information via the server (100). [4] Vehicle driver assistance system (10) according to claim 1, where the notification condition is a condition that the predetermined intersection (500P) specified by the received destination information is the destination intersection (500T), the predetermined branch (510P) specified by the received destination information is the destination branch (510T), and a host vehicle arrival time is a time within a predetermined notification time range. The host vehicle arrival time is the time required from the receipt of the destination information until the host vehicle (400) reaches the destination intersection (500T), and The predetermined notification time range is between two and five seconds. [5] Vehicle driver assistance system (10) according to claim 1, wherein the vehicle driver assistance system (200) is configured to to refer to the time until a collision of the host vehicle (400) with the target moving object (350T) as the predicted collision time; and to initiate an automatic braking control to slow down and stop the host vehicle (400) when the predicted collision time becomes less than or equal to a predetermined braking start time, where the notification condition is a condition that the predetermined intersection (500P) specified by the received destination information is the destination intersection (500T), the predetermined junction (510P) specified by the received destination information is the destination junction (510T), and a host vehicle arrival time is a time within a predetermined notification time range, where the arrival time of the host vehicle is the time required from the receipt of the destination information until the host vehicle (400) reaches the target intersection (500T), where the predetermined notification time range is a range that is longer than the predetermined brake start time and less than or equal to a predetermined response start time, and where the predetermined response start time is the maximum predicted time required for the operator of the host vehicle (400) to initiate an action to avoid a collision between the target moving object (350T) and the host vehicle (400), and is predicted when the notification is initiated in the first notification mode. [6] Vehicle driver assistance system (10) according to claim 1, where the at least one predetermined point includes a first point and a second point, the first point is a point where the predetermined distance is a first distance, the second point is a point where the predetermined distance is a second distance that is longer than the first distance, The passage condition is a condition that the moving object (350) passes the first point in the direction of the predetermined intersection and the speed of the moving object (350) is a speed within a first speed range, or that the moving object (350) passes the second point in the direction of the predetermined intersection (500P) and the speed of the moving object (350) is a speed within a second speed range, and a lower limit of the second speed range is greater than an upper limit of the first speed range. [7] Vehicle driver assistance system (10) according to claim 6, where the speed within the first speed range is a speed of movement normally achieved by a pedestrian moving in the direction of the predetermined intersection (500P), and The speed within the second speed range is a speed of movement normally achieved by a bicycle moving in the direction of the predetermined intersection (500P). [8] Vehicle driver assistance system (10) according to claim 1, wherein the at least one predetermined point includes a first point, a second point and a third point, the first point is a point where the predetermined distance is a first distance, the second point is a point where the predetermined distance is a second distance that is longer than the first distance, the third point is a point where the predetermined distance is a third distance that is longer than the second distance, The passage condition is a condition that the moving object (350) passes the first point in the direction of the predetermined intersection (500P) and the speed of the moving object (350) is within a first speed range, or that the moving object (350) passes the second point in the direction of the predetermined intersection (500P) and the speed of the moving object (350) is within a second speed range. Alternatively, the moving object (350) passes the third point in the direction of the predetermined intersection (500P) and the speed of the moving object (350) is within a third speed range. a lower limit of the second speed range is greater than an upper limit of the first speed range, and a lower limit of the third speed range is greater than an upper limit of the second speed range. [9] Vehicle driver assistance system (10) according to claim 8, where the speed within the first speed range is a speed of movement normally achieved by a pedestrian moving in the direction of the predetermined intersection (500P), The speed within the second speed range is a speed of movement normally achieved by a bicycle moving in the direction of the predetermined intersection (500P), and The speed within the third speed range is a speed of movement normally achieved by a motorcycle or a car moving in the direction of the predetermined intersection (500P). [10] Vehicle driver assistance system (10) according to claim 1, wherein the vehicle-internal device (240) is an image sensor (241) or an electromagnetic wave sensor (242).

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