Vehicle notification system

Abstract

A vehicle notification system that contributes to further improving traffic safety is provided. [Solution] The vehicle notification system 1 includes a right-turn intention detection unit B114a that detects the intention of a right-turning vehicle VA to turn right based on the current position Pa of the right-turning vehicle VA on a road map identified based on high-precision positioning information and a high-precision digital map, and alarm issuing units B118a, B119a that, after the right-turn intention detection unit B114a detects the intention to turn right, issue an alarm to avoid a collision between the right-turning vehicle VA and a straight-moving vehicle VB traveling straight in the straight-moving lane L22 as the opposing lane to the right-turn lane L11 as the driving lane in which the right-turning vehicle VA is located.

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] Conventional right turn assistance is performed from the time the driver of a vehicle turning right operates a blinker switch near an intersection to indicate a right turn until the right turn is actually completed.

[0006] However, even if the driver of a right-turning vehicle intends to turn right, the driver may forget to operate the right blinker, may be late in operating the right blinker, or may erroneously operate the left blinker. Even if the driver operates the right blinker correctly, if the turn signal output from the blinker switch based on the blinker operation does not reach the driving assistance ECU that executes right-turn assistance, or if the blinker switch is unable to output an on signal due to a malfunction, the driving assistance ECU will lose the opportunity to execute right-turn assistance, even though the driver indicated an intention to turn right. In other words, there is a risk that right-turn assistance that is triggered by the operation of the blinker will not be executed as intended.

[0007] Therefore, the present invention aims to provide a vehicle warning system that contributes to further improving traffic safety without being affected by the driver's operation of the turn signal switch or by failures in the system that detects the operation of the turn signal switch. [Means for solving the problem]

[0008] In order to solve the above-mentioned problems, a vehicle notification system according to one embodiment of the present invention comprises a right-turn intention detection means for detecting an intention of the vehicle to turn right based on the current position of the vehicle on a road map identified based on high-precision positioning information and a high-precision digital map, and an alarm issuing means for issuing an alarm after the right-turn intention detection means detects the intention to turn right so as to avoid a collision between the vehicle and a straight-moving vehicle traveling straight in an oncoming lane relative to the driving lane in which the vehicle is located. [Effects of the Invention]

[0009] According to one embodiment of the present invention, a vehicle warning system can be provided that contributes to further improving traffic safety without being affected by the driver's operation of the turn signal switch or by failures in the system that detects the operation of the turn signal switch. [Brief explanation of the drawings]

[0010] [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. DETAILED DESCRIPTION OF THE INVENTION

[0011] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings.

[0012] (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.

[0013] 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.

[0014] The notification system 1 includes, in addition to a controller 101, accessory devices such as vehicle sensors 111 to 113, communication devices 121 and 122, and an HMI (Human Machine Interface) device 131 as main elements related to this embodiment.

[0015] 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.

[0016] 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, and the presence or absence of an intention to turn right (for example, the operation status of the right turn signal, i.e., the output of the right turn signal switch) of each vehicle VA and VB, and lane ID. 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 performed indirectly via a roadside device installed on the side of the road, a server installed in a remote location, or a communication device installed in a vehicle other than the right-turning vehicle VA or the straight-moving vehicle VB.

[0017] 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.

[0018] 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.

[0019] 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.

[0020] Position sensor 111a detects the current position Pa of right-turning vehicle VA, and position sensor 111b detects the current position Pb of straight-moving vehicle VB. Both position sensors 111a and 111b can be configured with a receiver for a high-precision satellite positioning system (Global Navigation Satellite System, GNSS), and detect the current positions of target vehicles VA and VB using latitude and longitude coordinates Pa (Pai, ​​Paj) and Pb (Pbi, Pbj). Both position sensors 111a and 111b may be configured with so-called high-precision locators 114a and 114b, which are systems that use high-precision satellite positioning by GNSS and high-precision digital maps (high-precision three-dimensional map data, high-precision map data, HD maps, high-density maps) to output accurate position information of right-turning vehicle VA and associated map information.

[0021] 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.

[0022] 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.

[0023] The detection signals of the position sensor 111a, vehicle speed sensor 112a and right blinker switch 113a of the right-turning vehicle VA are output to the controller 101a of the right-turning vehicle VA, and the detection signals of the position sensor 111b, vehicle speed sensor 112b and right blinker switch 113b of the straight-moving vehicle VB are output to the controller 101b of the straight-moving vehicle VB.

[0024] 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.

[0025] 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.

[0026] 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.

[0027] 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.

[0028] 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.

[0029] 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."

[0030] 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") VC 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 VC 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 VC 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 VC 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.

[0031] 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. The notification system 1 then 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 it passes through the intersection CS.

[0032] The driver of the right-turning vehicle VA indicates his / her intention to turn right by activating his / her right blinker or by moving the right-turning vehicle VA into the right-turn lane L11. One example of the detection of the right-turning intention by the right-turning vehicle VA is for the right-turning vehicle VA to detect the operation status of the right blinker based on an ON signal output from the right blinker switch 113a. Another example of the detection of the right-turning intention by the right-turning vehicle VA is for the right-turning vehicle VA to determine the current position Pa of the right-turning vehicle VA on the road R based on the output of the high-precision locator 114a.

[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 of the right-turning vehicle VA 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 detection of the host vehicle's current position Pa by the host vehicle position detection unit B111a is based on an output signal from a position sensor 111a provided in the right-turning vehicle VA. The host vehicle position detection unit B111a and the position sensor 111a may be integrated into a high-precision locator 114a.

[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 right-turn intention by an output signal from a right blinker switch 113a provided in the right-turning vehicle VA.

[0039] However, even if the driver of a right-turning vehicle VA intends to turn right, the driver may forget to operate the right blinker, may be late in operating the right blinker, or may erroneously operate the left blinker. Even if the driver operates the right blinker normally, if the ON signal output from the right blinker switch 113a does not reach the controller 101a, or if the right blinker switch 113a is unable to output an ON signal due to a malfunction, the controller 101a may not be able to detect that the right-turning vehicle VA intends to turn right, even though the driver has indicated an intention to turn right. In other words, there is still room for improvement in detecting the right-turning intention of the right-turning vehicle VA, which is triggered by the operation of the right blinker.

[0040] Therefore, the right-turn intention detection unit B114a of the notification system 1 according to this embodiment detects the right-turn intention of the right-turning vehicle VA based on the current position Pa of the right-turning vehicle VA on a road map identified based on the high-precision positioning information and the high-precision digital map. In other words, the right-turn intention detection unit B114a can detect the right-turn intention based on the current position Pa of the right-turning vehicle VA on the road map identified by the high-precision locator 114a based on the high-precision positioning information and the high-precision digital map. The right-turn intention detection unit B114a may directly acquire the current position Pa of the right-turning vehicle VA on the road map from the high-precision locator 114a, as shown next to the right blinker switch 113a in FIG. 2, or may indirectly acquire the current position Pa of the right-turning vehicle VA on the road map from the high-precision locator 114a constituting the position sensor 111a via the road map storage unit B113a. In this way, the notification system 1 can detect the right-turning intention of the right-turning vehicle VA without being affected by the timing of operation of the turn indicator or blinker by the driver of the right-turning vehicle VA.

[0041] In other words, the right-turn intention detection unit B114a in this embodiment detects the intention to turn right based on the output signal from the right blinker switch 113a, or detects the intention of the right-turning vehicle VA to turn right based on the current position Pa of the right-turning vehicle VA on the road map identified based on the high-precision positioning information and the high-precision digital map.

[0042] The right-turn intention detection unit B114a detects the right-turn intention of the right-turning vehicle VA when the right-turning vehicle VA is present in the right-turn lane L11, which is a right-turn-only lane at the intersection CS. In other words, if the right-turn lane L11 is a right-turn-only lane, the right-turn intention detection unit B114a can also detect the right-turn intention by reading out the link ID associated with the currently traveling lane from the road map and detecting that the right-turning vehicle VA is present in the right-turn lane L11. In this way, the notification system 1 can easily detect the right-turn intention of the right-turning vehicle VA based on the link ID associated with the currently traveling lane.

[0043] For example, on a road R with one lane in each direction, it is difficult to detect the right-turning vehicle VA's intention to turn right based on whether the right-turning vehicle VA is in a right-turn lane. In such a situation, the driver of the right-turning vehicle VA will first move to the right side of lane L11, i.e., toward the center line, before attempting to turn right. Therefore, the right-turn intention detection unit B114a detects the right-turning vehicle VA's intention to turn right when the right-turning vehicle VA is in the lane closest to the center line of the intersection CS and is located within that lane closer to the center line. In other words, the right-turn intention detection unit B114a can also detect the right-turning vehicle VA's intention to turn right by reading the link ID associated with the current lane from the road map, detecting that the right-turning vehicle VA is located in the lane L11 closest to the center line, and detecting that the right-turning vehicle VA is located within lane L11 closer to the center line. In this way, the notification system 1 can detect the right-turning vehicle VA's intention to turn right even on a road R with one lane in each direction that does not have a right-turn lane.

[0044] Furthermore, the right-turn intention detection unit B114a detects the right-turning vehicle VA's intention to turn right when it detects that the right-turning vehicle VA is in the lane closest to the center line of the intersection CS and tends to travel close to the center line in that lane. That is, the right-turn intention detection unit B114a can also detect the right-turning vehicle VA's intention to turn right by reading the link ID associated with the lane L11 from the road map, acquiring the current position Pa in the lane L11, detecting that the right-turning vehicle VA is in the lane L11 closest to the center line, and detecting that the right-turning vehicle VA tends to travel close to the center line in the lane L11. In other words, it is preferable to detect the right-turning vehicle VA's intention to turn right when the right-turning vehicle VA is in the lane closest to the center line of the intersection CS and has been traveling close to the center line in that lane for a predetermined period of time or more. This allows the notification system 1 to avoid detecting the right-turning vehicle VA's approach to the center line of the intersection CS if it is merely a temporary occurrence and not based on an actual intention to turn right.

[0045] Furthermore, if the right-turn intention detection unit B114a does not detect the operation of the right blinker but detects an intention to turn right, it outputs a command signal to the right-turning vehicle VA, i.e., the HMI device 131a provided in the host vehicle, to issue a notification urging the driver to operate the right blinker. In other words, if the right-turn intention detection unit B114a does not detect an ON signal output by the right blinker switch 113a and the HMI device 131a detects the right-turning vehicle VA's intention to turn right based on the current position Pa of the right-turning vehicle VA on the road map identified based on the high-precision positioning information and the high-precision digital map, the HMI device 131a issues a notification urging the driver to operate the right blinker. In this way, the notification system 1 can easily urge a driver who has forgotten to operate the right blinker despite intending to turn right or who tends to be late in operating the right blinker to quickly operate the right blinker.

[0046] Detection of the right-turning vehicle VA's right-turning intention based on the operation status of its right blinker is triggered by the driver of the right-turning vehicle VA operating the right blinker. Meanwhile, detection of the right-turning vehicle VA's right-turning intention based on the current position Pa of the right-turning vehicle VA on road R, in other words, detection of the right-turning vehicle VA's right-turning intention based on the output of the high-precision locator, may be performed when communication for transmitting and receiving vehicle information is established between the straight-moving vehicle VB and the right-turning vehicle VA, and when the right-turning vehicle VA detects the presence of the straight-moving vehicle VB via vehicle-to-vehicle communication. Therefore, the high-precision locator may identify the current position Pa based on the high-precision positioning information and the high-precision digital map when it detects the presence of the straight-moving vehicle VB via communication established by the communicator 121 for transmitting and receiving vehicle information between the straight-moving vehicle VB and the right-turning vehicle VA. This reduces the burden of executing notification control in the notification system 1 when it is not necessary to issue a notification based on the urgency of a situation involving contact or collision between the right-turning vehicle VA and the straight-moving vehicle VB, i.e., when the straight-moving vehicle VB is not present.

[0047] 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.

[0048] 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.

[0049] 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 road R with two lanes on each side (the same applies to Figs. 13 and 14 shown later).

[0050] 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.

[0051] The second vehicle behavior detection unit B117a in Figure 2 determines the collision prediction point CPP as the point where the route TRa that the right-turning vehicle VA will travel when passing through the intersection CS and the route TRb that the straight-moving vehicle VB will travel when passing through the intersection CS intersect, 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 the first predetermined position P1, or that it 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.

[0052] 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.

[0053] 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.

[0054] 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).

[0055] 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.

[0056] 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.

[0057] 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.

[0058] 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.

[0059] 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.

[0060] 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.

[0061] 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).

[0062] FIG. 10 is an explanatory diagram showing a method for calculating the information presentation distance Dth1 and the warning distance Dth2.

[0063] 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.

[0064] 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)

[0065] 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)

[0066] 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.

[0067] 3, the controller 101b of the straight-moving vehicle VB 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 of the right-turning vehicle VA.

[0068] 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. The position sensor 111b and the host vehicle position detection unit B111b may be configured by a system, so-called high-precision locator 114b, that outputs accurate position information of the straight-moving vehicle VB and associated map information using high-precision satellite positioning by GNSS and high-precision digital maps (high-precision three-dimensional map data, high-precision map data, HD maps, high-density maps).

[0069] 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.

[0070] 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.

[0071] 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 detection result of the right-turning intention, represented by 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 is 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.

[0072] 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.

[0073] 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.

[0074] 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.

[0075] 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.

[0076] The size and shape of the predicted collision area ACP may be different between the controller 101a of the right-turning vehicle VA and the controller 101b of the straight-moving vehicle VB, 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 coordinate information of the predicted collision area ACP set in one of the controllers 101a, 101b to the other controller via vehicle-to-vehicle communication.

[0077] 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.

[0078] 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.

[0079] 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.

[0080] 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.

[0081] 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.

[0082] 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.

[0083] (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.

[0084] 4, the controller 101a reads various control information used for notification control 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.

[0085] In S112, the controller 101a determines whether or not another vehicle traveling in a straight direction toward the intersection CS in the oncoming lane relative to the lane in which the host vehicle, the right-turning vehicle VA, is located, i.e., a 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.

[0086] In S113, the controller 101a determines whether or not the right-turning vehicle VA has detected a right-turn intention. The right-turn intention is detected 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 made based on the link ID of the right-turning vehicle VA. For example, if the right-turn lane L11 is a right-turn-only lane, the right-turning vehicle VA's right-turn intention can be detected based on the fact that the lane in which the vehicle is traveling is the right-turn lane L11. If a right-turn intention is detected, the process proceeds to S114; if not, the current control ends.

[0087] In step S114, the controller 101a identifies the current position Pa of the right-turning vehicle VA on the road map.

[0088] In S115, the controller 101a determines 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, the controller 101a determines that the right-turning vehicle VA has entered the intersection area ACS and 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, the controller 101a determines that the right-turning vehicle VA has not reached the intersection area ACS and is outside the intersection area ACS, and ends the current control.

[0089] The controller 101a performs information presentation processing in S116, which follows the procedure shown in the flowchart of FIG.

[0090] The controller 101a executes warning processing in S117, which follows the procedure shown in the flowchart of FIG.

[0091] In S118, the controller 101a determines 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 traveling direction 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.

[0092] 5, the controller 101a reads various control information used in the information presentation process 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.

[0093] In S212, the controller 101a identifies the current positions Pa and Pb on the road map of the right-turning vehicle VA and the straight-going vehicle VB, respectively.

[0094] In S213, the controller 101a determines whether the right-turning vehicle VA is outside the predicted collision 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 predicted collision area ACP (i.e., the second predetermined position P2), the controller 101a determines that the right-turning vehicle VA is outside the predicted collision area ACP and proceeds to S214. In addition to the processing of S213, the controller 101a may determine whether the right-turn intention detection unit B114a continues to detect the right-turn intention, and if the right-turn intention detection continues, perform the processing from S214 onwards. On the other hand, if the right-turning vehicle VA is located at the outer edge of the predicted collision area ACP or closer to the predicted collision point CPP, the controller 101a determines that the right-turning vehicle VA is not outside the predicted collision area ACP and ends the information presentation processing.

[0095] In S214, the controller 101a reads the vehicle speed VSPa of the right-turning vehicle VA.

[0096] In S215, the controller 101a determines 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 the vehicle speed VSPa 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.

[0097] In this way, the controller 101a of this embodiment determines that the timing for issuing an information notification has arrived when it detects that the vehicle speed VSPa is equal to or less than a predetermined vehicle speed VSP1 after the right-turning vehicle VA has entered the intersection area ACS, or has sufficiently decelerated (including when it has stopped temporarily) before reaching the collision prediction area ACP, and performs processing from S216 onwards to determine whether the first predetermined notification condition is met.

[0098] In S216, the controller 101a calculates the distance Db from the intersection CS to the straight-moving vehicle VB, in other words, the distance Db remaining ahead of the straight-moving vehicle VB before reaching the intersection CS (hereinafter referred to as "intersection arrival distance"). 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.

[0099] In S217, the controller 101a reads the vehicle speed VSPb of the straight-moving vehicle VB.

[0100] The controller 101a calculates the information presentation distance Dth1 in S218. As described above, the calculation of the information presentation distance Dth1 is based on the vehicle speed VSPb of the straight-moving vehicle VB and the first predetermined deceleration DEC1.

[0101] In S219, the controller 101a determines 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 the distance Db is equal to or less than the information presentation distance Dth1, the controller 101a proceeds to S220, and if the distance Db is longer than the information presentation distance Dth1, the controller 101a ends the information presentation process.

[0102] The controller 101a issues a notification to present information in S220.

[0103] 6, the controller 101a reads various control information used in the warning process 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.

[0104] In S312, the controller 101a identifies the current positions Pa and Pb on the road map of the right-turning vehicle VA and the straight-going vehicle VB, respectively.

[0105] In S313, the controller 101a determines whether the right-turning vehicle VA is within the collision prediction area ACP. Specifically, if the right-turning vehicle VA is at the outer edge of the collision prediction area ACP (i.e., the second predetermined position P2) or at a position closer to the collision prediction point CPP than this, the controller 101a determines that the right-turning vehicle VA is within the collision prediction area ACP, and proceeds to S316. On the other hand, if the right-turning vehicle VA is at a position farther from the collision prediction point CPP than the outer edge of the collision prediction area ACP, the controller 101a determines that the right-turning vehicle VA is not within the collision prediction area ACP, and proceeds to S314. As a prerequisite for performing the processing of S313, the controller 101a may include, as a condition for performing the processing, that the right-turn intention detection unit B114a continues to detect a right-turn intention.

[0106] In step S314, the controller 101a reads the vehicle speed VSPa of the right-turning vehicle VA.

[0107] In S315, the controller 101a determines whether the vehicle speed VSPa of the right-turning vehicle VA is higher than a predetermined vehicle speed VSP1. If the vehicle speed VSPa is higher than the predetermined vehicle speed VSP1, the process proceeds to S316. If the vehicle speed is equal to or lower than the predetermined vehicle speed VSP1, the process terminates the warning process. That is, the controller 101a determines 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 the vehicle speed is higher than the vehicle speed VSP1, the controller 101a determines that the driver of the right-turning vehicle VA is not paying attention to the surrounding situation and proceeds to S316. On the other hand, if the vehicle speed VSPa of the right-turning vehicle VA is equal to or lower than the vehicle speed VSP1, the controller 101a determines that a situation requires the issuance of an information presentation alert and terminates the warning process.

[0108] In this way, when the right-turning vehicle VA enters the intersection area ACS in steps S313 to S315, 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 controller 101a determines that it is time to issue an alarm upon detecting such a situation, and performs processing from step S316 onwards to determine whether the second predetermined alarm condition is met.

[0109] In S316, the controller 101a calculates the intersection arrival distance Db of the straight-moving vehicle VB.

[0110] In S317, the controller 101a reads the vehicle speed VSPb of the straight-moving vehicle VB.

[0111] The controller 101a calculates the warning distance Dth2 in S318. As described above, the calculation of the warning distance Dth2 is based on the vehicle speed VSPb of the straight-moving vehicle VB and the second predetermined deceleration DEC2.

[0112] In S319, the controller 101a determines 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 the warning distance Db is equal to or less than the warning distance Dth2, the controller 101a proceeds to S320, and if the warning distance Db is longer than the warning distance Dth2, the controller 101a ends the warning processing.

[0113] The controller 101a issues an alarm in S320.

[0114] (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.

[0115] The steps performed by the controller 101a and the controller 101b in relation to notification control correspond to each other, so in the following description, detailed description of steps in which the two perform similar processing will be omitted.

[0116] In the flowchart shown in FIG. 7, the controller 101b reads various control information used for notification control (S411), detects another vehicle in the oncoming right-turn lane L11, i.e., a right-turning vehicle VA (S412), and then determines in S413 whether or not it has detected the right-turning vehicle VA's intention to turn right. After detecting the right-turning intention, the controller 101b identifies the current position Pa of the right-turning vehicle VA on the road map (S414) and determines 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 controller 101b performs the processes from S416 onward; if not, the controller 101b terminates the current control. The controller 101b performs information presentation processing in S416 and alarm processing in S417. The information presentation processing and alarm processing are repeatedly performed until the right-turning vehicle VA passes through the intersection area ACS.

[0117] 8, the controller 101b reads 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 (S511), and identifies the current positions Pb, Pa of the straight-moving vehicle VB and the right-turning vehicle VA on the road map (S512). In S513, the controller 101b determines 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 controller 101b reads the vehicle speed VSPa of the right-turning vehicle VA (S514) and determines 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 controller 101b performs the processes from S516 onward. If the vehicle speed VSPa is higher than the predetermined vehicle speed VSP1, the controller 101b terminates the information presentation process. In addition to the processing of S513, the controller 101b may determine whether the right-turn intention detection unit B114a of the right-turning vehicle VA continues to detect a right-turn intention, and if the right-turn intention detection continues, perform the processing of S514 and subsequent steps. Then, the controller 101b calculates the intersection arrival distance Db of the straight-moving vehicle VB, which is the host vehicle (S516), and reads the vehicle speed VSPb of the host vehicle (i.e., the straight-moving vehicle VB) (S517) to calculate an information presentation distance Dth1 (S518). If the intersection arrival distance Db is equal to or less than the information presentation distance Dth1 (S519), the controller 101b proceeds to S520 to issue an information presentation alert, and if it is longer than the information presentation distance Dth1, the controller 101b terminates the information presentation processing.

[0118] 9, the controller 101b reads 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 (S611), and identifies the current positions Pb, Pa of the straight-moving vehicle VB and the right-turning vehicle VA on the road map (S612). In S613, the controller 101b determines whether the right-turning vehicle VA, which is another vehicle, is within a predicted collision area ACP. If it is determined that the right-turning vehicle VA is not within the predicted collision area ACP, the controller 101b reads the vehicle speed VSPa of the right-turning vehicle VA (S614) and determines 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 controller 101b performs the processes from S616 onwards, and if it is equal to or lower than the predetermined vehicle speed VSP1, the controller 101b ends the warning process. As a prerequisite for performing the processing of S613, the controller 101b may include in the conditions for performing the processing that the right-turn intention detection unit B114a of the right-turning vehicle VA continues to detect a right-turn intention. Then, the controller 101b calculates the intersection arrival distance Db of the straight-moving vehicle VB, which is the host vehicle (S616), and reads the vehicle speed VSPb of the host vehicle (i.e., the straight-moving vehicle VB) (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 controller 101b proceeds to S620 and issues a warning, and if it is longer than the warning distance Dth2, the controller 101b ends the warning processing.

[0119] (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.

[0120] First, in a traffic situation in which 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 notification system 1 identifies 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. After detecting the right-turning vehicle VA's intention to turn right, the notification system 1 issues a notification in a different mode when it detects that the right-turning vehicle VA is at or closer to the intersection center CTR than the first predetermined position P1, and 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 has entered a position closer to the predicted collision point CPP than the second predetermined position P2, provided that a notification condition regarding the distance Db of the straight-moving vehicle VB is met. This allows the notification system 1 to issue a notification in an appropriate mode depending on the relative relationship between the right-turning vehicle VA and the straight-moving vehicle VB.

[0121] Specifically, after detecting the intention to turn right, when the right-turning vehicle VA is at a position with a relatively long distance remaining to the predicted collision point CPP, and 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, the notification system 1 issues a first predetermined mode alert to traffic participants. In this embodiment, both the right-turning vehicle VA and the straight-moving vehicle VB are traffic participants to be alerted.

[0122] 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, the alert system 1 will issue an alert to traffic participants in a second predetermined mode different from the first predetermined mode, provided that the straight-moving vehicle VB is located closer to the intersection CS, that is, at a second predetermined distance (alert distance Dth2) from the intersection CS or closer to the intersection CS than this.

[0123] As a result, the notification system 1, for example, in accordance with the relative positional relationship between the right-turning vehicle VA and the straight-moving vehicle VB, issues an alert in a first predetermined mode, with the aim of encouraging recognition of the presence of the other vehicle (for example, the straight-moving vehicle VB relative to the right-turning vehicle VA), i.e., issues an information presentation alert, while in a second predetermined mode, issues an alert with the aim of encouraging recognition of a higher level of urgency, i.e., issues an alarm.

[0124] Second, the notification system 1 issues 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.

[0125] Thirdly, by setting the intersection area ACS and the collision prediction area ACP, the notification system 1 can easily determine the timing for issuing an alert using the first predetermined mode and the second predetermined mode, and can issue the alert.

[0126] Fourth, the notification system 1 calculates 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, thereby enabling the issuance of the first and second predetermined modes at appropriate timing that reflects the distance required to decelerate and brake the straight-moving vehicle VB.

[0127] Fifth, the notification system 1 sets a deceleration DEC1 for calculating the information presentation distance and a higher deceleration DEC2 for calculating the warning distance, and calculates the first and second specified distances based on these decelerations DEC1 and DEC2 in accordance with the vehicle speed VSPb of the straight-moving vehicle VB, thereby making it possible to issue notifications for the first and second specified modes at timings that are in line with the vehicle behavior when braking.

[0128] 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, the alarm system 1 can issue an alarm in the first predetermined mode at a timing that assumes gentler braking, and can issue an alarm in the second predetermined mode at a timing that assumes sudden braking.

[0129] Seventh, the notification system 1 learns the actual deceleration of the straight-moving vehicle VB in response to the issuance of an alert in the second predetermined mode, and corrects 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, thereby making it possible to more appropriately calculate the timing at which the information presentation and warning are actually issued, reflecting the tendency of the driver's actual braking operation (for example, the degree of speed or slowness), and to issue alerts in each mode at more appropriate times.

[0130] The notification system 1 according to this embodiment also includes a right-turn intention detection unit B114a that detects the right-turning intention of the right-turning vehicle VA based on the current position Pa of the right-turning vehicle VA on a road map identified based on the high-precision positioning information and the high-precision digital map. Therefore, the notification system 1 can detect the right-turning intention of the right-turning vehicle VA without being affected by the operation timing of the turn signal or blinker by the driver of the right-turning vehicle VA.

[0131] The notification system 1 according to this embodiment also includes a right-turn intention detection unit B114a that detects the right-turning vehicle VA's intention to turn right when the right-turning vehicle VA is in the right-turn lane L11, which is a right-turn-only lane at the intersection CS. Therefore, the notification system 1 can easily detect the right-turning vehicle VA's intention to turn right based on the link ID associated with the lane in which the right-turning vehicle VA is traveling.

[0132] Furthermore, the notification system 1 according to this embodiment includes a right-turn intention detection unit B114a that detects the right-turning vehicle VA's intention to turn right when the right-turning vehicle VA is in the lane closest to the center line of the intersection CS and is in that lane closer to the center line. Therefore, even on a road R that does not have a dedicated right-turn lane, for example, a road with one lane in each direction, the notification system 1 can detect the right-turning vehicle VA's intention to turn right.

[0133] Furthermore, the notification system 1 according to this embodiment includes a right-turn intention detection unit B114a that detects the right-turning vehicle VA's intention to turn right when it is detected that the right-turning vehicle VA is in the lane closest to the center line of the intersection CS and has a tendency to travel close to the center line within that lane. Therefore, if the right-turning vehicle VA's approach to the center line of the intersection CS is not based on an actual intention to turn right but is merely temporary, the notification system 1 can avoid detecting the right-turning intention.

[0134] Furthermore, the notification system 1 according to this embodiment includes an HMI device 131a that issues a notification urging the driver to operate the right blinker when the right turn intention detection unit B114a does not detect the operation of the right blinker but does detect an intention to turn right. Therefore, the notification system 1 can easily urge a driver who has forgotten to operate the right blinker despite intending to turn right or who tends to be late in operating the right blinker to operate the right blinker promptly.

[0135] Furthermore, when the notification system 1 according to this embodiment detects the presence of the straight-moving vehicle VB via communication established by the communication device 121 for transmitting and receiving vehicle information between the straight-moving vehicle VB and the right-turning vehicle VA, it identifies the current position Pa based on the high-precision positioning information and the high-precision digital map. In this way, the notification system 1 reduces the execution load of notification control when it is not necessary to issue a notification according to the urgency of an incident regarding contact or collision between the right-turning vehicle VA and the straight-moving vehicle VB, that is, when the straight-moving vehicle VB is not present.

[0136] Here, it is preferable to detect 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 or longer. This makes it possible to avoid unnecessary issuance of an alert when the indication of entry into the right-turn lane L11 is merely temporary and not based on an actual right turn intention. 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 the 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.

[0137] 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 conditions for detecting an intention to turn right are set to at least one of the continued indication of an intention to turn right and the deceleration before entering the intersection CS, 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.

[0138] 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 encourage the driver to accurately recognize the situation.

[0139] 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.

[0140] 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.

[0141] 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 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, a lane intersecting the right-turn lane L11 (i.e., an intersecting vehicle). Here, a vehicle other than the right-turning vehicle VA that is approaching the intersection CS and may enter the intersection CS is called an "intersection-entering vehicle," and this includes not only the straight-going vehicle VB but also an intersecting vehicle.

[0142] On the road shown in Figure 11, in a situation where there are right-turning vehicle VA, straight-going vehicle VB, and an intersecting vehicle (not shown) traveling toward intersection CS, if there are no traffic lights installed to regulate the passage of intersecting vehicles at intersection CS, the timing at which the intersecting vehicle enters intersection CS will coincide with the timing at which right-turning vehicle VA and straight-going vehicle VB enter intersection CS, raising the concern that contact or collision may occur between these vehicles.

[0143] In such a situation, after detecting the right-turning vehicle VA's intention to turn right, the notification system 1 monitors the relative positional relationship between the right-turning vehicle VA and the intersecting vehicle, in addition to or instead of controlling notifications between the right-turning vehicle VA and the straight-moving vehicle VB. As described above, the notification system 1 issues a notification based on the urgency of the situation regarding contact or collision between the right-turning vehicle VA and the intersecting vehicle at an appropriate timing between the time the right-turning vehicle VA approaches the intersection CS and the time it passes through the intersection CS. As an example, the right-turning vehicle VA and the intersecting vehicle perform the same information presentation processing and warning processing as those performed between the right-turning vehicle VA and the straight-moving vehicle VB. [Explanation of symbols]

[0144] 1...vehicle notification system, 101a, 101b...controller, 111a, 111b...position sensor, 112a, 112b...vehicle speed sensor, 113a, 113b...right turn signal switch, 121a, 121b...transmitter, 122a, 122b...receiver, 131a, 131b...HMI device.

Claims

1. a right-turn intention detection means for detecting a right-turn intention of the vehicle based on a current position of the vehicle on a road map identified based on the high-precision positioning information and the high-precision digital map; and an alarm issuing means that, after the right turn intention detection means detects the right turn intention, issues an alarm to avoid a collision between the vehicle and a straight-moving vehicle traveling straight in an oncoming lane relative to the driving lane in which the vehicle is located.

2. 2. The vehicle notification system according to claim 1, wherein the right turn intention detection means detects the right turn intention of the vehicle when the vehicle is present in a right turn exclusive lane at an intersection.

3. 3. The vehicle warning system according to claim 1, wherein the right turn intention detection means detects the vehicle's intention to turn right when the vehicle is in the lane closest to the center line of the intersection and is in the lane closer to the center line.

4. 3. The vehicle warning system according to claim 1, wherein the right turn intention detection means detects the vehicle's intention to turn right when the vehicle is in the lane closest to the center line of the intersection and detects a tendency for the vehicle to travel closer to the center line within the lane.

5. 3. The vehicle warning system according to claim 1, wherein the warning means issues a warning to prompt the driver to operate the right turn signal when the right turn intention detection means does not detect the operation of the right turn signal and detects the driver's intention to turn right.

6. a straight-moving vehicle information acquisition means for acquiring vehicle information including position information of the straight-moving vehicle through communication between the straight-moving vehicle and the vehicle; 3. The vehicle notification system according to claim 1, wherein when the presence of the straight-moving vehicle is detected via the communication, the current location is determined based on the high-precision positioning information and the high-precision digital map.

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