Vehicle notification system

Abstract

A vehicle notification system that contributes to further improving traffic safety is provided. [Solution] The vehicle notification system identifies the current position of the right-turning vehicle on a road map and the current position of the straight-moving vehicle on the road map. After detecting a right-turn intention, if the right-turning vehicle enters an intersection area, a first predetermined mode alert is issued to traffic participants on the condition that the straight-moving vehicle is located at a first predetermined distance from the intersection or closer to the intersection. On the other hand, if the right-turning vehicle is traveling outside the predicted collision area after entering the intersection area toward the predicted collision point, or if the right-turning vehicle enters the predicted collision area, a second predetermined mode alert is issued to traffic participants on the condition that the straight-moving vehicle is located at a second predetermined distance from the intersection or closer to the intersection.

Description

[Technical Field]

[0001] The present invention relates to a vehicle notification system. [Background technology]

[0002] There is a technology that aims to assist drivers when turning right at an intersection on a left-hand traffic road by understanding the driving conditions of other traffic participants, including oncoming vehicles traveling straight toward the intersection in the oncoming lane, and instructing the driver on the timing of the right turn to avoid a collision with an oncoming vehicle.

[0003] Here, detection of traffic participants is generally performed by an on-board sensor such as a camera or radar. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Laid-Open No. 2009-265832 Summary of the Invention [Problem to be solved by the invention]

[0005] However, when using an on-board sensor, it is difficult to detect traffic participants in blind spots, such as behind an obstacle.

[0006] Specifically, if there is another vehicle traveling alongside the oncoming vehicle in the same lane, or if another vehicle is stopped in front of the oncoming vehicle waiting to turn right, the other vehicle becomes an obstacle and is in the blind spot of the other vehicle, making it difficult for the onboard sensors installed in the right-turning vehicle to detect the oncoming vehicle.

[0007] If the other vehicle acting as an obstacle is a large vehicle, the blind spot will be wider, making it more difficult to detect the oncoming vehicle.

[0008] Therefore, an object of the present invention is to provide a vehicle notification system that contributes to further improving traffic safety. [Means for solving the problem]

[0009] In order to solve the above-mentioned problems, a vehicle notification system according to one aspect of the present invention is a vehicle notification system that issues a notification to traffic participants including a right-turning vehicle present in a driving lane leading to an intersection and a straight-moving vehicle traveling in a straight direction toward the intersection in an oncoming lane to the driving lane, and includes a road map storage means that stores a road map including the intersection, a right-turning vehicle position specifying means that specifies the current position of the right-turning vehicle on the road map, a straight-moving vehicle position specifying means that specifies the current position of the straight-moving vehicle on the road map, and a right-turn intention detection means that detects the right-turning vehicle's intention to turn right. a first vehicle behavior detection means for detecting, based on the current position of the right-turning vehicle specified by the right-turning vehicle position specifying means, that the right-turning vehicle is at a first predetermined position in the driving lane or at a position closer to the intersection center that is a center position of the intersection after the right-turn intention detection means detects the right-turning vehicle's intention to turn right by the right-turn intention detection means; and a first vehicle behavior detection means for detecting, based on the current position of the right-turning vehicle, that the right-turning vehicle is at a first predetermined position in the driving lane or at a position closer to the intersection center that is a center position of the intersection, with a collision prediction point being a point where a path that the right-turning vehicle will travel when passing through the intersection and a path that the straight-moving vehicle will travel when passing through the intersection intersect. a first alert issuing means, when the first vehicle behavior detection means detects that the right-turning vehicle is traveling toward the predicted collision point at a position closer to the predicted collision point than the first predetermined position or that the vehicle is located closer to the predicted collision point than a second predetermined position between the first predetermined position and the predicted collision point, issuing an alert in a first predetermined mode to the traffic participants, on the condition that the straight-moving vehicle is located at a first predetermined distance from the intersection or at a position closer to the intersection than the first predetermined distance; and a second alert issuing means, when the second vehicle behavior detection means detects that the right-turning vehicle is traveling closer to the predicted collision point than the first predetermined position or that the vehicle is located closer to the predicted collision point than the second predetermined position, issuing an alert in a second predetermined mode different from the first predetermined mode to the traffic participants, on the condition that the straight-moving vehicle is located at a second predetermined distance from the intersection that is shorter than the first predetermined distance or at a position closer to the intersection than the second predetermined distance. [Effects of the Invention]

[0010] According to one embodiment of the present invention, in a situation where there is a right-turning vehicle turning right at an intersection and a straight-moving vehicle traveling straight toward the intersection in the oncoming lane, an appropriate mode of notification can be provided according to the relative relationship between the right-turning vehicle and the straight-moving vehicle, thereby enabling the driver to accurately recognize the urgency of the situation. [Brief explanation of the drawings]

[0011] [Figure 1] 1 is a schematic diagram showing an overall configuration of a vehicle notification system according to an embodiment of the present invention; [Figure 2] FIG. 2 is a schematic diagram showing the internal configuration of a controller provided in a right-turning vehicle. [Figure 3] FIG. 2 is a schematic diagram showing the internal configuration of a controller provided in a straight-moving vehicle. [Figure 4] 10 is a flowchart showing the overall flow of notification control performed by a vehicle turning right. [Figure 5] 10 is a flowchart showing the contents of notification control (information presentation processing) performed by a vehicle turning right. [Figure 6] 10 is a flowchart showing the contents of notification control (alarm processing) performed by a vehicle turning right. [Figure 7] 10 is a flowchart showing the overall flow of notification control performed by a straight-moving vehicle. [Figure 8] 10 is a flowchart showing the contents of notification control (information presentation processing) performed by a vehicle traveling straight ahead. [Figure 9] 10 is a flowchart showing the contents of notification control (alarm processing) performed on a straight-moving vehicle. [Figure 10] 10A and 10B are explanatory diagrams showing a method for calculating an information presentation distance and a warning distance. [Figure 11] FIG. 2 is a schematic diagram showing an example of a traffic situation that is expected to be the subject of notification. [Figure 12] 10 is a schematic diagram showing the relationship between a right-turning vehicle and a straight-moving vehicle at the timing of issuing an information notification; FIG. [Figure 13] 10 is a schematic diagram showing the relationship between a right-turning vehicle and a straight-moving vehicle at the timing of issuing an alarm. FIG. [Figure 14] FIG. 2 is a schematic diagram showing the situation after a straight-moving vehicle has passed through an intersection. [Figure 15] FIG. 10 is a schematic diagram showing another example of a traffic situation that is expected to be the subject of notification. [Figure 16] 10 is a schematic diagram showing the relationship between a right-turning vehicle, a straight-moving vehicle, and an intersecting vehicle at the timing of issuing an information notification. FIG. [Figure 17] 10 is a schematic diagram showing the relationship between a right-turning vehicle, a straight-moving vehicle, and an intersecting vehicle at the timing of issuing an alarm. FIG. DETAILED DESCRIPTION OF THE INVENTION

[0012] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings.

[0013] (Overall configuration of vehicle notification system) FIG. 1 is a schematic diagram showing the configuration of a vehicle notification system (hereinafter, sometimes simply referred to as "notification system") 1 according to one embodiment of the present invention.

[0014] In this embodiment, a traffic situation is assumed in which a vehicle (hereinafter referred to as a "right-turning vehicle") VA traveling toward an intersection on a left-hand traffic road and another vehicle (hereinafter referred to as a "straight-moving vehicle") VB traveling straight toward the intersection in a lane (hereinafter referred to as an "oncoming lane") opposite the lane in which the right-turning vehicle VA is traveling (hereinafter referred to as a "driving lane"). The notification system 1 is applicable not only to left-hand traffic roads but also to right-hand traffic roads. In the case of right-hand traffic, the notification system 1 targets a traffic situation in which a left-turning vehicle traveling toward an intersection and a straight-moving vehicle traveling in an oncoming lane toward the intersection exist. In other words, the notification system 1 is applicable to traffic situations in which right-turning or left-turning vehicles (hereinafter referred to as "right / left-turning vehicles" or "non-straight-moving vehicles") in the driving lane and straight-moving vehicles in the oncoming lane coexist. In the case of left-hand traffic, the right-turning vehicle is a vehicle turning right at the intersection and must not obstruct the straight-moving vehicle traveling in the oncoming lane from passing through the intersection.

[0015] The notification system 1 includes a controller 101 as main elements related to this embodiment, as well as accessory devices such as vehicle sensors 111 to 113, communication devices 121 and 122, and an HMI (human machine interface) device 131.

[0016] In this embodiment, these various elements including the controller 101 are provided in each of the right-turning vehicle VA and the straight-moving vehicle VB. The controller 101a provided in the right-turning vehicle VA and the controller 101b provided in the straight-moving vehicle VB cooperate with each other to form a single virtual controller that constitutes the notification system 1. Naturally, the notification system 1 can be configured as an in-vehicle system for the right-turning vehicle VA using the controller 101a provided in the right-turning vehicle VA and its associated devices, and can also be configured as an in-vehicle system for the straight-moving vehicle VB using the controller 101b provided in the straight-moving vehicle VB and its associated devices.

[0017] In the following description, vehicle-to-vehicle communication is performed between a right-turning vehicle VA and a straight-moving vehicle VB, and vehicle information regarding the right-turning vehicle VA can be shared between the right-turning vehicle VA and the straight-moving vehicle VB, and vehicle information regarding the straight-moving vehicle VB can be shared between these vehicles VA and VB. In this embodiment, the vehicle information to be communicated or shared between the right-turning vehicle VA and the straight-moving vehicle VB includes the current positions Pa, Pb, vehicle speeds VSPa, VSPb, right turn signal operation status (i.e., right turn signal switch output), and lane ID of each vehicle VA and VB. Communication between the right-turning vehicle VA and the straight-moving vehicle VB is not limited to direct communication via vehicle-to-vehicle communication, but can also be indirectly performed via a roadside device installed on the side of the road, a server located in a remote location, or a communication device provided in a vehicle other than the right-turning vehicle VA and the straight-moving vehicle VB.

[0018] In this embodiment, the right-turning vehicle VA and the straight-moving vehicle VB have the same basic configuration to constitute the notification system 1. The right-turning vehicle VA includes a controller 101a, vehicle sensors 111a, 112a, and 113a, communication devices 121a and 122a, and an HMI device 131a. On the other hand, the straight-moving vehicle VB includes a controller 101b, vehicle sensors 111b, 112b, and 113b, communication devices 121b and 122b, and an HMI device 131b.

[0019] The controllers 101a and 101b constitute the calculation unit of the notification system 1, and generate and output command signals according to the calculation results. The controllers 101a and 101b are constituted by a microcomputer equipped with a central processing unit (CPU), storage devices such as ROM and RAM, and an input / output interface.

[0020] The vehicle sensors 111a to 113b and 111b to 113b constitute the detection unit of the notification system 1. The right-turning vehicle VA is equipped with, as its accompanying vehicle sensors, a position sensor 111a, a vehicle speed sensor 112a, and a right blinker switch 113a, and the straight-moving vehicle VB is equipped with, as its accompanying vehicle sensors, a position sensor 111b, a vehicle speed sensor 112b, and a right blinker switch 113b.

[0021] The position sensor 111a detects the current position Pa of the right-turning vehicle VA, and the position sensor 111b detects the current position Pb of the straight-moving vehicle VB. The position sensors 111a and 111b can each be configured with a receiver for a Global Navigation Satellite System (GNSS), and detect the current positions of the target vehicles VA and VB using latitude and longitude coordinates Pa (Pai, ​​Paj) and Pb (Pbi, Pbj).

[0022] Vehicle speed sensor 112a detects the traveling speed (hereinafter referred to as "vehicle speed") VSPa of right-turning vehicle VA, and vehicle speed sensor 112b detects the vehicle speed VSPb of straight-moving vehicle VB. Vehicle speed sensors 112a and 112b can detect the wheel speeds (e.g., rotational speeds of driven wheels) of target vehicles VA and VB and convert them into traveling distance per unit time using tire dynamic radius or the like.

[0023] The right blinker switch 113a outputs an ON signal when the right turn indicator (hereinafter referred to as "right blinker") of the right-turning vehicle VA is activated, and the right blinker switch 113b outputs an ON signal when the right blinker of the straight-moving vehicle VB is activated. The activation of the right blinker switches 113a and 113b indicates that the target vehicles VA and VB intend to turn right or change lanes.

[0024] Detection signals from the position sensor 111a, the vehicle speed sensor 112a and the right blinker switch 113a are output to the controller 101a, and detection signals from the position sensor 111b, the vehicle speed sensor 112b and the right blinker switch 113b are output to the controller 101b.

[0025] The HMI devices 131a and 131b constitute the output section of the notification system 1. The HMI device 131a receives a command signal from the controller 101a and notifies the driver of the right-turning vehicle VA about the traffic conditions. The HMI device 131b receives a command signal from the controller 101b and notifies the driver of the straight-moving vehicle VB about the traffic conditions.

[0026] The notification by the HMI devices 131a and 131b may be visual or audible. The HMI devices 131a and 131b can provide notification by both display and sound, or can provide notification by either one of these. The HMI devices 131a and 131b are placed in a location that is easily visible to the driver, such as on the dashboard inside the vehicle.

[0027] In addition to the above, the right-turning vehicle VA is equipped with a transmitter 121a and a receiver 122a, and the straight-moving vehicle VB is equipped with a transmitter 121b and a receiver 122b. The transmitter 121a and the receiver 122a equipped in the right-turning vehicle VA constitute an inter-vehicle communication device for the right-turning vehicle VA, and the transmitter 121b and the receiver 122b equipped in the straight-moving vehicle VB constitute an inter-vehicle communication device for the straight-moving vehicle VB. The right-turning vehicle VA and the straight-moving vehicle VB can communicate wirelessly via each other's inter-vehicle communication devices.

[0028] As mentioned above, communication between the right-turning vehicle VA and the straight-moving vehicle VB is not limited to direct communication between the right-turning vehicle VA and the straight-moving vehicle VB, but may also be indirect communication via a roadside device, a remote server, or another vehicle.

[0029] FIG. 11 is a schematic diagram showing an example of a traffic situation that is assumed to be a target of notification according to this embodiment.

[0030] In this embodiment, a traffic situation is assumed in which a right-turning vehicle VA and a straight-moving vehicle VB are facing each other across an intersection CS. An intersection (in this embodiment, a crossroads) CS exists on a two-lane road R that includes right-turn lanes L11 and L21 and straight-moving lanes L12 and L22. The right-turning vehicle VA is in one right-turn lane L11 and is approaching the intersection CS, while the straight-moving vehicle VB is in the other straight-moving lane L22 and is traveling straight toward the intersection CS at a position away from the intersection CS. Here, the right-turn lane L11 corresponds to the lane in which the right-turning vehicle VA is traveling, and the right-turn lane L21 and the straight-moving lane L22 correspond to oncoming lanes relative to the right-turning vehicle VA. The oncoming right-turn lane L21 and the straight-moving lane L22 may hereinafter be referred to as the "oncoming right-turn lane" and the "oncoming straight-moving lanes."

[0031] In addition to the right-turning vehicle VA and the straight-moving vehicle VB, in the oncoming right-turn lane L21, there is a vehicle (hereinafter referred to as the "waiting vehicle") VZ stopped in front of the stop line SL2 ahead of the straight-moving vehicle VB, waiting to turn right. In the traffic situation shown in the figure, the waiting vehicle VZ is a visual obstacle that blocks part of the view from the right-turning vehicle VA and also blocks part of the view from the straight-moving vehicle VB. Because the straight-moving vehicle VB is in the blind spot of the waiting vehicle VZ from the perspective of the right-turning vehicle VA, it is difficult for the right-turning vehicle VA to see the straight-moving vehicle VB, and because the right-turning vehicle VA is in the blind spot of the waiting vehicle VZ from the perspective of the straight-moving vehicle VB, it is difficult for the straight-moving vehicle VB to see the right-turning vehicle VA.

[0032] In such a situation, after the right-turning vehicle VA indicates its intention to turn right, the notification system 1 monitors the relative positional relationship between the right-turning vehicle VA and the straight-moving vehicle VB, and issues a notification according to the urgency of the situation regarding contact or collision between the right-turning vehicle VA and the straight-moving vehicle VB at an appropriate timing from when the right-turning vehicle VA approaches the intersection CS until when the right-turning vehicle VA passes through the intersection CS.

[0033] (Internal structure of the controller) Fig. 2 is a schematic diagram showing the internal configuration of a controller 101a provided in a right-turning vehicle VA, and Fig. 3 is a schematic diagram showing the internal configuration of a controller 101b provided in a straight-moving vehicle VB. The internal configurations of the controllers 101a and 101b will be described in order using Fig. 2 and Fig. 3, with appropriate reference to Fig. 11.

[0034] 2, the controller 101a includes a host vehicle position detection unit B111a, another vehicle position detection unit B112a, a road map storage unit B113a, a right turn intention detection unit B114a, a vehicle speed detection unit B115a, a first vehicle behavior detection unit B116a, a second vehicle behavior detection unit B117a, a first alarm generation unit B118a, and a second alarm generation unit B119a. The functions of these units B111a to B119a are realized in software by a central processing unit included in the controller 101a reading a computer program stored in a storage device and operating in accordance with instructions from the program.

[0035] The host vehicle position detection unit B111a detects the current position Pa of the host vehicle, which is the right-turning vehicle VA. The host vehicle position detection unit B111a detects the current position Pa of the host vehicle based on an output signal from a position sensor 111a provided in the right-turning vehicle VA.

[0036] The other vehicle position detection unit B112a detects the current position Pb of the other vehicle, the straight-moving vehicle VB. The other vehicle position detection unit B112a detects the current position Pb of the other vehicle by reading position information indicating the current position Pb from the vehicle information acquired from the straight-moving vehicle VB via the receiver 122a provided in the right-turning vehicle VA.

[0037] The road map storage unit B113a stores a road map. In this embodiment, the current positions Pa, Pb of the right-turning vehicle VA and the straight-going vehicle VB are represented by latitude and longitude coordinates indicating these positions Pa, Pb. The road map storage unit B113a extracts a map of an area or section including the intersection CS from the road map and identifies the current positions Pa, Pb of the right-turning vehicle VA and the straight-going vehicle VB on the road map. Identifiers (hereinafter referred to as "link IDs") corresponding to each lane leading to the intersection CS, such as right-turn lanes L11, L21 and straight-going lanes L12, L22, are assigned to the road map and stored corresponding to each lane L11, L21, L12, and L22. By identifying the position on the road map, it is possible to determine the lane in which the target vehicle exists or is traveling.

[0038] The right-turn intention detection unit B114a detects that the right-turning vehicle VA has an intention to turn right. The right-turn intention detection unit B114a can detect the intention to turn right by an output signal from a right blinker switch 113a provided on the right-turning vehicle VA, or, if the right-turn lane L11 is a right-turn-only lane, by reading out the link ID associated with the current lane from the road map and detecting that the right-turning vehicle VA is in the right-turn lane L11.

[0039] The vehicle speed detection unit B115a detects the vehicle speed VSPb of the straight-moving vehicle VB. The vehicle speed detection unit B115a detects the vehicle speed VSPb of the straight-moving vehicle VB (i.e., the other vehicle) by reading vehicle speed information indicating the vehicle speed VSPb from the vehicle information acquired from the straight-moving vehicle VB via the receiver 122a provided in the right-turning vehicle VA.

[0040] Based on the current position Pa of the right-turning vehicle VA on the road map, the first vehicle behavior detection unit B116a detects that the right-turning vehicle VA is located at a first predetermined position P1 in the lane in which it is traveling (i.e., the right-turning lane L11) or at a position closer to the center position CTR of the intersection CS (hereinafter referred to as the "intersection center") after the right-turn intention detection unit B114a detects an intention to turn right, in other words, after the right-turning vehicle VA indicates an intention to turn right by entering the right-turn lane L11 or activating its right turn signal.

[0041] Fig. 12 is a schematic diagram showing the positional relationship between right-turning vehicle VA and straight-going vehicle VB at the time when right-turning vehicle VA crosses stop line SL1 in right-turn lane L11 and enters intersection CS. Fig. 12 simplifies the illustration of road R, showing only right-turn lane L11 and straight-going lane L22 of two-lane road R (the same applies to Figs. 13 and 14 shown later).

[0042] In this embodiment, an intersection area ACS is set as a criterion for determining the relative positional relationship between a right-turning vehicle VA and an intersection CS. The intersection area ACS is set so as to overlap with the route TRa along which the right-turning vehicle VA will travel when passing through the intersection CS. When the right-turning vehicle VA indicates its intention to turn right and arrives at or enters the intersection area ACS, it is detected that the right-turning vehicle VA is located at a first predetermined position P1 in the right-turn lane L11 or closer to the intersection center CTR. The intersection area ACS is set as a circular area concentric with the intersection center CTR and including the first predetermined position P1 on its outer edge. Figures 12 to 14 show the intersection area ACS with a two-dot chain line, the travel route TRa of the right-turning vehicle VA with a one-dot chain line, and the collision prediction area ACP and the travel route TRb of the straight-moving vehicle VB, which will be described below, with dashed and one-dot chain lines, respectively.

[0043] The second vehicle behavior detection unit B117a determines the point where the route TRa that the right-turning vehicle VA takes when passing through the intersection CS and the route TRb that the straight-moving vehicle VB takes when passing through the intersection CS intersect as a ``collision prediction point'' CPP, and detects, based on the current position Pa of the right-turning vehicle VA on the road map, that the right-turning vehicle VA is traveling toward the collision prediction point CPP at a position closer to the collision prediction point CPP than a first predetermined position P1, or that the right-turning vehicle VA is located at a position closer to the collision prediction point CPP than a second predetermined position P2 between the first predetermined position P1 and the collision prediction point CPP.

[0044] FIG. 13 is a schematic diagram showing the positional relationship between a right-turning vehicle VA and a straight-moving vehicle VB when the right-turning vehicle VA enters the intersection CS, moves forward within the intersection CS, and approaches the intersection center CTR.

[0045] In this embodiment, a collision prediction area ACP is set as an area different from the intersection area ACS, with the collision prediction point CPP at its center. After entering the intersection area ACS, if a right-turning vehicle VA travels within the intersection area ACS toward the collision prediction point CPP or is present within the collision prediction area ACP, it is detected that the right-turning vehicle VA is traveling at a position closer to the collision prediction point CPP than the first predetermined position P1 or is present at a position closer to the collision prediction point CPP than the second predetermined position P2. The collision prediction area ACP is set as a circular area that includes the second predetermined position P2 on its outer edge and has an area smaller than the intersection area ACS.

[0046] The intersection area ACS is not limited to a circle, but may be a shape that resembles the area where two intersecting roads overlap (for example, a rectangle with four corners at the corners), or the shape of the area surrounded by the stop lines SL1 and SL2 installed on each of the intersecting roads.The same is true for the collision prediction area ACP, which can be set to a shape other than a circle, such as a rectangle (for example, a rectangle with two sides parallel to the road boundary line that defines the oncoming straight-through lane L22).

[0047] When the first alarm unit B118a detects that the right-turning vehicle VA is at a first predetermined position P1 in the right-turn lane L11 or at a position closer to the intersection center CTR, it outputs a command signal to the HMI device 131a provided in the vehicle (i.e., the right-turning vehicle VA) to issue an alarm in a first predetermined mode, provided that a first predetermined alarm condition is met regarding the position Pb of the other vehicle, which is the straight-moving vehicle VB.

[0048] The first predetermined alarm condition is that the straight-moving vehicle VB is at a relatively long first predetermined distance (hereinafter referred to as the "information presentation distance") Dth1 from the intersection CS or at a position closer to the intersection CS than this. In this embodiment, the distance Db from the intersection CS to the straight-moving vehicle VB is taken as the distance from the outer edge of the collision prediction area ACP, specifically, the distance from the intersection of the travel path TRb of the straight-moving vehicle VB and a circle defining the outer edge of the collision prediction area ACP (the circle indicated by the dashed line in the figures), as shown in Figures 12 and 13.

[0049] The HMI device 131a, which has received the command signal from the first alarm issuing unit B118a, issues an alarm by display and sound to prompt the driver of the right-turning vehicle VA to recognize the presence of the straight-moving vehicle VB traveling in the oncoming straight-moving lane L22 toward the intersection CS. The alarm issued by the first alarm issuing unit B118a is an alarm to present information regarding a relatively low urgency regarding a collision between the right-turning vehicle VA and the straight-moving vehicle VB.

[0050] When the second alarm unit B119a detects that the right-turning vehicle VA is traveling at a position closer to the predicted collision point CPP than the first predetermined position P1, or is located at a position closer to the predicted collision point CPP than the second predetermined position P2, it outputs a command signal to the HMI device 131a to issue an alarm in a second predetermined mode, provided that a second predetermined alarm condition is met regarding the position Pb of the straight-moving vehicle VB.

[0051] The second predetermined alarm condition is that the straight-moving vehicle VB is at a second predetermined distance (hereinafter referred to as the "alarm distance") Dth2 from the intersection CS that is shorter than the information presentation distance Dth1, or is located closer to the intersection CS than this.

[0052] The second predetermined mode is a different mode from the first predetermined mode, and the HMI device 131a, having received a command signal from the second alarm unit B119a, issues an alarm by display and sound to the driver of the right-turning vehicle VA to encourage the driver to recognize a higher level of urgency regarding a collision between the right-turning vehicle VA and the straight-moving vehicle VB. The alarm issued by the second alarm unit B119a is more noticeable and appeals more to the driver's sight or hearing than the alarm issued by the first alarm unit B118a.

[0053] In addition to outputting a command signal to the HMI device 131a, the first alarm unit B118a and the second alarm unit B119a can also notify the straight-moving vehicle VB via the transmitter 121a that an alarm has been issued in each mode, and prompt the vehicle VB to issue an appropriate alarm in accordance with the urgency of the collision with its own vehicle (i.e., the right-turning vehicle VA).

[0054] FIG. 10 is an explanatory diagram showing a method for calculating the information presentation distance Dth1 and the warning distance Dth2.

[0055] The information presentation distance Dth1 and the warning distance Dth2 are calculated based on the vehicle speed VSPb of the straight-moving vehicle VB and the deceleration rates DEC1 and DEC2 that are preset according to the alarm mode, as the distance that the straight-moving vehicle VB is expected to travel before stopping after the alarm is issued, in other words, the distance required for the straight-moving vehicle VB to stop.

[0056] Specifically, the information presentation distance Dth1 is calculated by adding the estimated travel distance to each of the free-running time PRD1 and the deceleration time PRD2 based on the vehicle speed VSPb (=V1) of the straight-moving vehicle VB at the time of detection by the first vehicle behavior detection unit B116a. The free-running time PRD1 is the sum of the reaction time required for the driver to recognize, judge, and operate the vehicle after the alarm is issued until the driver actually applies the brakes, and the operational delay time of the system and hydraulic equipment in response to the brake operation. In this embodiment, the free-running time PRD1 is preset as a fixed time (=ΔT). The deceleration time PRD2 is the time required from when the brakes actually begin to apply until the vehicle stops, and can be calculated based on the vehicle speed VSPb and the deceleration DEC1 (PRD2=V1 / DEC1). In this way, the information presentation distance Dth1 is calculated using the following equation (1): Dth1=V1×ΔT+V1×(V1 / DEC1) / 2 …(1)

[0057] Similarly, the warning distance Dth2 is calculated by adding the estimated distance to each of the free-running time PRD1 and the deceleration time PRD2, but a different deceleration DEC2 is used than the deceleration DEC1 used to calculate the information presentation distance Dth1. The deceleration DEC2 used to calculate the warning distance is higher than the deceleration DEC1 used to calculate the information presentation distance, in other words, a deceleration with a larger absolute value than the deceleration DEC1 (|DEC1|<|DEC2|). Specifically, this is calculated using the following equation (2): Dth2=V1×ΔT+V1×(V1 / DEC2) / 2…(2)

[0058] In this embodiment, the controller 101a provided in the right-turning vehicle VA and the controller 101b provided in the straight-moving vehicle VB basically have the same configuration and have corresponding elements.

[0059] 3, the controller 101b includes a host vehicle position detection unit B111b, an other vehicle position detection unit B112b, a road map storage unit B113b, a right turn intention detection unit B114b, a vehicle speed detection unit B115b, a first vehicle behavior detection unit B116b, a second vehicle behavior detection unit B117b, a first alarm generation unit B118b, and a second alarm generation unit B119b. The internal configuration of the controller 101b will be described below, focusing on the differences from the controller 101a.

[0060] The host vehicle position detection unit B111b detects the current position Pb of the host vehicle, i.e., the straight-moving vehicle VB, and this detection is based on an output signal from a position sensor 111b provided in the straight-moving vehicle VB.

[0061] The other vehicle position detection unit B112b detects the current position Pa of the other vehicle, the right-turning vehicle VA, by reading position information indicating the current position Pa from the vehicle information obtained from the right-turning vehicle VA via the receiver 122b provided in the straight-moving vehicle VB.

[0062] Similar to the road map storage unit B113a, the road map storage unit B113b stores a road map that includes an intersection CS and to which link IDs of the lanes leading to the intersection CS are assigned, and identifies the current positions Pb and Pa of the straight-moving vehicle VB and the right-turning vehicle VA on the road map. The road maps stored in the road map storage units B113b and B113a may have different accuracy, but in this embodiment, both road maps have an accuracy that is compatible with satellite positioning using GNSS.

[0063] The right-turn intention detection unit B114b detects the right-turning vehicle VA's intention to turn right by identifying the link ID of the lane in which the right-turning vehicle VA is located from the current position Pa of the right-turning vehicle VA, or by reading information indicating the operation status of the right blinker from the vehicle information acquired from the right-turning vehicle VA via the receiver 122b. It is also possible to include the link IDs of the lanes in which each vehicle VA and VB are located in the vehicle information exchanged between the straight-moving vehicle VB and the right-turning vehicle VA, and to detect the right-turning vehicle VA's intention to turn right based on the link ID acquired through communication.

[0064] The vehicle speed detection unit B115b detects the vehicle speed VSPa of the right-turning vehicle VA by reading vehicle speed information indicating the vehicle speed VSPa from the vehicle information acquired from the right-turning vehicle VA via the receiver 122a.

[0065] After the right-turning vehicle VA indicates its intention to turn right, the first vehicle behavior detection unit B116b detects that the right-turning vehicle VA is at a predetermined relative position with respect to the intersection CS, with the first predetermined position P1 as the reference. Specifically, as described above, the first vehicle behavior detection unit B116b compares the current position Pa of the right-turning vehicle VA on the road map with the intersection area ACS, and detects that the right-turning vehicle VA has reached or entered the intersection area ACS.

[0066] The size and shape of the intersection area ACS may be the same or different between the controller 101a and the controller 101b. For example, it is possible to variably set the size of the intersection area ACS or change its shape according to the driver's choice or the tendency of the driving state when passing through the intersection CS.

[0067] The second vehicle behavior detection unit B117b monitors the behavior of the right-turning vehicle VA after entering the intersection CS, and detects that after entering the intersection area ACS, the right-turning vehicle VA is traveling within the intersection area ACS toward the collision prediction point CPP or is present within the collision prediction area ACP.

[0068] The size and shape of the predicted collision area ACP may be different between the controller 101a and the controller 101b, but in this embodiment, they are set to the same size and shape. The predicted collision area ACP may be set in advance as predetermined coordinates on a road map, or may be set by notifying the other controller of the coordinate information of the predicted collision area ACP set in one of the controllers 101a and 101b via vehicle-to-vehicle communication.

[0069] The first alarm issuing unit B118b outputs a command signal to the HMI device 131b provided in the host vehicle (i.e., the straight-moving vehicle VB) to issue an alarm in a first predetermined mode, on the condition that a first predetermined alarm issuing condition for the position Pb of the straight-moving vehicle VB is satisfied, at the timing when it is detected that the right-turning vehicle VA has arrived at or entered the intersection area ACS. As described above, the first predetermined alarm issuing condition is that the straight-moving vehicle VB is located at an information presentation distance Dth1 from the intersection CS or closer to the intersection CS than this.

[0070] The HMI device 131b, which has received the command signal from the first alarm issuing unit B118b, issues an alarm by display and sound to the driver of the straight-moving vehicle VB to prompt the driver to be aware that there is a right-turning vehicle VA that should be watched out for in the oncoming right-turn lane L11. As described above, the alarm issued by the first alarm issuing unit B118b is an alarm to present information regarding a relatively low urgency regarding a collision between the straight-moving vehicle VB and the right-turning vehicle VA.

[0071] The second alarm unit B119b outputs a command signal to the HMI device 131b to issue an alarm in a second predetermined mode, provided that a second predetermined alarm condition related to the position Pb of the straight-moving vehicle VB is met when the second alarm unit B119b detects that the right-turning vehicle VA is traveling within the intersection area ACS toward the predicted collision point CPP or is present within the predicted collision area ACP. The second predetermined alarm condition is that the straight-moving vehicle VB is at a warning distance Dth2 from the intersection CS or is present at a position closer to the intersection CS than this.

[0072] The HMI device 131b, which has received the command signal from the second alarm issuing unit B119b, issues a visual and audio alert to the driver of the straight-moving vehicle VB to encourage greater awareness of the urgency of the collision between the straight-moving vehicle VB and the right-turning vehicle VA. The alert issued by the second alarm issuing unit B119b is similar to that described above, and is an alert that is more noticeable and appeals more to the driver's visual or auditory senses.

[0073] The information presentation distance Dth1 and the warning distance Dth2 may be set to the same distance or different distances by the controller 101a and the controller 101b. For example, the deceleration when the straight-moving vehicle VB actually decelerates in response to the warning is learned, and the deceleration when calculating these distances Dth1 and Dth2 is corrected using a learned value that indicates the actual deceleration. Specifically, if the actual deceleration in response to the warning tends to be slower than the deceleration DEC2, the decelerations DEC1 and DEC2 are corrected downward, allowing the information presentation and warning to be issued at an earlier timing.

[0074] In addition to outputting a command signal to the HMI device 131b, the first alarm issuing unit B118b and the second alarm issuing unit B119b can also notify the right-turning vehicle VA via the transmitter 121b that an alarm has been issued in each mode.

[0075] (Contents of notification control for right-turning vehicles) 4 to 6 are flowcharts showing the details of notification control executed by the controller 101a provided in the right-turning vehicle VA. The flowchart in FIG. 4 shows the overall flow of the notification control, the flowchart in FIG. 5 shows the details of the process (information presentation process) performed by the right-turning vehicle VA regarding information presentation, and the flowchart in FIG. 6 shows the details of the process (alarm process) performed by the right-turning vehicle VA regarding an alarm. The information presentation process and the alarm process are executed as part of the notification control. When the controller 101a detects an intersection on the road ahead of its own vehicle (i.e., the right-turning vehicle VA), it executes the notification control at predetermined time intervals.

[0076] In the flowchart shown in Fig. 4, various control information used for notification control is read in S111. The control information read in S111 includes the current position Pa, vehicle speed VSPa, and link ID of the right-turning vehicle VA, and the current position Pb, vehicle speed VSPb, and link ID of the straight-moving vehicle VB. It may also include information regarding the operation status of the right blinkers of the right-turning vehicle VA and the straight-moving vehicle VB.

[0077] In S112, it is determined whether or not another vehicle traveling in the opposite lane to the lane in which the host vehicle, right-turning vehicle VA, is located, in the straight-moving direction toward the intersection CS, i.e., straight-moving vehicle VB, has been detected. The straight-moving vehicle VB is detected based on the link ID of the straight-moving vehicle VB. If the straight-moving vehicle VB is detected, the process proceeds to S113; if not, the current control is terminated.

[0078] In S113, it is determined whether or not a right-turning intention of the right-turning vehicle VA has been detected. The detection of a right-turning intention is based on the operation status of the right blinker of the right-turning vehicle VA. In addition to or instead of this, the determination can also be based on the link ID of the right-turning vehicle VA. For example, if the right-turning lane L11 is a right-turn-only lane, the right-turning intention of the right-turning vehicle VA can be detected by checking that the lane in which the vehicle is traveling is the right-turning lane L11. If a right-turning intention is detected, proceed to S114; if not, end the current control.

[0079] In S114, the current position Pa of the right-turning vehicle VA on the road map is identified.

[0080] In S115, it is determined whether the right-turning vehicle VA has entered the intersection area ACS. Specifically, if the right-turning vehicle VA is at the outer edge of the intersection area ACS (i.e., the first predetermined position P1) or at a position closer to the intersection center CTR than this position, it is determined that it has entered the intersection area ACS, and the process proceeds to S116. On the other hand, if the right-turning vehicle VA is at a position farther from the intersection center CTR than the outer edge of the intersection area ACS, it is determined that it has not reached the intersection area ACS and is outside the intersection area ACS, and the current control is terminated.

[0081] In S116, information presentation processing is performed according to the procedure shown in the flowchart of FIG.

[0082] In S117, an alarm process is carried out according to the procedure shown in the flowchart of FIG.

[0083] In S118, it is determined whether the right-turning vehicle VA has passed through the intersection CS. The determination of whether the right-turning vehicle VA has passed through the intersection CS is made when the right-turning vehicle VA departs from the intersection area ACS in the direction of travel after turning right. If the right-turning vehicle VA has passed the intersection CS, the current control is terminated. If the right-turning vehicle VA has not passed through the intersection CS and is still within the intersection area ACS, the process returns to S116, and the information presentation process and the warning process are repeatedly executed until the right-turning vehicle VA has passed through the intersection area ACS.

[0084] 5, various control information used in the information presentation process is read in S211. The control information read in S211 includes the current position Pa and vehicle speed VSPa of the right-turning vehicle VA and the current position Pb and vehicle speed VSPb of the straight-moving vehicle VB.

[0085] In S212, the current positions Pa and Pb on the road map of the right-turning vehicle VA and the straight-going vehicle VB are identified.

[0086] In S213, it is determined whether the right-turning vehicle VA is outside the collision prediction area ACP. Specifically, if the right-turning vehicle VA is between the outer edge of the intersection area ACS and the outer edge of the collision prediction area ACP (i.e., the second predetermined position P2), it is determined that the vehicle is outside the collision prediction area ACP, and the process proceeds to S214. If the operation status of the right blinker is used to detect the right-turning vehicle VA's intention to turn right, it may be determined whether the right blinker is still operating in addition to the process of S213, and if the right blinker is still operating, the process from S214 onwards may be carried out. On the other hand, if the vehicle VA is located on the outer edge of the collision prediction area ACP or closer to the collision prediction point CPP, it is determined that the vehicle is not outside the collision prediction area ACP, and the information presentation process is terminated.

[0087] In S214, the vehicle speed VSPa of the right-turning vehicle VA is read.

[0088] In S215, it is determined whether the vehicle speed VSPa of the right-turning vehicle VA is equal to or less than a predetermined vehicle speed VSP1. The predetermined vehicle speed VSP1 is a vehicle speed low enough to determine that the right-turning vehicle VA is traveling at a low speed, for example, a creeping speed (specifically, 10 km / h). In this embodiment, if the vehicle speed VSPa is equal to or less than the predetermined vehicle speed VSP1, it is determined that the driver of the right-turning vehicle VA is paying attention to the surrounding conditions when passing through the intersection CS. If the vehicle speed VSPa is equal to or less than the predetermined vehicle speed VSP1, the process proceeds to S216, and if it is higher than the vehicle speed VSP1, the information presentation process is terminated. The predetermined vehicle speed VSP1 may be 0 km / h; in other words, S215 may be a process of determining whether the right-turning vehicle VA has made a temporary stop within the intersection area ACS. Furthermore, it is possible to eliminate the processing of S215 itself, and if the conditions for issuing information (S220) and the conditions for issuing an alarm (S320) are met simultaneously, issuing an alarm may be given priority over issuing information.

[0089] In this way, in this embodiment, after the right-turning vehicle VA enters the intersection area ACS, if it maintains a low vehicle speed VSPa or decelerates sufficiently (including when it is stopped temporarily) before reaching the collision prediction area ACP, the timing for issuing an information notification is deemed to have arrived when the vehicle speed VSPa is detected to be equal to or less than the predetermined vehicle speed VSP1, and processing from S216 onwards is carried out to determine whether the first predetermined notification condition is met.

[0090] In S216, the distance Db from the intersection CS to the straight-moving vehicle VB, in other words, the distance ahead of the straight-moving vehicle VB before reaching the intersection CS (hereinafter referred to as "intersection arrival distance") is calculated. As shown in Fig. 12, the intersection arrival distance Db is calculated as the distance from the outer edge of the predicted collision area ACP to the straight-moving vehicle VB, and this calculation is based on the current position Pb of the straight-moving vehicle VB.

[0091] In S217, the vehicle speed VSPb of the straight-moving vehicle VB is read.

[0092] In S218, the information presentation distance Dth1 is calculated based on the vehicle speed VSPb of the straight-moving vehicle VB and the first predetermined deceleration DEC1, as described above.

[0093] In S219, it is determined whether the intersection arrival distance Db of the straight-moving vehicle VB is equal to or less than the information presentation distance Dth1, in other words, whether the straight-moving vehicle VB is at the information presentation distance Dth1 from the intersection CS or is at a position even closer to the intersection CS. If it is equal to or less than the information presentation distance Dth1, the process proceeds to S220, and if it is longer than the information presentation distance Dth1, the information presentation process ends.

[0094] In S220, a notification is issued to present information.

[0095] 6, various control information used in the warning process is read in S311. The control information read in S311 includes the current position Pa and vehicle speed VSPa of the right-turning vehicle VA and the current position Pb and vehicle speed VSPb of the straight-moving vehicle VB.

[0096] In S312, the current positions Pa and Pb on the road map of the right-turning vehicle VA and the straight-going vehicle VB are identified.

[0097] In S313, it is determined whether the right-turning vehicle VA is within the collision prediction area ACP. Specifically, if the right-turning vehicle VA is located at the outer edge of the collision prediction area ACP (i.e., the second predetermined position P2) or closer to the collision prediction point CPP than this, it is determined that it is within the collision prediction area ACP, and the process proceeds to S316. On the other hand, if it is located farther from the collision prediction point CPP than the outer edge of the collision prediction area ACP, it is determined that it is not within the collision prediction area ACP, and the process proceeds to S314. If the operation status of the right turn signal is used to detect the right turn intention of the right-turning vehicle VA, the continued operation of the right turn signal may be included as a condition for performing the process of S313.

[0098] In S314, the vehicle speed VSPa of the right-turning vehicle VA is read.

[0099] In S315, it is determined whether the vehicle speed VSPa of the right-turning vehicle VA is higher than a predetermined vehicle speed VSP1. If it is higher than the predetermined vehicle speed VSP1, the process proceeds to S316, and if it is equal to or lower than the predetermined vehicle speed VSP1, the warning process is terminated. That is, it is determined whether the vehicle speed VSPa of the right-turning vehicle VA is higher than the vehicle speed VSP1 that indicates a low-speed traveling state, for example, a slow-moving state, and if it is higher than the vehicle speed VSP1, it is determined that the driver of the right-turning vehicle VA is not paying attention to the surrounding situation, and the process proceeds to S316. On the other hand, if the vehicle speed is equal to or lower than VSP1, it is determined that a situation requires the issuance of an information presentation alert, and the warning process is terminated.

[0100] In this way, in S313 to S315, if the right-turning vehicle VA enters the intersection area ACS and then reaches the collision prediction area ACP, and is already within the collision prediction area ACP, or is outside the collision prediction area ACP but is traveling toward the collision prediction point CPP at a speed above a certain level and is approaching the collision prediction area ACP, the detection of such a situation determines that it is time to issue an alarm, and processing from S316 onwards is carried out to determine whether the second predetermined alarm condition is met.

[0101] In S316, the distance Db to the intersection of the vehicle VB going straight is calculated.

[0102] In S317, the vehicle speed VSPb of the straight-moving vehicle VB is read.

[0103] In S318, the warning distance Dth2 is calculated based on the vehicle speed VSPb of the straight-moving vehicle VB and the second predetermined deceleration DEC2, as described above.

[0104] In S319, it is determined whether the intersection arrival distance Db of the straight-moving vehicle VB is equal to or less than the warning distance Dth2, in other words, whether the straight-moving vehicle VB is at the warning distance Dth2 from the intersection CS or is at a position even closer to the intersection CS. If it is equal to or less than the warning distance Dth2, the process proceeds to S320, and if it is longer than the warning distance Dth2, the warning process ends.

[0105] In S320, an alarm is issued.

[0106] (Contents of notification control for straight-moving vehicles) 7 to 9 are flowcharts showing the details of notification control executed by the controller 101b provided in the straight-moving vehicle VB. The flowchart in FIG. 7 shows the overall flow of the notification control, the flowchart in FIG. 8 shows the details of the information presentation process executed by the straight-moving vehicle VB, and the flowchart in FIG. 9 shows the details of the warning process executed by the straight-moving vehicle VB. When the controller 101b detects an intersection on the road ahead of the vehicle, the controller 101b executes the notification control at predetermined time intervals. The execution cycles of the notification control of the controller 101a and the controller 101b may be the same or different. Furthermore, the notification control of both the controllers 101a and 101b may be executed synchronously.

[0107] The steps performed by the controller 101a and the controller 101b in relation to notification control correspond to each other, and therefore, in the following description, detailed description of steps in which the two perform similar processing will be omitted.

[0108] In the flowchart shown in FIG. 7, various control information used for notification control is read (S411). After detecting another vehicle in the oncoming right-turn lane L11, i.e., a right-turning vehicle VA (S412), a determination is made in S413 as to whether or not the right-turning vehicle VA has attempted to turn right. After detecting the right-turning intention, the current position Pa of the right-turning vehicle VA on the road map is identified (S414), and a determination is made as to whether or not the right-turning vehicle VA has entered the intersection area ACS (S415). If the right-turning vehicle VA has entered the intersection area ACS, the process from S416 onward is carried out. If not, the current control is terminated. In S416, an information presentation process is carried out, and in S417, an alarm process is carried out. The information presentation process and the alarm process are repeatedly carried out until the right-turning vehicle VA passes through the intersection area ACS.

[0109] 8, various control information used in the information presentation process, such as the current positions Pb, Pa of the straight-moving vehicle VB and the right-turning vehicle VA, is read (S511), and the current positions Pb, Pa of the straight-moving vehicle VB and the right-turning vehicle VA on the road map are identified (S512). In S513, it is determined whether the right-turning vehicle VA, which is another vehicle, is outside the collision prediction area ACP. If it is determined that the right-turning vehicle VA is outside the collision prediction area ACP, the vehicle speed VSPa of the right-turning vehicle VA is read (S514), and it is determined whether the vehicle speed VSPa of the right-turning vehicle VA is equal to or less than a predetermined vehicle speed VSP1 (S515). If the vehicle speed VSPa is equal to or less than the predetermined vehicle speed VSP1, the process from S516 onward is carried out. If the vehicle speed VSPa is higher than the predetermined vehicle speed VSP1, the information presentation process is terminated. If the operation status of the right blinker is used to detect the right-turning vehicle VA's intention to turn right, it may be possible to determine whether the right blinker is still operating in addition to the processing of S513, and if the right blinker is still operating, to perform the processing of S514 and subsequent steps. Then, the intersection arrival distance Db of the vehicle VB moving straight ahead, which is the host vehicle, is calculated (S516), and the vehicle speed VSPb of the host vehicle (i.e., the vehicle VB moving straight ahead) is read (S517), and an information presentation distance Dth1 is calculated (S518). If the intersection arrival distance Db is equal to or less than the information presentation distance Dth1 (S519), the process proceeds to S520, where an information presentation is issued. If the intersection arrival distance Db is longer than the information presentation distance Dth1, the information presentation processing is terminated.

[0110] In the flowchart shown in FIG. 9 , various control information used in the warning process, such as the current positions Pb, Pa of the straight-moving vehicle VB and the right-turning vehicle VA, is read (S611), and the current positions Pb, Pa of the straight-moving vehicle VB and the right-turning vehicle VA on the road map are identified (S612). In S613, it is determined whether the right-turning vehicle VA, which is another vehicle, is within the collision prediction area ACP. If it is determined that the right-turning vehicle VA is not within the collision prediction area ACP, the vehicle speed VSPa of the right-turning vehicle VA is read (S614), and it is determined whether the vehicle speed VSPa of the right-turning vehicle VA is higher than a predetermined vehicle speed VSP1 (S615). If the vehicle speed VSPa is higher than the predetermined vehicle speed VSP1, the process from S616 onward is performed. If the vehicle speed VSPa is equal to or lower than the predetermined vehicle speed VSP1, the warning process is terminated. If the operation status of the right blinker is used to detect the right-turning vehicle VA's intention to turn right, the condition for performing the process in S613 may include the continued operation of the right blinker. Then, the system calculates the intersection arrival distance Db of the vehicle VB moving straight ahead (S616), and reads the vehicle speed VSPb of the vehicle (i.e., the vehicle VB moving straight ahead) (S617), and calculates the warning distance Dth2 (S618). If the intersection arrival distance Db is equal to or shorter than the warning distance Dth2, the system proceeds to S620, where an alarm is issued, and if it is longer than the warning distance Dth2, the system terminates the warning process.

[0111] (Explanation of action and effect) The vehicle notification system 1 according to this embodiment has the above-described configuration. The effects obtained by this embodiment will be described below.

[0112] First, in a traffic situation where a right-turning vehicle VA making a right turn at an intersection CS and a straight-moving vehicle VB traveling straight toward the intersection CS in an oncoming lane L22 exist, the current position Pa of the right-turning vehicle VA on a road map and the current position Pb of the straight-moving vehicle VB on the road map are identified. After detecting the right-turning vehicle VA's intention to turn right, different modes of alert are issued at the timing when it is detected that the right-turning vehicle VA is at or closer to the intersection center CTR than the first predetermined position P1, and at the timing when the right-turning vehicle VA is traveling toward the predicted collision point CPP at a position closer to the predicted collision point CPP than the first predetermined position P1 or when it has entered a position closer to the predicted collision point CPP than the second predetermined position P2, provided that an alert condition related to the distance Db of the straight-moving vehicle VB is met. This makes it possible to issue an alert in an appropriate mode depending on the relative relationship between the right-turning vehicle VA and the straight-moving vehicle VB.

[0113] Specifically, after detecting a right turn intention, when the right-turning vehicle VA is at a position with a relatively long distance remaining to the predicted collision point CPP, a first predetermined mode alert is issued to traffic participants on the condition that the straight-moving vehicle VB is at a first predetermined distance from the intersection CS, that is, an information presentation distance Dth1, or closer to the intersection CS than this. In this embodiment, both the right-turning vehicle VA and the straight-moving vehicle VB are traffic participants for which an alert is issued.

[0114] On the other hand, if the right-turning vehicle VA has passed the position at the first predetermined distance P1 and is still traveling, or has approached a position closer to the predicted collision point CPP, a second predetermined mode different from the first predetermined mode is issued to traffic participants, provided that the straight-moving vehicle VB is located closer to the intersection CS, that is, at a second predetermined distance (alarm distance Dth2) from the intersection CS or closer to the intersection CS than this.

[0115] As a result, for example, depending on the relative positional relationship between the right-turning vehicle VA and the straight-moving vehicle VB, a first predetermined mode is set to issue an alert aimed at encouraging awareness of the presence of the other vehicle (for example, the straight-moving vehicle VB relative to the right-turning vehicle VA), i.e., an information presentation alert, while a second predetermined mode is set to issue an alert aimed at encouraging awareness of a higher level of urgency, i.e., an alarm.

[0116] Second, by issuing an alert by display and / or sound, and by differentiating the display or sound of the alert between the first predetermined mode and the second predetermined mode, it is possible to encourage the driver to quickly and easily understand the alert and its content.

[0117] Third, by setting the intersection area ACS and the collision prediction area ACP, it is possible to easily determine the timing for issuing an alert using the first predetermined mode and the second predetermined mode, and to issue the alert.

[0118] Fourth, by calculating the first and second predetermined distances (information presentation distance Dth1, warning distance Dth2) based on the vehicle speed VSPb of the straight-moving vehicle VB, it is possible to issue alerts in the first and second predetermined modes at appropriate timing that reflects the distance required to decelerate and brake the straight-moving vehicle VB.

[0119] Fifth, by setting a deceleration DEC1 for calculating the information presentation distance and a higher deceleration DEC2 for calculating the warning distance, and calculating the first and second predetermined distances based on these decelerations DEC1 and DEC2 in accordance with the vehicle speed VSPb of the straight-moving vehicle VB, it becomes possible to issue alerts in the first and second predetermined modes at timings that are in line with the vehicle behavior when braking is applied.

[0120] Sixth, by setting the deceleration DEC2 for calculating the warning distance to a higher deceleration than the deceleration DEC1 for calculating the information presentation distance, it becomes possible to issue an alert in the first predetermined mode at a timing that assumes gentler braking, and to issue an alert in the second predetermined mode at a timing that assumes sudden braking.

[0121] Seventh, by learning the actual deceleration of the straight-moving vehicle VB in response to the issuance of an alert in the second predetermined mode, and correcting the decelerations DEC1 and DEC2 used to calculate the information presentation distance Dth1 and the warning distance Dth2, respectively, based on the learned value obtained thereby, the timing at which the information presentation and warning are actually issued can be more appropriately calculated by reflecting the tendency of the driver's actual braking operation (for example, the degree of speed), and it becomes possible to issue alerts in each mode at more appropriate times.

[0122] Here, by detecting a right-turn intention when a right-turn intention indicated by, for example, entry into the right-turn lane L11 or activation of the right blinker continues for a predetermined period of time, it is possible to avoid unnecessary issuance of an alert if the indication of entry into the right-turn lane L11 is not based on an actual right-turn intention but is merely temporary. For example, if another vehicle is stopped on the shoulder of the road extending beyond the intersection CS or if there is a roadside object such as a sign, the vehicle may change lanes before or after entering the intersection to avoid a collision with these obstacles. In such a case, the right-turning vehicle VA does not detect a right-turn intention, and control is terminated upon a negative determination in S113 shown in FIG. 4, and the straight-moving vehicle VB is terminated upon a negative determination in S413 shown in FIG. 7, thereby avoiding unnecessary issuance of an alert.

[0123] In contrast, in the case of a right turn based on an original intention to turn right, the right-turning vehicle VA decelerates before entering the intersection CS, and a certain amount of time is secured between indicating an intention to turn right and entering the intersection CS. Therefore, even if the condition for detecting an intention to turn right is that the indication of an intention to turn right has continued, there is no substantial adverse effect on the detection of an intention to turn right, and it is possible to appropriately detect that the right-turning vehicle VA has an intention to turn right.

[0124] Furthermore, when the conditions for issuing information and the conditions for issuing an alarm are met simultaneously, issuing an alarm takes priority over issuing information, making it possible to give priority to the more urgent alarm and encouraging the driver to accurately recognize the situation.

[0125] In the above explanation, the distance Db from the intersection CS to the straight-moving vehicle VB is taken as the distance from the outer edge of the collision prediction area ACP, specifically, the intersection of the travel path TRb of the straight-moving vehicle VB and the circle defining the outer edge of the collision prediction area ACP (the circle shown by the dashed line in the figure). However, the distance Db may alternatively be the distance from the collision prediction point CPP to the straight-moving vehicle VB, or the distance along the center line of the oncoming lane L22 from the right-turning vehicle VA to the straight-moving vehicle VB.

[0126] Furthermore, the calculation unit of the notification system 1 is configured by the controllers 101a and 101b provided in the right-turning vehicle VA or the straight-moving vehicle VB, respectively, and the controllers 101a and 101b constitute a single virtual controller. However, it is also possible to configure the notification control to be performed outside the vehicle by storing a road map and a computer program for notification control in a roadside device or a remote server. In this case, the right-turning vehicle VA and the straight-moving vehicle VB transmit their respective position information to an external controller via road-to-vehicle communication and receive a command signal that is the result of a calculation related to control. Then, based on the command signal, the controller presents information or issues an alarm.

[0127] Traffic participants to be notified are not limited to the right-turning vehicle VA and the straight-going vehicle VB, but may also be other vehicles approaching the intersection CS. An example of such a vehicle is a vehicle (hereinafter referred to as an "intersecting vehicle") traveling toward the intersection CS in a lane other than the right-turn lane L11 and a lane extending parallel thereto (for example, the straight-going lane L12) among the lanes leading to the intersection CS toward which the right-turning vehicle VA is heading, specifically, an intersecting lane L31 that intersects with the right-turn lane L11.

[0128] FIG. 15 is a schematic diagram showing an example of a traffic situation that is expected to be the subject of notification by a notification system according to another embodiment of the present invention.

[0129] In this embodiment, in addition to the right-turning vehicle VA and straight-going vehicle VB in the example shown in Fig. 12, an intersecting vehicle VC is also targeted for notification, and a traffic situation is assumed in which the right-turning vehicle VA, straight-going vehicle VB, and intersecting vehicle VC are traveling toward the intersection CS. The intersection CS and the road R leading to it have the same configuration as the example shown in Fig. 12, but in this embodiment, no traffic signals are installed to regulate the passage of vehicles (including the intersecting vehicle VC) entering the intersection CS from the intersecting lane L31. Therefore, in the situation shown in the figure, the timing at which the intersecting vehicle VC enters the intersection CS coincides with the timing at which the right-turning vehicle VA and the straight-going vehicle VB enter the intersection CS, which could lead to contact or collision between the right-turning vehicle VA, the straight-going vehicle VB, and the intersecting vehicle VC at the intersection CS.

[0130] In such a situation, after the right-turning vehicle VA indicates its intention to turn right, the notification system 1 monitors the relative positional relationship between the right-turning vehicle VA and the intersecting vehicle VC in addition to or instead of controlling the notification between the right-turning vehicle VA and the straight-moving vehicle VB. Then, as described above, the notification system 1 issues a notification according to the urgency of the situation regarding contact or collision between the right-turning vehicle VA and the intersecting vehicle VC at an appropriate timing from when the right-turning vehicle VA approaches the intersection CS until when it passes through the intersection CS.

[0131] Regarding the notification control according to this embodiment, the processing performed by the right-turning vehicle VA in relation to the intersecting vehicle VC is the same as that performed by the right-turning vehicle VA in relation to the straight-moving vehicle VB in the previous embodiment. Moreover, the processing performed by the intersecting vehicle VC in relation to the right-turning vehicle VA is the same as that performed by the straight-moving vehicle VB in relation to the right-turning vehicle VA in the previous embodiment.

[0132] The notification control according to this embodiment will be briefly described with reference to FIGS. 16 and 17. FIG.

[0133] As shown in Figure 16, after detecting the right-turning vehicle VA's intention to turn right based on the operation status of its right blinker, the notification system detects that the right-turning vehicle VA is at a first predetermined position P1 in the lane in which the vehicle is traveling (i.e., the right-turning lane L11) or a position closer to the intersection center CTR than this, and sets the timing of this detection as the first notification timing. An intersection area ACS is set to be superimposed on the route TRa along which the right-turning vehicle VA will travel when passing through the intersection CS, and after the right-turning vehicle VA indicates its intention to turn right, the system detects that the right-turning vehicle VA is at the first predetermined position P1 in the right-turning lane L11 or a position closer to the intersection center CTR than this when the right-turning vehicle VA reaches or enters the intersection area ACS. The intersection area ACS is set, for example, as a circular area with a predetermined radius and including the first predetermined position P1 on its outer edge and centered on the intersection center CTR.

[0134] As described above, the point where the route TRa that the right-turning vehicle VA takes when passing through the intersection CS and the route TRc that the intersecting vehicle VC takes when passing through the intersection CS intersect is set as the ``predicted collision point'' CPP of the right-turning vehicle VA with the intersecting vehicle VC, and based on the current position Pa of the right-turning vehicle VA on the road map, it is detected that the right-turning vehicle VA is traveling toward the predicted collision point CPP at a position closer to the predicted collision point CPP than a first predetermined position P1, or that it is located at a position closer to the predicted collision point CPP than a second predetermined position P2 between the first predetermined position P1 and the predicted collision point CPP, and the timing of this detection is set as the second alert timing.

[0135] The "predicted collision point" CPP of the right-turning vehicle VA with the intersecting vehicle VC may be set separately from the predicted collision point with the straight-moving vehicle VB, i.e., the point where the travel path TRa of the right-turning vehicle VA intersects with the travel path TRb (FIG. 12) of the straight-moving vehicle VB, or may be set as a common point. When set as a common point, for example, an area where the oncoming straight-moving lane L22 and the intersecting lane L31 overlap within the intersection CS or intersection area ACS is defined, and the center point of that area is set as the predicted collision point CPP.

[0136] 17, if the right-turning vehicle VA, after entering the intersection area ACS, travels through the intersection area ACS toward the predicted collision point CPP at a speed higher than a predetermined speed or is present within the predicted collision area ACP, it is detected that the right-turning vehicle VA is traveling at a position closer to the predicted collision point CPP than the first predetermined position P1 or is present at a position closer to the predicted collision point CPP than the second predetermined position P2. The predicted collision area ACP is set as a circular area that includes the second predetermined position P2 on its outer edge and has an area smaller than the intersection area ACS.

[0137] Furthermore, at each of the first and second alert timings, an alert in a predetermined mode is issued for each timing, provided that a predetermined alert condition is met with respect to the position Pc of the intersecting vehicle VC. Specifically, at the first alert timing, an information presentation alert, which is the first predetermined mode, is issued, provided that the first predetermined alert condition is met, and at the second alert timing, an alarm, which is the second predetermined mode, is issued, provided that the second predetermined alert condition is met.

[0138] The issuance of the information presentation alert is a alert with a relatively low urgency regarding a collision between a right-turning vehicle VA and an intersecting vehicle VC, for example, alerting the right-turning vehicle VA to recognize the presence of an intersecting vehicle VC traveling in the intersecting lane L31 toward the intersection CS. On the other hand, the issuance of the alarm alert is an alert with a higher urgency regarding a collision between a right-turning vehicle VA and an intersecting vehicle VC, and is more salient than the issuance of the information presentation alert, and is more likely to appeal to the driver's vision or hearing.

[0139] The first predetermined alarm condition is that the intersecting vehicle VC is at a relatively long information presentation distance Dth1 from the intersection CS or at a position closer to the intersection CS than this, and the second predetermined alarm condition is that the intersecting vehicle VC is at an alarm distance Dth2 from the intersection CS that is shorter than the information presentation distance Dth1 or at a position closer to the intersection CS than this.

[0140] The information presentation distance Dth1 in relation to the intersecting vehicle VC is calculated as the distance required for the intersecting vehicle VC to stop at the first predetermined deceleration DEC1 after the alert is issued, based on the vehicle speed VSPc of the intersecting vehicle VC at the first alert timing and the first predetermined deceleration DEC1, as per (1) above. On the other hand, the warning distance Dth2 is calculated as the distance required for the intersecting vehicle VC to stop at the second predetermined deceleration DEC2 after the alert is issued, based on the vehicle speed VSPc of the intersecting vehicle VC at the second alert timing and the second predetermined deceleration DEC2, as per (2) above.

[0141] The notification by the notification system may be performed for all relevant traffic participants, or may be performed for only some of the traffic participants. For example, if there are a right-turning vehicle VA, a straight-moving vehicle VB, and an intersecting vehicle VC as traffic participants, all of these vehicles VA, VB, and VC may be the targets of the notification, or only the intersecting vehicle VC in addition to the right-turning vehicle VA may be the target of the notification. When both the straight-moving vehicle VB and the intersecting vehicle VC are targeted, the notification control and the information presentation processing and warning processing included therein are performed separately or in parallel by the controllers of each vehicle VB and VC. [Explanation of symbols]

[0142] 1...vehicle notification system, 101a, 101b...controllers, 111a, 111b...position sensors, 112a, 112b...vehicle speed sensors, 113a, 113b...right turn signal switches, 121a, 121b...transmitters, 122a, 122b...receivers, 131a, 131b...HMI devices, VA...right-turning vehicles, VB...straight-moving vehicles, VC...intersecting vehicles.

Claims

1. A vehicle turning right in the driving lane leading to the intersection, A vehicle notification system that issues a warning to traffic participants including a straight-moving vehicle traveling in a straight direction toward the intersection in an oncoming lane relative to the driving lane, road map storage means for storing a road map including the intersection; a right-turning vehicle position specifying means for specifying a current position of the right-turning vehicle on the road map; a straight-moving vehicle position specifying means for specifying a current position of the straight-moving vehicle on the road map; a right-turn intention detection means for detecting an intention of the right-turning vehicle to turn right; a first vehicle behavior detection means for detecting, based on the current position of the right-turning vehicle identified by the right-turning vehicle position identification means, that the right-turning vehicle is present at a first predetermined position in the travel lane or at a position closer to a center of the intersection, which is a center position of the intersection, after the right-turn intention detection means detects the right-turning intention; a second vehicle behavior detection means for detecting, based on the current position of the right-turning vehicle, that the right-turning vehicle is traveling toward the predicted collision point at a position closer to the predicted collision point than the first predetermined position, or that the right-turning vehicle is present at a position closer to the predicted collision point than a second predetermined position between the first predetermined position and the predicted collision point, with the point being a predicted collision point where a route taken by the right-turning vehicle when passing through the intersection intersects with a route taken by the straight-moving vehicle when passing through the intersection; a first alert issuing means for issuing an alert in a first predetermined mode to the traffic participants when the first vehicle behavior detecting means detects that the right-turning vehicle is at the first predetermined position or at a position closer to the center of the intersection, on the condition that the straight-moving vehicle is at a first predetermined distance from the intersection or at a position closer to the intersection; and second alert means for issuing an alert to the traffic participants in a second predetermined mode different from the first predetermined mode when the second vehicle behavior detection means detects that the right-turning vehicle is traveling at a position closer to the predicted collision point than the first predetermined position or is located at a position closer to the predicted collision point than the second predetermined position, on the condition that the straight-moving vehicle is located at a second predetermined distance from the intersection that is shorter than the first predetermined distance or is located at a position closer to the intersection than the first predetermined distance.

2. The vehicle notification system according to claim 1 , wherein the first and second notification means issue respective notifications by different displays or sounds.

3. an intersection area that overlaps with a route along which the right-turning vehicle will travel when passing through the intersection and that includes the first predetermined position on its outer edge; a collision prediction area that includes the collision prediction point and has the second predetermined position on its outer edge is set in association with the road map, the first vehicle behavior detection means detects, after detecting the right turn intention, that the right-turning vehicle is present in the intersection area; 2. The vehicle notification system according to claim 1, wherein the second vehicle behavior detection means detects that the right-turning vehicle is traveling within the intersection area toward the predicted collision point or is present within the predicted collision area.

4. the first vehicle behavior detection means detects, after detecting the right turn intention, that the right-turning vehicle is stopped within the intersection area or is traveling at a low speed equal to or less than a predetermined speed, 4. The vehicle warning system of claim 3, wherein the first alarm issuing means issues an alarm in the first predetermined mode when the right-turning vehicle is stopped or traveling at a low speed within the intersection area and the straight-moving vehicle is located at the first predetermined distance from the intersection or closer to the intersection than the first predetermined distance.

5. further comprising a vehicle speed detection means for detecting the vehicle speed of the straight-moving vehicle, The first alarm issuing means calculates the first predetermined distance based on the vehicle speed of the straight-moving vehicle detected by the vehicle speed detecting means, 2. The vehicle notification system according to claim 1, wherein the second alarm issuing means calculates the second predetermined distance based on the vehicle speed of the straight-moving vehicle detected by the vehicle speed detecting means.

6. the first alarm issuing means has a preset first predetermined deceleration, and calculates the first predetermined distance based on the vehicle speed of the straight-moving vehicle and the first predetermined deceleration; 6. The vehicle warning system of claim 5, wherein the second warning means has a second predetermined deceleration that is preset as a deceleration higher than the first predetermined deceleration, and calculates the second predetermined distance based on the vehicle speed of the straight-moving vehicle and the second predetermined deceleration.

7. a deceleration learning means for learning an actual deceleration when the straight-moving vehicle decelerates in response to the issuance of the alarm in the second predetermined mode, and calculating a learning value that indicates the actual deceleration; 7. The vehicle notification system according to claim 6, further comprising: deceleration correction means for correcting at least one of the first predetermined deceleration and the second predetermined deceleration based on the learned value calculated by the deceleration learning means.

8. 2. The vehicle notification system according to claim 1, wherein the right turn intention detection means detects the right turn intention when the right turn intention of the right turning vehicle continues for a predetermined period of time or more.

9. The vehicle notification system according to claim 1 , wherein the second notification means issues the notification in the second predetermined mode in priority to the first notification means issues the notification in the first predetermined mode.

10. A vehicle notification system that issues a notification regarding other traffic participants, including other vehicles other than the vehicle, to the vehicle turning right at an intersection, road map storage means for storing a road map including the intersection; a right turn intention detection means for detecting that the vehicle has an intention to turn right at the intersection; a vehicle position specifying means for specifying a current position of the vehicle on the road map; another vehicle information acquisition means for acquiring vehicle information including position information of another vehicle through communication with the other vehicle when there is another vehicle traveling in a straight direction toward the intersection in an oncoming lane relative to the traveling lane in which the host vehicle is located; another vehicle position specifying means for specifying a current position of the other vehicle on the road map based on the vehicle information of the other vehicle acquired by the other vehicle information acquiring means; a first vehicle behavior detection means for detecting, based on the current position of the host vehicle identified by the host vehicle position identification means, that the host vehicle is present at a first predetermined position in the travel lane or at a position closer to a center of the intersection, which is a center position of the intersection, after the right turn intention detection means detects the right turn intention; a second vehicle behavior detection means for detecting that the host vehicle is traveling toward the predicted collision point at a position closer to the predicted collision point than the first predetermined position, or that the host vehicle is present at a position closer to the predicted collision point than a second predetermined position between the first predetermined position and the predicted collision point, the second vehicle behavior detection means defining a point where a route taken by the host vehicle when passing through the intersection and a route taken by the other vehicle when passing through the intersection intersect as the predicted collision point; a first alert issuing means for issuing an alert in a first predetermined mode when the first vehicle behavior detecting means detects that the host vehicle is at the first predetermined position or at a position closer to the center of the intersection than the first predetermined position, on the condition that the other vehicle is at a first predetermined distance from the intersection or at a position closer to the intersection than the first predetermined distance; a second alarm means for issuing an alarm in a second predetermined mode different from the first predetermined mode when the second vehicle behavior detection means detects that the vehicle is traveling at a position closer to the predicted collision point than the first predetermined position or is located at a position closer to the predicted collision point than the second predetermined position, on the condition that the other vehicle is located at a second predetermined distance from the intersection that is shorter than the first predetermined distance or is located at a position closer to the intersection than the first predetermined distance.

11. The vehicle notification system according to claim 10, further comprising a specific vehicle information transmission means for transmitting specific vehicle information indicating the issuance of at least one of the first alert means and the second alert means to the other vehicle.

12. A vehicle notification system that issues a notification regarding other traffic participants, including other vehicles other than the vehicle, to the vehicle traveling straight ahead toward an intersection, road map storage means for storing a road map including the intersection; a vehicle position specifying means for specifying a current position of the vehicle on the road map; an other vehicle information acquisition means for acquiring vehicle information including position information of another vehicle through communication with the other vehicle when the other vehicle is present in an oncoming lane relative to the lane in which the host vehicle is traveling; a right-turn intention detection means for detecting that the other vehicle has an intention to turn right at the intersection based on the vehicle information of the other vehicle acquired by the other-vehicle information acquisition means; another vehicle position specifying means for specifying a current position of the other vehicle on the road map based on the vehicle information of the other vehicle; a first vehicle behavior detection means for detecting, based on the current position of the other vehicle identified by the other vehicle position identification means, that the other vehicle is present at a first predetermined position in the oncoming lane or at a position closer to a center of the intersection, which is a center position of the intersection, after the right turn intention detection means detects the right turn intention; a second vehicle behavior detection means for detecting that the other vehicle is traveling toward the predicted collision point at a position closer to the predicted collision point than the first predetermined position, or that the other vehicle is present at a position closer to the predicted collision point than a second predetermined position between the first predetermined position and the predicted collision point, where the other vehicle is traveling toward the predicted collision point at a position closer to the predicted collision point than a second predetermined position between the first predetermined position and the predicted collision point; a first alert issuing means for issuing an alert in a first predetermined mode when the first vehicle behavior detecting means detects that the other vehicle is at the first predetermined position or at a position closer to the center of the intersection, on the condition that the host vehicle is at a first predetermined distance from the intersection or at a position closer to the intersection; a second alarm means for issuing an alarm in a second predetermined mode different from the first predetermined mode when the second vehicle behavior detection means detects that the other vehicle is traveling at a position closer to the predicted collision point than the first predetermined position or is located at a position closer to the predicted collision point than the second predetermined position, on the condition that the vehicle is located at a second predetermined distance from the intersection that is shorter than the first predetermined distance or is located at a position closer to the intersection than the first predetermined distance.

13. 13. The vehicle notification system according to claim 12, further comprising a specific vehicle information transmission means for transmitting specific vehicle information indicating the issuance of at least one of an alert by the first alert issuing means and an alert by the second alert issuing means to the other vehicle.

14. A vehicle turning right in the driving lane leading to the intersection, An intersection entering vehicle traveling toward the intersection on a lane other than the driving lane that leads to the intersection, road map storage means for storing a road map including the intersection; a first vehicle position specifying means for specifying a current position of the right-turning vehicle on the road map; a second vehicle position specifying means for specifying a current position on the road map of the vehicle entering the intersection; a right-turn intention detection means for detecting an intention of the right-turning vehicle to turn right; a first alert timing setting means for setting a first alert timing according to the relative position of the right-turning vehicle with respect to the intersection area, the first alert timing setting means having an intersection area that is superimposed on a route that the right-turning vehicle will travel when passing through the intersection and that is set in association with the road map, based on the current position of the right-turning vehicle identified by the right-turning vehicle position identifying means; a second alert timing setting means for setting a second alert timing according to a behavior of the right-turning vehicle in the intersection area after the first alert timing setting means sets the first alert timing; and an alerting means for issuing an alert in a predetermined mode to the traffic participants, on the condition that an alerting condition determined with respect to the position of the vehicle entering the intersection is satisfied at each of the first alerting timing set by the first alerting timing setting means and the second alerting timing set by the second alerting timing setting means.

15. A vehicle turning right in the driving lane leading to the intersection, An intersection entering vehicle traveling toward the intersection on a lane other than the driving lane that leads to the intersection, road map storage means for storing a road map including the intersection; a first vehicle position specifying means for specifying a current position of the right-turning vehicle on the road map; a second vehicle position specifying means for specifying a current position on the road map of the vehicle entering the intersection; a right-turn intention detection means for detecting an intention of the right-turning vehicle to turn right; a first alert timing setting means for setting a first alert timing when the right-turning vehicle is present in the intersection area, the first alert timing setting means having an intersection area that is superimposed on a route that the right-turning vehicle will travel when passing through the intersection and that is set in association with the road map; a second alert timing setting means for setting a collision prediction point at a point where a route taken by the right-turning vehicle when passing through the intersection and a route taken by the intersection-entering vehicle when passing through the intersection intersect, the second alert timing setting means having a collision prediction area that includes the collision prediction point and is different from the intersection area, and setting a second alert timing when the right-turning vehicle is present in the collision prediction area; and an alerting means for issuing an alert in a predetermined mode to the traffic participants, on the condition that an alerting condition determined with respect to the position of the vehicle entering the intersection is satisfied at each of the first alerting timing set by the first alerting timing setting means and the second alerting timing set by the second alerting timing setting means.

16. 16. The vehicle notification system according to claim 14, wherein the intersection-entering vehicle is a vehicle traveling straight toward the intersection in a lane opposite to the driving lane.

17. The vehicle notification system according to claim 14 or 15, wherein the intersection-entering vehicle is an intersecting vehicle traveling toward the intersection in a lane intersecting the driving lane.

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