Vehicle notification system

Abstract

This vehicle notification system provides clear and easy-to-understand notifications for drivers that do not interfere with their driving, thereby contributing to further improvements in traffic safety. [Solution] When an alert is issued, the vehicle notification system 1, based on the right-turn vehicle information regarding the right-turn vehicle VA and the straight-ahead vehicle information regarding the straight-ahead vehicle VB, which have become shareable between the right-turn vehicle VA and the straight-ahead vehicle VB via communication between the right-turn vehicle VA and the straight-ahead vehicle VB, displays information VBT indicating the type of straight-ahead vehicle VB and information VBTD indicating the direction of travel of the straight-ahead vehicle VB on the display 141a of the HMI device 131a, and displays information VAT indicating the type of right-turn vehicle VA and information VATD indicating the direction of travel of the right-turn vehicle VA on the display 141b of the HMI device 131b, in the case of the straight-ahead vehicle VB.

Description

Technical Field

[0001] Embodiments according to the present invention relate to a notification system for vehicles.

Background Art

[0002] For the purpose of driving support in a situation of turning right at an intersection on a road with left-hand traffic, the driving situation of other traffic participants including oncoming vehicles traveling straight ahead toward the intersection in the oncoming lane is grasped, and the driver is instructed of a right-turn timing that can avoid a collision with the oncoming vehicle. There is a technology for this.

[0003] Here, the detection of traffic participants is generally performed by in-vehicle sensors such as cameras or radars.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] However, in the case of in-vehicle sensors, it is difficult to detect traffic participants existing in blind spots such as behind obstacles.

[0006] Specifically, when there are other vehicles traveling in the same lane as the oncoming vehicle or other vehicles are stopping waiting to turn right in front of the oncoming vehicle, the other vehicles become obstacles, and the oncoming vehicle exists in the blind spot of the other vehicles, making it difficult to detect the oncoming vehicle with some in-vehicle sensors equipped on the right-turning vehicle.

[0007] When the other vehicle that becomes an obstacle is a large vehicle, the blind spot extends over a wider range, making it more difficult to detect the oncoming vehicle.

[0008] Incidentally, in driver assistance systems, various notifications are provided to inform the driver of the occurrence of different events. Examples of driver notifications include visual notifications through the display of text and / or illustrations on a screen, auditory notifications through sound and / or voices using speakers, and tactile notifications through vibrations of the steering wheel.

[0009] However, auditory notifications have the drawback that sound may not clearly convey to the driver what is happening, and voice notifications may take too long for the driver to understand what is happening. Similarly, tactile notifications, like sound, have the drawback that vibration may not clearly convey to the driver what is happening. Furthermore, these auditory and tactile notifications may sometimes interfere with the driver's driving. On the other hand, with visual notifications, if the displayed text and icons are excessively small, drivers who are focused on the road ahead may not notice them. Therefore, notifications to the driver should be easy to understand and not interfere with their driving.

[0010] Therefore, the present invention aims to provide a vehicle notification system that enables drivers to receive clear and easy-to-understand notifications without interfering with their driving, thereby contributing to further improvements in traffic safety. [Means for solving the problem]

[0011] To solve the aforementioned problems, a vehicle notification system according to one embodiment of the present invention is a vehicle notification system that issues a notification to traffic participants including a vehicle turning right in a driving lane leading to an intersection and a vehicle traveling straight in the opposite lane toward the intersection, the notification system comprising: a notification means that issues the notification by display via a display means provided by an output means in order to avoid a collision between the vehicle turning right and the vehicle traveling straight, wherein, when the notification is issued, the notification means displays information indicating the type of the vehicle traveling straight and information indicating the direction of travel of the vehicle traveling straight on the display means in the vehicle turning right, based on the vehicle turning right information and vehicle traveling straight information that have become shareable between the vehicle turning right and the vehicle traveling straight via communication between the vehicle turning right and the vehicle traveling straight, in the vehicle turning right, and displays information indicating the type of the vehicle turning right and information indicating the direction of travel of the vehicle traveling straight on the display means in the vehicle traveling straight.

[0012] Furthermore, in order to solve the aforementioned problems, a vehicle notification system according to one embodiment of the present invention is a vehicle notification system that issues a notification to traffic participants including the vehicle itself which is in a driving lane leading to an intersection in order to turn right or left at an intersection, and other vehicles which are traveling in the opposite lane to the driving lane in the direction of going straight toward the intersection, and comprises a notification means which issues the notification at least by display via an output means in order to avoid a collision between the vehicle itself and the other vehicles, and the output means has a display means which is configured to switch the display on the screen between a direction indicating that the vehicle is going straight and a direction indicating that the vehicle is turning right or left. [Effects of the Invention]

[0013] According to one embodiment of the present invention, it is possible to provide a vehicle notification system that is easy for the driver to understand without interfering with driving, thereby contributing to further improvement of traffic safety. [Brief explanation of the drawing]

[0014] [Figure 1] A schematic diagram showing the overall configuration of a vehicle notification system according to an embodiment of the present invention. [Figure 2] Schematic diagram showing the internal structure of a controller provided in a right-turning vehicle. [Figure 3] Schematic diagram showing the internal structure of a controller provided in a straight-going vehicle. [Figure 4] Flowchart showing the overall flow of notification control performed in a right-turning vehicle. [Figure 5] Flowchart showing the content of notification control (information presentation process) performed in a right-turning vehicle. [Figure 6] Flowchart showing the content of notification control (warning process) performed in a right-turning vehicle. [Figure 7] Flowchart showing the overall flow of notification control performed in a straight-going vehicle. [Figure 8] Flowchart showing the content of notification control (information presentation process) performed in a straight-going vehicle. [Figure 9] Flowchart showing the content of notification control (warning process) performed in a straight-going vehicle. [Figure 10] Explanatory diagram showing a method for calculating the information presentation distance and the warning distance. [Figure 11] Schematic diagram showing an example of a traffic situation assumed as a notification target. [Figure 12] Schematic diagram showing the relationship between a right-turning vehicle and a straight-going vehicle at the information presentation transmission timing. [Figure 13] Schematic diagram showing the relationship between a right-turning vehicle and a straight-going vehicle at the warning transmission timing. [Figure 14] Schematic diagram showing the situation after a straight-going vehicle has passed through an intersection. [Figure 15] Schematic diagram showing an example of transmission by display in notification control performed in a right-turning vehicle. [Figure 16] Schematic diagram showing an example of transmission by display in notification control performed in a straight-going vehicle. [Figure 17] Schematic diagram showing another example of transmission by display in notification control performed in a right-turning vehicle. [Figure 18] Schematic diagram showing another example of transmission by display in notification control performed in a straight-going vehicle. [Modes for carrying out the invention]

[0015] Embodiments of the present invention will be described below with reference to the drawings. Note that the same or corresponding components in multiple drawings are denoted by the same reference numerals.

[0016] (Overall configuration of the vehicle's notification system) Figure 1 is a schematic diagram showing the configuration of a vehicle notification system (hereinafter sometimes simply referred to as the "notification system") 1 according to one embodiment of the present invention.

[0017] In this embodiment, we assume a traffic situation in which a vehicle VA traveling on a left-hand road towards an intersection (hereinafter referred to as a "right-turning vehicle") and another vehicle VB traveling in the opposite lane (hereinafter referred to as the "opposing lane") towards the intersection are present. The notification system 1 is applicable not only to left-hand roads but also to right-hand roads. In the case of right-hand roads, the system targets a traffic situation in which a left-turning vehicle traveling towards an intersection and a straight-ahead vehicle traveling in the opposing lane towards the intersection are present. In other words, the notification system 1 is applicable to a traffic situation in which a right-turning or left-turning vehicle in the driving lane (hereinafter referred to as a "right-turning vehicle" or "non-straight-ahead vehicle") and a straight-ahead vehicle in the opposing lane coexist. In the case of left-hand roads, a right-turning vehicle is a vehicle that turns right at the intersection and must not obstruct the passage of a straight-ahead vehicle traveling in the opposing lane through the intersection. Furthermore, in vehicles traveling on roads with left-hand traffic, the driver's seat is usually located on the right side of the vehicle relative to the direction of travel. In addition, in vehicles traveling on roads with right-hand traffic, the driver's seat is usually located on the left side of the vehicle relative to the direction of travel.

[0018] (Overall configuration of the vehicle notification system) As shown in Figure 1, the vehicle notification system 1, as the main elements related to this embodiment, includes a controller 101, vehicle sensors 111-113, communication devices 121 and 122, and ancillary equipment such as a human-machine interface (HMI) device 131.

[0019] In this embodiment, these various elements, including the controller 101, are provided in both the right-turning vehicle VA and the straight-going vehicle VB. The controller 101a in the right-turning vehicle VA and the controller 101b in the straight-going vehicle VB cooperate with each other to form a single virtual controller that constitutes the notification system 1. Naturally, the vehicle notification system 1 can be configured as an on-board system for the right-turning vehicle VA using the controller 101a and its associated equipment, and it can also be configured as an on-board system for the straight-going vehicle VB using the controller 101b and its associated equipment.

[0020] In the following description, vehicle-to-vehicle communication is performed between a right-turning vehicle VA and a straight-going vehicle VB, enabling the sharing of vehicle information related to the right-turning vehicle VA and the straight-going vehicle VB, and enabling the sharing of vehicle information related to the straight-going vehicle VB between both vehicles VA and VB. In this embodiment, the vehicle information to be communicated or shared between the right-turning vehicle VA and the straight-going vehicle VB includes the current position Pa, Pb, vehicle speed VSPa, VSPb, type, right turn signal operation status (i.e., output of the right turn signal switch), and lane ID of each vehicle VA and VB. Communication between the right-turning vehicle VA and the straight-going vehicle VB is not limited to being performed directly by vehicle-to-vehicle communication, but can also be performed indirectly via roadside devices installed on the side of the road, servers located in remote locations, communication devices installed in vehicles other than the right-turning vehicle VA and the straight-going vehicle VB. Hereinafter, vehicle information related to the right-turning vehicle VA may be referred to as right-turning vehicle information, and vehicle information related to the straight-going vehicle VB may be referred to as straight-going vehicle information. In this embodiment, the vehicle information that is communicated or shared between the right-turning vehicle VA and the straight-going vehicle VB is defined as the type of each vehicle VA and VB, meaning whether the right-turning vehicle VA and the straight-going vehicle VB are two-wheeled or four-wheeled vehicles, respectively.

[0021] In this embodiment, the right-turning vehicle VA and the straight-going vehicle VB constitute the notification system 1 with similar basic configurations. The right-turning vehicle VA is equipped with a controller 101a, as well as vehicle sensors 111a, 112a, 113a, communication devices 121a, 122a, and an HMI device 131a. On the other hand, the straight-going vehicle VB is equipped with a controller 101b, as well as vehicle sensors 111b, 112b, 113b, communication devices 121b, 122b, and an HMI device 131b.

[0022] Controllers 101a and 101b constitute the calculation unit of the notification system 1, and generate and output command signals according to the results of the calculations. Controllers 101a and 101b consist of a central processing unit (CPU), storage devices such as ROM and RAM, and a microcomputer equipped with input / output interfaces.

[0023] 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 a position sensor 111a, a vehicle speed sensor 112a, and a right turn signal switch 113a as associated vehicle sensors, while the straight-going vehicle VB is equipped with a position sensor 111b, a vehicle speed sensor 112b, and a right turn signal switch 113b as associated vehicle sensors.

[0024] Position sensor 111a detects the current position Pa of the right-turning vehicle VA, and position sensor 111b detects the current position Pb of the straight-going vehicle VB. Both position sensors 111a and 111b can be configured using receivers of 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).

[0025] Vehicle speed sensor 112a detects the driving speed (hereinafter referred to as "vehicle speed") VSPa of the right-turning vehicle VA, and vehicle speed sensor 112b detects the vehicle speed VSPb of the straight-going vehicle VB. Vehicle speed sensors 112a and 112b can detect the wheel speed (for example, the rotational speed of the driven wheels) of the target vehicles VA and VB, and can be calculated by converting this into a distance traveled per unit time using the tire radius, etc.

[0026] The right turn signal switch 113a outputs an ON signal when the right turn signal (hereinafter referred to as "right turn signal") of a right-turning vehicle VA is activated, and the right turn signal switch 113b outputs an ON signal when the right turn signal of a straight-going vehicle VB is activated. The operation of the right turn signal switches 113a and 113b indicates that the target vehicles VA and VB intend to turn right on the road or change lanes.

[0027] The detection signals from the position sensor 111a, vehicle speed sensor 112a, and right turn signal switch 113a of the right-turning vehicle VA are output to the controller 101a of the right-turning vehicle VA, while the detection signals from the position sensor 111b, vehicle speed sensor 112b, and right turn signal switch 113b of the straight-going vehicle VB are output to the controller 101b of the straight-going vehicle VB.

[0028] The HMI devices 131a and 131b constitute the output section (output means) of the notification system 1. The HMI device 131a receives a command signal from the controller 101a and provides notification regarding traffic conditions to the driver of the right-turning vehicle VA. The HMI device 131b receives a command signal from the controller 101b and provides notification regarding traffic conditions to the driver of the straight-going vehicle VB.

[0029] Notifications from HMI devices 131a and 131b are provided at least visually. However, notifications from HMI devices 131a and 131b may also include auditory information in addition to visual information. In other words, HMI devices 131a and 131b can provide notifications by display, or by both display and sound. HMI devices 131a and 131b are placed in locations easily visible to the driver, such as the dashboard inside the vehicle.

[0030] Furthermore, the HMI devices 131a and 131b have, for example, displays 141a and 141b as display means. The displays 141a and 141b display the content of the notification to the driver, at least by illustration. The content of the notification on the displays 141a and 141b may include text. This enables visual notification. The HMI devices 131a and 131b also further have speakers, touch panels, switches, and keys, which are not shown in the illustration. The speakers transmit the content of the notification to the driver by voice. This enables auditory notification.

[0031] In addition to the above, the right-turning vehicle VA is equipped with a transmitter 121a and a receiver 122a, and the straight-going vehicle VB is equipped with a transmitter 121b and a receiver 122b. The transmitter 121a and receiver 122a in the right-turning vehicle VA constitute the vehicle-to-vehicle communication device of the right-turning vehicle VA, and the transmitter 121b and receiver 122b in the straight-going vehicle VB constitute the vehicle-to-vehicle communication device of the straight-going vehicle VB. The right-turning vehicle VA and the straight-going vehicle VB can communicate wirelessly via their respective vehicle-to-vehicle communication devices.

[0032] As mentioned earlier, communication between a right-turning vehicle VA and a straight-going vehicle VB is not limited to direct communication between the two vehicles, but may also be indirect communication via a roadside device, a remote server, or another vehicle.

[0033] Figure 11 is a schematic diagram illustrating an example of a traffic situation that is assumed to be the target of notification according to this embodiment.

[0034] In this embodiment, we assume a traffic situation where a right-turning vehicle VA and a straight-ahead vehicle VB are facing each other across an intersection CS. An intersection (a four-way intersection in this embodiment) CS exists on a two-lane road R, which includes right-turn lanes L11 and L21 and straight-ahead lanes L12 and L22. The right-turning vehicle VA is in one of the right-turn lane L11 and is approaching the intersection CS, while the straight-ahead vehicle VB is in the other straight-ahead lane L22 and is traveling in a straight direction toward the intersection CS, 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-ahead lane L22 correspond to the opposing lanes to the right-turning vehicle VA. The opposing right-turn lane L21 and the straight-ahead lane L22 may be referred to as the "opposing right-turn lane" and the "opposing straight-ahead lane" below.

[0035] In addition to the right-turning vehicle VA and the straight-ahead vehicle VB, there is a vehicle VC waiting to turn right (hereinafter referred to as "waiting vehicle") in the opposing right-turn lane L21, just before the stop line SL2 in front of the straight-ahead vehicle VB. In the illustrated traffic situation, the waiting vehicle VC is a visual obstacle that obstructs part of the view from the right-turning vehicle VA and part of the view from the straight-ahead vehicle VB. From the perspective of the right-turning vehicle VA, the straight-ahead vehicle VB is in the blind spot of the waiting vehicle VC, making it difficult for the right-turning vehicle VA to see the straight-ahead vehicle VB. Conversely, from the perspective of the straight-ahead vehicle VB, the right-turning vehicle VA is in the blind spot of the waiting vehicle VC, making it difficult for the straight-ahead vehicle VB to see the right-turning vehicle VA.

[0036] In this situation, the notification system 1 monitors the relative positional relationship between the right-turning vehicle VA and the straight-ahead vehicle VB after the right-turning vehicle VA indicates its intention to turn right at intersection CS (hereinafter simply referred to as "intention to turn right"). The notification system 1 then issues an alert at an appropriate timing between the time the right-turning vehicle VA approaches intersection CS and the time it passes through intersection CS, according to the urgency of the situation regarding contact or collision between the right-turning vehicle VA and the straight-ahead vehicle VB. In this embodiment, the notification system 1 terminates its alerting when the right-turning vehicle VA has finished passing through intersection CS. However, the notification system 1 may also terminate its alerting when the straight-ahead vehicle VB has finished passing through intersection CS.

[0037] (Internal configuration of the controller) Figure 2 is a schematic diagram showing the internal configuration of controller 101a installed in the right-turning vehicle VA, and Figure 3 is a schematic diagram showing the internal configuration of controller 101b installed in the straight-going vehicle VB. Referring to Figure 11 as appropriate, the internal configurations of controllers 101a and 101b will be explained in order with reference to Figures 2 and 3.

[0038] As shown in Figure 2, the controller 101a for the right-turning vehicle VA includes a self-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 unit B118a, and a second alarm unit B119a. The functions of each of these units B111a to B119a are implemented by a central processing unit in the controller 101a, which reads a computer program stored in a memory device and operates according to the instructions of that program.

[0039] Furthermore, the data held by each section B111a to B119a and the results of the processing performed by each section can be mutually referenced among sections B111a to B119a, regardless of the presence or absence of arrows in Figure 2 indicating the data flow inside the controller 101a. The data held by each section B111a to B119a includes vehicle information obtained from the straight-moving vehicle VB via the vehicle sensors 111a, 112a, 113a and receiver 122a output to the controller 101a. These assumptions in the controller 101a are the same in the controller 101b of the straight-moving vehicle VB.

[0040] The vehicle position detection unit B111a detects the current position Pa of the right-turning vehicle VA, which is the vehicle itself. The detection of the current position Pa by the vehicle position detection unit B111a is based on the output signal from the position sensor 111a installed in the right-turning vehicle VA.

[0041] The other vehicle position detection unit B112a detects the current position Pb of the other vehicle, which is a straight-moving vehicle VB. The detection of the current position Pb by the other vehicle position detection unit B112a is done by reading position information indicating the current position Pb from the vehicle information obtained from the straight-moving vehicle VB via the receiver 122a installed in the right-turning vehicle VA.

[0042] The road map storage unit B113a stores a road map. In this embodiment, the current positions Pa and Pb of the right-turning vehicle VA and the straight-going vehicle VB are the latitude and longitude coordinates that represent these positions Pa and Pb. The road map storage unit B113a extracts a map of the area or section including the intersection CS from the road map and identifies the current positions Pa and Pb of the right-turning vehicle VA and the straight-going vehicle VB on that road map. The road map is assigned identifiers (hereinafter referred to as "link IDs") corresponding to each lane leading to the intersection CS, such as the right-turning lanes L11 and L21 and the straight-going lanes L12 and L22, and these are 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 is located or traveling.

[0043] The right-turn intention detection unit B114a detects that the right-turning vehicle VA has the intention to turn right. The right-turn intention detection unit B114a can detect the intention to turn right based on the output signal from the right turn signal switch 113a on the right-turning vehicle VA. If the right-turn lane L11 is a right-turn-only lane, it can also detect that the right-turning vehicle VA is in the right-turn lane L11 by reading the link ID associated with the lane the vehicle is currently traveling in from the road map.

[0044] The vehicle speed detection unit B115a detects the vehicle speed VSPb of the straight-moving vehicle VB. The detection of the vehicle speed VSPb of the straight-moving vehicle VB (i.e., another vehicle) by the vehicle speed detection unit B115a is achieved by reading vehicle speed information indicating the vehicle speed VSPb from the vehicle information obtained from the straight-moving vehicle VB via the receiver 122a installed in the right-turning vehicle VA.

[0045] The first vehicle behavior detection unit B116a detects, based on the current position Pa of the right-turning vehicle VA on the road map, that after the right-turn intention detection unit B114a detects the intention to turn right, in other words, after the right-turning vehicle VA indicates its intention to turn right by entering the right-turn lane L11 or activating its right turn signal, that the right-turning vehicle VA is in the lane it is traveling in (i.e., the right-turn lane L11) or a position closer to the center of the intersection CS (hereinafter referred to as the "intersection center") CTR.

[0046] Figure 12 is a schematic diagram showing the positional relationship between a right-turning vehicle VA and a straight-ahead vehicle VB at the moment the right-turning vehicle VA crosses the stop line SL1 of the right-turn lane L11 and enters the intersection CS. Figure 12 simplifies the illustration of the road R, showing only the right-turn lane L11 and the straight-ahead lane L22 of the two-lane road R (the same applies to Figures 13 and 14 shown later).

[0047] 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 to overlap with the path TRa that the right-turning vehicle VA travels when passing through the intersection CS. When the right-turning vehicle VA indicates its intention to turn right and reaches 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-turning lane L11 or a position closer to the intersection center CTR than this. The first vehicle behavior detection unit B116a sets the timing at which it detects that the right-turning vehicle VA has reached or entered the intersection area ACS as the first alarm timing. The first alarm timing set by the first vehicle behavior detection unit B116a is the timing at which the right-turning vehicle VA performs an alarm in a first predetermined mode. 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 dashed line, the travel path TRa of the right-turning vehicle VA with a dashed line, and the collision prediction area ACP and the travel path TRb of the straight-going vehicle VB, respectively, with a dashed line and a dashed line.

[0048] The second vehicle behavior detection unit B117a identifies the point where the path TRa traveled by the right-turning vehicle VA as it passes through intersection CS and the path TRb traveled by the straight-going vehicle VB as it passes through intersection CS intersect as the point of intersection CS, which is designated as the "collision prediction point" CPP. Based on the current position Pa of the right-turning vehicle VA on the road map, the unit detects whether the right-turning vehicle VA is traveling toward the collision prediction point CPP from a position closer to the collision prediction point CPP than the first predetermined position P1, or whether it is located closer to the collision prediction point CPP than the second predetermined position P2 between the first predetermined position P1 and the collision prediction point CPP.

[0049] Figure 13 is a schematic diagram showing the positional relationship between the right-turning vehicle VA and the straight-ahead vehicle VB at the point when the right-turning vehicle VA enters the intersection CS, moves forward within the intersection CS, and approaches the intersection center CTR.

[0050] In this embodiment, a collision prediction area ACP is set as an area different from the intersection area ACS, centered on the collision prediction point CPP. After entering the intersection area ACS, if the right-turning vehicle VA is traveling within the intersection area ACS toward the collision prediction point CPP or is located within the collision prediction area ACP, it is detected that the right-turning vehicle VA is traveling closer to the collision prediction point CPP than the first predetermined position P1, or is located closer to the collision prediction point CPP than the second predetermined position P2. The second vehicle behavior detection unit B117a sets the timing at which it detects that the right-turning vehicle VA is traveling within the intersection area ACS toward the collision prediction point CPP or is located within the collision prediction area ACP as the second alarm timing. The second alarm timing set by the second vehicle behavior detection unit B117a is the timing at which the right-turning vehicle VA performs an alarm in the second predetermined mode. The collision prediction area ACP is set as a circular area that includes the second predetermined position P2 on its outer edge and has a smaller area than the intersection area ACS.

[0051] The intersection area ACS is not limited to a circle; it may be a shape that follows the area where two intersecting roads overlap (for example, a rectangle with four corners cut off), or it may be the shape of the area enclosed by the stop lines SL1 and SL2 installed on each of the intersecting roads. The same applies to the collision prediction area ACP; it 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 defining the opposing straight lane L22).

[0052] The first alarm unit B118a detects that the right-turning vehicle VA is located at a first predetermined position P1 in the right-turning lane L11 or closer to the intersection center CTR, that is, at the first alarm timing, and on the condition that a first predetermined alarm condition predetermined with respect to the position Pb of the other vehicle, which is the straight-going vehicle VB, is met, it outputs a command signal to the HMI device 131a installed in its own vehicle (i.e., the right-turning vehicle VA) to perform a first predetermined mode alarm. In this embodiment, the output of the command signal from the first alarm unit B118a to the HMI device 131a to perform a first predetermined mode alarm is defined as "performing a first predetermined mode alarm".

[0053] Furthermore, if the first predetermined alarm condition is met at the first alarm timing, the first alarm flag in the controller 101a changes from OFF to ON. In other words, the first alarm flag indicates that the first predetermined alarm condition has been met at the first alarm timing. Normally, only while the first alarm flag is ON, the first alarm unit B118a outputs a command signal to the HMI device 131a to perform alarm activation in the first predetermined mode. In other words, when the first alarm flag is ON, the first alarm unit B118a performs alarm activation in the first predetermined mode via the HMI device 131a, and when the first alarm flag is OFF, it does not perform alarm activation in the first predetermined mode via the HMI device 131a.

[0054] The first predetermined alarm activation 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 is located closer to the intersection CS than this distance. In this embodiment, as the distance Db from the intersection CS to the straight-moving vehicle VB, as shown in Figures 12 and 13, the distance from the intersection of the travel path TRb of the straight-moving vehicle VB and the circle that defines the outer edge of the collision prediction area ACP (the circle shown by the dashed line in the same figure) to the straight-moving vehicle VB is adopted.

[0055] Upon receiving a command signal from the first alarm unit B118a to activate a first predetermined mode of alarm, the HMI device 131a activates an alarm to prompt the driver of the right-turning vehicle VA to recognize, through display and sound, the presence of a straight-ahead vehicle VB traveling in the opposing straight-ahead lane L22 towards intersection CS. The alarm activated by the first alarm unit B118a is an alarm that provides information regarding a relatively low level of urgency regarding a collision between the right-turning vehicle VA and the straight-ahead vehicle VB. In other words, the alarm activated by the first alarm unit B118a is an alarm that is activated when the risk of a collision between the right-turning vehicle VA and the straight-ahead vehicle VB is low.

[0056] The second alarm unit B119a detects that the right-turning vehicle VA is traveling closer to the collision prediction point CPP than the first predetermined position P1, or is in a position closer to the collision prediction point CPP than the second predetermined position P2, that is, at the second alarm timing, the second predetermined alarm condition predetermined with respect to the position Pb of the straight-going vehicle VB is met, and outputs a command signal to the HMI device 131a to perform a second predetermined mode alarm. In this embodiment, the output of the command signal from the second alarm unit B119a to the HMI device 131a to perform a second predetermined mode alarm is defined as "performing a second predetermined mode alarm".

[0057] Furthermore, if the second predetermined alarm condition is met at the second alarm timing, the second alarm flag in the controller 101a changes from OFF to ON. In other words, the second alarm flag indicates that the second predetermined alarm condition has been met at the second alarm timing. Normally, only while the second alarm flag is ON, the second alarm unit B119a outputs a command signal to the HMI device 131a to perform alarm activation in the second predetermined mode. In other words, when the second alarm flag is ON, the second alarm unit B119a performs alarm activation in the second predetermined mode via the HMI device 131a, and when the second alarm flag is OFF, it does not perform alarm activation in the second predetermined mode via the HMI device 131a. Note that if the first alarm flag and the second alarm flag are both ON at the same time, the first alarm flag may be changed from ON to OFF, and the second alarm flag may remain ON. In other words, it may be preferable to keep the second alarm flag ON rather than keeping the first alarm flag ON.

[0058] The second predetermined alarm activation condition is that the straight-ahead vehicle VB is at a second predetermined distance (hereinafter referred to as the "warning distance") Dth2 from the intersection CS that is shorter than the information presentation distance Dth1, or is at a position closer to the intersection CS than this distance.

[0059] The second predetermined mode of alarm is an alarm in a mode different from the first predetermined mode. Upon receiving a command signal from the second alarm unit B119a to perform the second predetermined mode alarm, the HMI device 131a issues an alarm to the driver of the right-turning vehicle VA, prompting them to recognize a higher level of urgency regarding a collision between the right-turning vehicle VA and the straight-ahead vehicle VB, through display and sound. The alarm issued by the second alarm unit B119a is more prominent and appeals more strongly to the driver's sight or hearing compared to the alarm issued by the first alarm unit B118a. In other words, the alarm issued by the second alarm unit B119a is issued when there is a high risk of collision between the right-turning vehicle VA and the straight-ahead vehicle VB.

[0060] The first alarm unit B118a and the second alarm unit B119a, in conjunction with outputting command signals to the HMI device 131a, can also notify the straight-moving vehicle VB via the transmitter 121a that alarms for each mode have been issued, prompting it to issue an appropriate alarm mode according to the urgency of the collision with its own vehicle (i.e., the right-turning vehicle VA).

[0061] Figure 10 is an explanatory diagram showing the calculation method for the information presentation distance Dth1 and the alarm distance Dth2.

[0062] 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 decelerations DEC1 and DEC2, which are set in advance according to the alarm mode. These are calculated as the distance that the straight-moving vehicle VB is expected to travel from the time of alarm until it comes to a stop, or in other words, the distance required for the straight-moving vehicle VB to come to a stop. Hereinafter, deceleration DEC1 may be referred to as the first predetermined deceleration DEC1, and deceleration DEC2 may be referred to as the second predetermined deceleration DEC2.

[0063] Specifically, the information presentation distance Dth1 is calculated by adding the expected distance traveled to the reaction time PRD1 and deceleration time PRD2, based on the vehicle speed VSPb (=V1) of the straight-moving vehicle VB at the detection timing by the first vehicle behavior detection unit B116a. The reaction time PRD1 is the sum of the reaction time required for perception, judgment, and operation from the time of alarm activation until the driver actually performs the brake operation, and the operational delay time of the system and hydraulic equipment in response to the brake operation. In this embodiment, the reaction time PRD1 is set in advance as a constant time (=ΔT). The deceleration time PRD2 is the time required from when the brakes actually start to take effect until the vehicle comes to a stop, and can be calculated based on the vehicle speed VSPb and deceleration DEC1 (PRD2 = V1 / DEC1). Thus, the information presentation distance Dth1 is calculated by the following equation (1). Dth1=V1×ΔT+V1×(V1 / DEC1) / 2 …(1)

[0064] Similarly, the warning distance Dth2 is calculated by adding the expected distance traveled to both the coasting time PRD1 and the deceleration time PRD2, but a different deceleration DEC2 is used than the one used to calculate the information presentation distance Dth1. The deceleration DEC2 for calculating the warning distance is a higher deceleration than the deceleration DEC1 used for calculating the information presentation distance; in other words, it is a deceleration with a larger absolute value than deceleration DEC1 (|DEC1|<|DEC2|). Specifically, it is calculated using the following equation (2). Dth2=V1×ΔT+V1×(V1 / DEC2) / 2…(2)

[0065] In this embodiment, the controller 101a provided in the right-turning vehicle VA and the controller 101b provided in the straight-going vehicle VB have basically the same configuration and have corresponding elements to each other.

[0066] As shown in Figure 3, the controller 101b for the straight-moving vehicle VB includes a self-vehicle position detection unit B111b, another 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 unit B118b, and a second alarm unit B119b. The internal configuration of the controller 101b will be described below, focusing on the differences from the controller 101a for the right-turning vehicle VA.

[0067] The vehicle position detection unit B111b detects the current position Pb of the straight-moving vehicle VB, which is the vehicle itself. The detection of the current position Pb is based on the output signal from the position sensor 111b installed in the straight-moving vehicle VB.

[0068] The other vehicle position detection unit B112b detects the current position Pa of the other vehicle, which is a right-turning vehicle VA. The current position Pa is detected by reading position information indicating the current position Pa from the vehicle information obtained from the right-turning vehicle VA via the receiver 122b installed in the straight-going vehicle VB.

[0069] The road map storage unit B113b, like the road map storage unit B113a, stores a road map that includes an intersection CS and assigns link IDs to each lane leading to the intersection CS, and identifies the current positions Pb and Pa of the straight-going vehicle VB and the right-turning vehicle VA on the road map, respectively. The road maps stored in the road map storage units B113b and B113a may have different accuracies, but in this embodiment, both are used with an accuracy that is compatible with satellite positioning by GNSS.

[0070] Furthermore, the road maps stored in the road map storage units B113b and B113a can be updated to the latest road maps stored on a remote server by having the straight-moving vehicle VB and the right-turning vehicle VA communicate with a remote server, or by connecting a portable storage medium (device) containing the latest road maps to the straight-moving vehicle VB and the right-turning vehicle VA and updating them to the latest road maps stored on this storage medium.

[0071] The right-turn intention detection unit B114b detects the right-turn intention of a right-turning vehicle VA. This right-turn intention is detected by identifying the link ID of the lane in which the right-turning vehicle VA is located from its current position Pa, or by reading information indicating the operation status of the right turn signal from vehicle information obtained 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 transmitted between the straight-going vehicle VB and the right-turning vehicle VA, and to detect the right-turn intention of the right-turning vehicle VA based on the link ID obtained through communication.

[0072] The vehicle speed detection unit B115b detects the vehicle speed VSPa of the right-turning vehicle VA. This detection is performed by reading vehicle speed information indicating the vehicle speed VSPa from the vehicle information obtained from the right-turning vehicle VA via the receiver 122b.

[0073] The first vehicle behavior detection unit B116b detects that, after a right-turning vehicle VA indicates its intention to turn right, it is at a predetermined relative position relative to the intersection CS, with respect to the first predetermined position P1. Specifically, as described above, it compares the current position Pa of the right-turning vehicle VA on the road map with the intersection area ACS and detects whether the right-turning vehicle VA has reached or entered the intersection area ACS. The first vehicle behavior detection unit B116b then sets the timing at which it detects either of these behaviors in the right-turning vehicle VA as the first alarm timing. The first alarm timing set by the first vehicle behavior detection unit B116b is the timing at which the straight-going vehicle VB performs an alarm in the first predetermined mode.

[0074] The size and shape of the intersection area ACS may be the same or different for controller 101a and controller 101b. For example, the size of the intersection area ACS can be set to be variable or its shape changed depending on the driver's selection or the driving conditions when passing through the intersection CS.

[0075] The second vehicle behavior detection unit B117b monitors the behavior of the right-turning vehicle VA after it enters the intersection CS, and detects whether the right-turning vehicle VA is traveling within the intersection area ACS toward the collision prediction point CPP or is located within the collision prediction area ACP after entering the intersection area ACS. The second vehicle behavior detection unit B117b then sets the timing at which it detects either of these behaviors in the right-turning vehicle VA as the second alarm timing. The second alarm timing set by the second vehicle behavior detection unit B117b is the timing at which the straight-going vehicle VB will issue an alarm in a second predetermined mode.

[0076] The size and shape of the collision prediction area ACP may differ between the controller 101a for the right-turning vehicle VA and the controller 101b for the straight-going vehicle VB, but in this embodiment, the same settings are used for both. The collision prediction area ACP may be pre-set as a default coordinate on a road map, or it may be set by notifying the other controller of the collision prediction area ACP coordinate information set in one of the controllers 101a or 101b via vehicle-to-vehicle communication.

[0077] The first alarm unit B118b detects that a right-turning vehicle VA has reached or entered the intersection area ACS, that is, at the first alarm timing, and on the condition that a first predetermined alarm condition relating to the position Pb of a straight-going vehicle VB is met, it outputs a command signal to the HMI device 131b installed in its own vehicle (i.e., the straight-going vehicle VB) to perform a first predetermined mode of alarm. As previously described, the first predetermined alarm condition is that the straight-going vehicle VB is at an information presentation distance Dth1 from the intersection CS or is located closer to the intersection CS than this distance. The output of the command signal from the first alarm unit B118b to the HMI device 131b to perform a first predetermined mode of alarm is defined as "performing a first predetermined mode of alarm".

[0078] Furthermore, when the first predetermined alarm condition is met at the first alarm timing set by the first vehicle behavior detection unit B116b, the first alarm flag in the controller 101b changes from OFF to ON. As described above, the first alarm flag indicates that the first predetermined alarm condition has been met at the first alarm timing. Similar to the first alarm unit B118a, normally, only while the first alarm flag is ON, the first alarm unit B118b outputs a command signal to the HMI device 131b to perform alarm in the first predetermined mode. In other words, when the first alarm flag is ON, the first alarm unit B118b performs alarm in the first predetermined mode via the HMI device 131b, and when the first alarm flag is OFF, it does not perform alarm in the first predetermined mode via the HMI device 131b.

[0079] Upon receiving a command signal from the first alarm unit B118b, the HMI device 131b issues an alert, via display and audio, prompting the driver of the straight-going vehicle VB to be aware of the presence of a right-turning vehicle VA in the opposing right-turning lane L11. As previously mentioned, the alert issued by the first alarm unit B118b is an alert that provides information regarding a relatively low level of urgency regarding a collision between the straight-going vehicle VB and the right-turning vehicle VA. In other words, the alert issued by the first alarm unit B118b is an alert issued when the risk of a collision between the straight-going vehicle VB and the right-turning vehicle VA is low.

[0080] The second alarm unit B119b detects that a right-turning vehicle VA is traveling within the intersection area ACS toward the collision prediction point CPP or is located within the collision prediction area ACP, that is, at the second alarm timing, and on the condition that a second predetermined alarm condition relating to the position Pb of a straight-moving vehicle VB is met, it outputs a second predetermined mode command signal to the HMI device 131b, which is a command signal to perform a second predetermined mode alarm. The second predetermined alarm condition is that the straight-moving vehicle VB is at a warning distance Dth2 from the intersection CS or is located closer to the intersection CS than this distance. The output of the second predetermined mode command signal from the second alarm unit B119b to the HMI device 131b is considered "performance of the second predetermined mode alarm".

[0081] Furthermore, when the second predetermined alarm condition is met at the second alarm timing set by the second vehicle behavior detection unit B117b, the second alarm flag in the controller 101b changes from OFF to ON. As described above, the second alarm flag indicates that the second predetermined alarm condition has been met at the second alarm timing. Similar to the second alarm unit B119a, normally, only while the second alarm flag is ON, the second alarm unit B119b outputs a command signal to the HMI device 131b to perform alarms in the second predetermined mode. In other words, when the second alarm flag is ON, the second alarm unit B119b performs alarms in the second predetermined mode via the HMI device 131b, and when the second alarm flag is OFF, it does not perform alarms in the second predetermined mode via the HMI device 131b. As mentioned above, if both the first and second alarm flags are turned ON simultaneously, the first alarm flag may be turned OFF while the second alarm flag remains ON. In other words, it may be prioritized to keep the second alarm flag ON over keeping the first alarm flag ON.

[0082] Upon receiving a command signal from the second alarm unit B119b, the HMI device 131b issues an alert to the driver of the straight-moving vehicle VB, prompting them to recognize the increased urgency regarding a potential collision between the straight-moving vehicle VB and the right-turning vehicle VA, through visual and auditory means. The alert issued by the second alarm unit B119b is similar to the one described above, but is a more prominent warning that appeals more strongly to the driver's visual or auditory senses. In other words, the alert issued by the second alarm unit B119b is issued when there is a high risk of a collision between the straight-moving vehicle VB and the right-turning vehicle VA.

[0083] The information presentation distance Dth1 and the warning distance Dth2 may be set to the same distance for controller 101a and controller 101b, or they may be set to different distances. For example, the deceleration when a straight-moving vehicle VB actually decelerates in response to a warning is learned, and the deceleration used to calculate these distances Dth1 and Dth2 is corrected using a learned value that indicates the actual deceleration. Specifically, if the actual deceleration in response to a warning tends to be slower than that caused by deceleration DEC2, deceleration DEC1 and DEC2 are reduced to enable the information presentation and warning to be issued at an earlier timing.

[0084] The first alarm unit B118b and the second alarm unit B119b can also notify the right-turning vehicle VA via the transmitter 121b that an alarm for each mode has been issued, in conjunction with the output of a command signal to the HMI device 131b.

[0085] Figure 15 is a schematic diagram showing an example of a notification signal issued via display in a right-turning vehicle (VA) notification control system.

[0086] Figure 16 is a schematic diagram showing an example of notification activation by display in the notification control implemented on a straight-moving vehicle VB.

[0087] Incidentally, as mentioned above, in visual notification, if the displayed characters or icons are small, drivers who are paying attention to the road ahead may not notice the notification. Therefore, even if HMI devices 131a and 131b display notification content to the driver of the right-turning vehicle VA, if the displayed characters or icons are small, there is a risk that the driver who is paying attention to the road ahead will not notice the notification content.

[0088] Therefore, as shown in Figure 15, when an alarm is issued, the first alarm unit B118a and the second alarm unit B119a of the controller 101a of the right-turning vehicle VA, based on the straight-ahead vehicle information obtained through communication between the right-turning vehicle VA and the straight-ahead vehicle VB, display information VBT indicating the type of straight-ahead vehicle VB that is the other vehicle for the right-turning vehicle VA, and information VBTD indicating the direction of travel (straight direction) of the straight-ahead vehicle VB, on the display 141a of the HMI device 131a. Furthermore, as shown in Figure 16, when an alarm is issued, the first alarm unit B118b and the second alarm unit B119b of the controller 101b of the straight-moving vehicle VB, based on the right-turning vehicle information obtained through communication between the right-turning vehicle VA and the straight-moving vehicle VB, display information VAT indicating the type of right-turning vehicle VA that is the other vehicle for the straight-moving vehicle VB, and information VATD indicating the direction of travel (right-turn direction) of the right-turning vehicle VA, on the display 141b of the HMI device 131b.

[0089] By limiting the notification content displayed for right-turning vehicles VA and straight-ahead vehicles VB to the minimum necessary information, such as the type of the other vehicle and its direction of travel, the notification content is made easier for the driver to understand. Moreover, by limiting the information to the minimum necessary, it becomes possible to display the notification content using, for example, relatively large illustrations or text. As a result, the driver's visibility of the notification content is improved. Therefore, the notification system 1 can enable the driver to recognize the notification content accurately in a short time without interfering with the driver's driving. The following describes in more detail the notification by display performed by the first notification units B118a, B118b and the second notification units B119a, B119b of the notification system 1 of this embodiment via displays 141a, 141b.

[0090] In the case of a right-turning vehicle VA, it is preferable that the information VBT indicating the type of straight-ahead vehicle VB displayed on the display 141a of the HMI device 131a includes at least one of a two-wheeled vehicle and a four-wheeled vehicle. Similarly, in the case of a straight-ahead vehicle VB, it is preferable that the information VAT indicating the type of right-turning vehicle VA displayed on the display 141b of the HMI device 131b includes at least one of a two-wheeled vehicle and a four-wheeled vehicle. This allows the driver of the right-turning vehicle VA to determine whether the straight-ahead vehicle VB, which is in the blind spot from the perspective of the right-turning vehicle VA, is a two-wheeled vehicle or a four-wheeled vehicle. Furthermore, it allows the driver of the straight-ahead vehicle VB to determine whether the right-turning vehicle VA, which is in the blind spot from the perspective of the straight-ahead vehicle VB, is a two-wheeled vehicle or a four-wheeled vehicle. The information VBT indicating the type of straight-ahead vehicle VB in Figure 15 and the information VAT indicating the type of right-turning vehicle VA in Figure 16 are illustrated to show that they are four-wheeled vehicles.

[0091] Figure 17 is a schematic diagram showing another example of notification activation by display in the notification control implemented for right-turning vehicles (VA).

[0092] Figure 18 is a schematic diagram showing another example of notification activation by display in a straight-moving vehicle VB.

[0093] As shown in Figure 17, in the case of a right-turning vehicle VA, both two-wheeled and four-wheeled vehicles are displayed as types of straight-going vehicles VB. For example, this occurs when there is a straight-going vehicle VB, which is a four-wheeled vehicle, traveling in a straight direction toward intersection CS in separate lanes of two or more opposing lanes, and a straight-going vehicle VB', which is a two-wheeled vehicle, traveling behind the straight-going vehicle VB, which is in the blind spot from the perspective of the right-turning vehicle VA, or traveling alongside the straight-going vehicle VB. In this case, the straight-going vehicle VB' as a two-wheeled vehicle is assumed to have the same configuration as the straight-going vehicle VB as a four-wheeled vehicle in terms of notification. Furthermore, as shown in Figure 18, in the case of a straight-going vehicle VB, both two-wheeled and four-wheeled vehicles are displayed as types of right-turning vehicles VA. For example, this occurs when there is a right-turning vehicle VA, which is a four-wheeled vehicle, traveling in separate lanes of a road with two or more lanes leading to the intersection CS, and a right-turning vehicle VA', which is a two-wheeled vehicle, traveling behind the right-turning vehicle VA, which is in a blind spot from the perspective of the straight-going vehicle VB, or traveling alongside the right-turning vehicle VA. In this case, the right-turning vehicle VA' as a two-wheeled vehicle is assumed to have the same notification configuration as the right-turning vehicle VA as a four-wheeled vehicle.

[0094] Furthermore, the information VAT indicating the type of right-turning vehicle VA and the information VATD indicating the direction of travel of the right-turning vehicle VA, as well as the information VBT indicating the type of straight-going vehicle VB and the information VBTD indicating the direction of travel of the straight-going vehicle VB, are preferably displayed in a first color when the risk of collision between the right-turning vehicle VA and the straight-going vehicle VB is low, and preferably displayed in a second color different from the first color when the risk of collision between the right-turning vehicle VA and the straight-going vehicle VB is high.

[0095] More specifically, on the display 141a of the HMI device 131a of the right-turning vehicle VA, the display positions of the information VBT, which indicates the type of straight-ahead vehicle VB, and the information VBTD, which indicates the direction of travel of the straight-ahead vehicle VB, remain unchanged, but only the color used to display the information VBT and information VBTD changes simultaneously depending on whether the risk of collision between the right-turning vehicle VA and the straight-ahead vehicle VB is low or high. Similarly, on the display 141b of the HMI device 131b of the straight-ahead vehicle VB, the display positions of the information VAT, which indicates the type of right-turning vehicle VA, and the information VATD, which indicates the direction of travel of the right-turning vehicle VA, remain unchanged, but only the color used to display the information VAT and information VATD changes simultaneously depending on whether the risk of collision between the right-turning vehicle VA and the straight-ahead vehicle VB is low or high. In this way, the driver can judge the degree of danger simply by the change in color without having to stare at the screen.

[0096] The first color is, for example, yellow, and the second color is, for example, red. The settings for the first and second colors can be changed according to the driver's preference and color vision ability. The settings for the first and second colors may also differ depending on whether the vehicle is in motion during the day or at night. In this case, the information VAT indicating the type of right-turning vehicle VA and the information VATD indicating the direction of travel of the right-turning vehicle VA, as well as the information VBT indicating the type of straight-going vehicle VB and the information VBTD indicating the direction of travel of the straight-going vehicle VB, are set to four colors according to the time of day the vehicle is in motion and the risk of collision between the right-turning vehicle VA and the straight-going vehicle VB. Furthermore, the information VBT and VBTD displayed on the right-turning vehicle VA, and the information VAT and VATD displayed on the straight-going vehicle VB, may be displayed in white, for example, with the background color being the first color when the risk of collision between the right-turning vehicle VA and the straight-going vehicle VB is low, and the background color being the second color when the risk of collision between the right-turning vehicle VA and the straight-going vehicle VB is high. In other words, the colors used to display the information VBT and VBTD shown in the right-turning vehicle VA, and the information VAT and VATD shown in the straight-going vehicle VB, may be inverted, and the background color of this information may be displayed in either the first or second color depending on the risk of collision between the right-turning vehicle VA and the straight-going vehicle VB.

[0097] Furthermore, in the case of a right-turning vehicle VA, it is preferable that the information VBT indicating the type of straight-ahead vehicle VB and the information VBTD indicating the direction of travel of the straight-ahead vehicle VB are displayed, at least in illustrations, so that they are positioned closer to one end of the display area DAa in the lateral direction X direction, located on the driver's side of the right-turning vehicle VA, rather than being located in the center of the display area DAa of the HMI device 131a's display 141a. In addition, in the case of a straight-ahead vehicle VB, it is preferable that the information VAT indicating the type of right-turning vehicle VA is displayed, at least in illustrations, so that it is positioned closer to one end of the display area DAb in the lateral direction X direction, located on the driver's side of the straight-ahead vehicle VB, rather than being located in the center of the display area DAb of the HMI device 131b's display 141b. Furthermore, in the case of a straight-moving vehicle VB, it is preferable that the information VATD indicating the direction of travel of the right-turning vehicle VA is displayed at least by illustration, starting from one end of the lateral direction X of the display area DAb located on the driver's side of the straight-moving vehicle VB, passing through the center of the lateral direction X of the display area DAb, and ending at the other end of the lateral direction X of the display area DAb. In the example of Figure 15, the information VBTD indicating the direction of travel of the straight-moving vehicle VB includes information VBTD1 displayed by illustration and information VBTD2 displayed by text. In the example of Figure 16, the information VATD indicating the direction of travel of the right-turning vehicle VA includes information VATD1 displayed by illustration and information VATD2 displayed by text.

[0098] As mentioned above, assuming a left-hand traffic road R, the driver's seat of a right-turning vehicle VA is located to the right of the right-turning vehicle VA, and the driver's seat of a straight-going vehicle VB is located to the right of the straight-going vehicle VB. Therefore, by displaying the information VBT indicating the type of straight-going vehicle VB and the information VBTD indicating the direction of travel (straight direction) of the straight-going vehicle VB, which are displayed in the display area DAa of the display 141a of the right-turning vehicle VA, at least by illustration, closer to the driver's seat side of the right-turning vehicle VA, the driver of the right-turning vehicle VA will be able to see the information regarding the straight-going vehicle VB more easily. Moreover, since this straight-going vehicle information is displayed at least by illustration, closer to the driver's seat side of the right-turning vehicle VA, that is, to the right of the display area DAa, the information regarding the straight-going vehicle VB located in the oncoming lane L22, which is to the right of the right-turning vehicle VA, will be able to see more easily. Furthermore, by displaying the information VAT indicating the type of right-turning vehicle VA shown in the display area DAb of the display 141b for the straight-going vehicle VB, at least by illustration, closer to the driver's side of the straight-going vehicle VB, the driver of the straight-going vehicle VB will be able to more easily see the information VAT indicating the type of right-turning vehicle VA traveling in the driving lane L11, which is to the right of the straight-going vehicle VB. In addition, by displaying the information indicating the direction of travel (right turn direction) of the right-turning vehicle VA shown in the display area DAb, at least by illustration, over a wide and long area from one end of the horizontal X direction of the display area DAb of the display 141b, through the center of the horizontal X direction of the display area DAb, and toward the other end of the horizontal X direction of the display area DAb, the driver of the straight-going vehicle VB will be able to easily recognize that the right-turning vehicle VA is turning right by simply glancing at the display 141b.

[0099] Furthermore, it is preferable that the display 141a of the HMI device 131a in the right-turning vehicle VA has a display area DAa which includes a first display area DAa1, a second display area DAa2, a third display area DAa3, and a third display area DAa, divided sequentially from the top. Furthermore, it is preferable that the display 141b of the HMI device 131b in the straight-going vehicle VB has a display area DAb which includes a first display area DAb1, a second display area DAb2, a third display area DAb3, and a third display area DAb, divided sequentially from the top. In the right-turning vehicle VA, it is preferable that the information VBT indicating the type of straight-going vehicle VB is displayed in the first display area DAa1 as an illustration, and the information VBTD indicating the direction of travel (straight direction) of the straight-going vehicle VB is displayed in the second display area DAa2 as an illustration, as in information VBTD1, and in the third display area DAa3 as text, as in information VBTD2. Furthermore, in the case of a straight-going vehicle VB, it is preferable that the information VAT indicating the type of right-turning vehicle VA is displayed in the first display area DAb1 as an illustration, and the information VATD indicating the direction of travel (right-turn direction) of the right-turning vehicle VA is displayed in the second display area DAb2 as an illustration, as in the information VATD1, and also displayed in the third display area DAb3 as text, as in the information VATD2.

[0100] Specifically, the first display areas DAa1 and DAb1, located at the very top of display areas DAa and DAb, display information indicating the type of vehicle using illustrations to improve driver visibility. Furthermore, the second display areas DAa2 and DAb2 display information indicating the direction of travel using illustrations, and the third display areas DAa3 and DAb3 display information indicating the direction of travel using text to further improve driver visibility. As a result, the driver of a right-turning vehicle VA can understand the notification information regarding a straight-ahead vehicle VB by simply glancing at approximately two-thirds of the display content in the first display area DAa1 and the second display area DAa2, or the second display area DAa2 and the third display area DAa3. Similarly, the driver of a straight-ahead vehicle VB can understand the notification information regarding a right-turning vehicle VA by simply glancing at approximately two-thirds of the display content in the first display area DAb1 and the second display area DAb2, or the second display area DAb2 and the third display area DAb3.

[0101] In the example shown in Figure 15, the first display area DAa1, the second display area DAa2, and the third display area DAa3 are divided by two virtual lines VL1 and VL2 that extend parallel to the horizontal direction X of the display area DAa. In the example shown in Figure 16, the first display area DAb1, the second display area DAb2, and the third display area DAb3 are divided by two virtual lines VL3 and VL4 that extend parallel to the horizontal direction X of the display area DAb.

[0102] Furthermore, it is preferable that the first alarm units B118a and B118b, while the first alarm flag changes from OFF to ON and the first predetermined mode alarm is being performed, detect that the right-turning vehicle VA or the straight-going vehicle VB has finished passing through intersection CS based on the road map storage units B113a and B113b's identification of the current position Pa of the right-turning vehicle VA on the road map and the current position Pb of the straight-going vehicle VB on the road map, respectively, then change the first alarm flag from ON to OFF and terminate the first predetermined mode alarm. Furthermore, it is preferable that the second alarm units B119a and B119b terminate the second alarm mode when, while the second alarm flag is switched from OFF to ON and the second predetermined mode of alarm is being activated, the second alarm flag is switched from ON to OFF and the second predetermined mode of alarm is terminated, based on the results of the road map storage units B113a and B113b identifying the current position Pa of the right-turning vehicle VA on the road map and the current position Pb of the straight-going vehicle VB on the road map, in which case the right-turning vehicle VA or the straight-going vehicle VB has finished passing through intersection CS. By doing so, the alarm system 1 resets the alarm conditions established between the right-turning vehicle VA and the straight-going vehicle VB, and for example, confirms the establishment of new alarm conditions between the right-turning vehicle VA and a straight-going vehicle other than the straight-going vehicle VB, and enables new alarms to be issued.

[0103] Furthermore, it is preferable that the first alarm units B118a and B118b continue to alarm in the first predetermined mode even if the first alarm flag changes from ON to OFF if a certain amount of time has not elapsed since the first alarm flag changed from OFF to ON, and terminate alarms in the first predetermined mode when the first alarm flag changes from ON to OFF after a certain amount of time has elapsed since the first alarm flag changed from OFF to ON. In addition, it is preferable that the second alarm units B119a and B119b continue to alarm in the second predetermined mode even if the second alarm flag changes from ON to OFF if a certain amount of time has not elapsed since the second alarm flag changed from OFF to ON, and terminate alarms in the second predetermined mode when the second alarm flag changes from ON to OFF after a certain amount of time has elapsed since the second alarm flag changed from OFF to ON. By doing so, the first predetermined alarm condition or the second predetermined alarm condition is met, and the notification content is displayed on the display 141a of the HMI device 131a in the right-turning vehicle VA and on the display 141b of the HMI device 131b in the straight-going vehicle VB, and the notification by display continues for at least a certain period of time. In other words, by preventing repeated notifications by display within a short period of time, it becomes possible to ensure that the driver accurately recognizes the notification content.

[0104] (Details of the notification control for vehicles turning right) Figures 4 to 6 are flowcharts showing the content of the notification control performed by the controller 101a installed in the right-turning vehicle VA. The flowchart in Figure 4 shows the overall flow of the notification control, the flowchart in Figure 5 shows the content of the processing performed by the right-turning vehicle VA regarding information presentation (information presentation processing), and the flowchart in Figure 6 shows the content of the processing performed by the right-turning vehicle VA regarding warnings (warning processing). The information presentation processing and warning processing are performed as part of the notification control. When the controller 101a detects an intersection CS on the road R in front of its own vehicle (i.e., the right-turning vehicle VA), it performs notification control at predetermined intervals.

[0105] In the flowchart shown in Figure 4, at S111, the controller 101a reads various control information used for notification control. The control information read at S111 includes the current position Pa, vehicle speed VSPa, type, and link ID of the right-turning vehicle VA, which is the controller's own vehicle, and the current position Pb, vehicle speed VSPb, type, and link ID of the straight-going vehicle VB, which is another vehicle. Information regarding the operation status of the right turn signals of the right-turning vehicle VA and the straight-going vehicle VB may also be included.

[0106] In S112, controller 101a determines whether it has detected a straight-ahead vehicle VB traveling in the opposite lane L22 toward intersection CS, relative to lane L11 where the right-turning vehicle VA is located. Detection of the straight-ahead vehicle VB is based on the link ID of the straight-ahead vehicle VB. If the straight-ahead vehicle VB is detected, the process proceeds to S113; otherwise, the current control is terminated.

[0107] In S113, the controller 101a determines whether or not it has detected the right-turning vehicle VA's intention to turn right. The detection of the right-turning intention is based on the operation status of the right turn signal of the right-turning vehicle VA. In addition to this, or instead, 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 intention of the right-turning vehicle VA may be detected by the fact that the lane the vehicle is currently traveling in is the right-turn lane L11. If a right-turning intention is detected, the process proceeds to S114; otherwise, the current control is terminated.

[0108] In S114, controller 101a identifies the current location Pa of the right-turning vehicle VA on the road map.

[0109] In S115, the controller 101a determines whether the right-turning vehicle VA has entered the intersection area ACS. If the right-turning vehicle VA is at the outer edge of the intersection area ACS (i.e., the first predetermined position P1) or closer to the intersection center CTR than this position and has entered the intersection area ACS, the process proceeds to S116. On the other hand, if the right-turning vehicle VA has not entered the intersection area ACS and is at a position further from the intersection center CTR than the outer edge of the intersection area ACS, the current control is terminated.

[0110] In S116, controller 101a performs information presentation processing. The information presentation processing follows the procedure shown in the flowchart in Figure 5.

[0111] In S117, controller 101a performs alarm processing. Alarm processing follows the procedure shown in the flowchart in Figure 6.

[0112] In S118, controller 101a determines whether the right-turning vehicle VA has passed through intersection CS. The determination of whether or not the vehicle has passed through intersection CS is made by determining whether the right-turning vehicle VA has deviated from the intersection area ACS in the direction of travel after turning right. If the vehicle has passed through intersection CS, the current control is terminated. If the vehicle has not passed through intersection CS and is still within the intersection area ACS, the process returns to S116 and the information presentation process and alarm process are repeatedly executed until the vehicle has passed through the intersection area ACS.

[0113] In the flowchart shown in Figure 5, at S211, the controller 101a reads various control information used for information presentation processing. The control information read at 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-going vehicle VB.

[0114] In S212, the controller 101a identifies the current positions Pa and Pb on the road map for the right-turning vehicle VA and the straight-going vehicle VB, respectively.

[0115] In S213, the controller 101a determines whether the right-turning vehicle VA is outside the collision prediction area ACP. If the right-turning vehicle VA is located 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) and is outside the collision prediction area ACP, the process proceeds to S214. If the operation status of the right turn signal is used to detect the right-turning vehicle VA's intention to turn right, the controller 101a may determine whether the right turn signal is still operating in conjunction with the processing in S213, and if the right turn signal is still operating, the processing from S214 onward may be performed. On the other hand, if the right-turning vehicle VA is located at or closer to the outer edge of the collision prediction area ACP and closer to the collision prediction point CPP, and the right-turning vehicle VA is not outside the collision prediction area ACP, the information presentation process is terminated.

[0116] In S214, controller 101a reads the vehicle speed VSPa of the right-turning vehicle VA.

[0117] In S215, the controller 101a determines whether the vehicle speed VSPa of the right-turning vehicle VA is less than or equal to 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 slow speed (specifically, 10 km / h). In this embodiment, if the vehicle speed VSPa is less than or equal to 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 less than or equal to the predetermined vehicle speed VSP1, the process proceeds to S216; if it is higher than the vehicle speed VSP1, the information presentation process ends. The predetermined vehicle speed VSP1 may be 0 km / h; in other words, S215 may be a process to determine whether the right-turning vehicle VA has made a stop within the intersection area ACS. Furthermore, it is possible to eliminate the S215 process altogether, and if the conditions for issuing an information alert (S220) and an alarm alert (S320) are met simultaneously, the alarm alert may be prioritized over the information alert alert.

[0118] Thus, in this embodiment, if the right-turning vehicle VA maintains a low vehicle speed VSPa or decelerates sufficiently (including in the case of a temporary stop) after entering the intersection area ACS and before reaching the collision prediction area ACP, the controller 101a detects a vehicle speed VSPa of VSP1 or less and determines that it is time to issue an information alert (i.e., the first alert timing), and performs processing from S216 onwards to determine whether the first predetermined alert condition has been met. It is also possible to set the alert timing based on the fact that the right-turning vehicle VA has entered the intersection area ACS, or in other words, is within the intersection area ACS, without imposing any restrictions based on driving conditions such as vehicle speed VSPa.

[0119] In S216, the controller 101a calculates the distance Db from the intersection CS to the straight-moving vehicle VB, in other words, the distance remaining in front of the straight-moving vehicle VB before it reaches the intersection CS (hereinafter referred to as the "intersection arrival distance"). As shown in Figure 12, the intersection arrival distance Db is calculated as the distance from the outer edge of the collision prediction area ACP to the straight-moving vehicle VB, and this calculation is based on the current position Pb of the straight-moving vehicle VB.

[0120] In S217, controller 101a reads the vehicle speed VSPb of the straight-moving vehicle VB.

[0121] In S218, the controller 101a calculates the information presentation distance Dth1. 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, as described above.

[0122] In S219, the controller 101a determines whether the distance Db to the intersection for the straight-moving vehicle VB is less than or equal to the information presentation distance Dth1, in other words, whether the straight-moving vehicle VB is at or near the information presentation distance Dth1 from the intersection CS. If it is less than or equal to the information presentation distance Dth1, the process proceeds to S220; if it is longer than the information presentation distance Dth1, the information presentation process ends.

[0123] At S220, controller 101a issues an alert to provide information.

[0124] In the flowchart shown in Figure 6, at S311, the controller 101a reads various control information used for alarm processing. The control information read at 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-going vehicle VB.

[0125] 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.

[0126] In S313, the controller 101a determines whether the right-turning vehicle VA is within the collision prediction area ACP. 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 closer to the collision prediction point CPP, and the right-turning vehicle VA is within the collision prediction area ACP, the process proceeds to S316. On the other hand, if the right-turning vehicle VA is at a position further from the collision prediction point CPP than the outer edge of the collision prediction area ACP, and the right-turning vehicle VA is not within the collision prediction area ACP, the process proceeds to S314. If the operation status of the right turn signal is used to detect the intention to turn right in the right-turning vehicle VA, the condition for performing the process in S313 may include the continued operation of the right turn signal.

[0127] In S314, controller 101a reads the vehicle speed VSPa of the right-turning vehicle VA.

[0128] 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 it is higher than the predetermined vehicle speed VSP1, the process proceeds to S316. If it is less than or equal to the predetermined vehicle speed VSP1, the warning process ends. In other words, the controller 101a determines whether the vehicle speed VSPa of the right-turning vehicle VA is higher than the vehicle speed VSP1, which indicates a low-speed driving state, for example, a slow-moving state. If it 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 is less than or equal to VSP1, the controller 101a determines that the situation warrants issuing an information alert and ends the warning process.

[0129] Thus, in S313 to S315, the controller 101a detects that the right-turning vehicle VA has entered the intersection area ACS, reached the collision prediction area ACP, and is either already inside the collision prediction area ACP or, although outside the collision prediction area ACP, is traveling at a speed above a certain level toward the collision prediction point CPP and is approaching the collision prediction area ACP. Upon detecting such a situation, the controller 101a determines that it is time to issue an alarm (i.e., the second alarm timing) and proceeds with processing from S316 onward to determine whether the second predetermined alarm condition has been met.

[0130] In S316, controller 101a calculates the distance Db to the intersection for the straight-moving vehicle VB.

[0131] In S317, controller 101a reads the vehicle speed VSPb of the straight-moving vehicle VB.

[0132] In S318, the controller 101a calculates the warning distance Dth2. 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, as described above.

[0133] In S319, the controller 101a determines whether the distance Db to the intersection for the straight-moving vehicle VB is less than or equal to the warning distance Dth2, in other words, whether the straight-moving vehicle VB is at a warning distance Dth2 from the intersection CS or is still close to the intersection CS. If it is less than or equal to the warning distance Dth2, the process proceeds to S320; if it is longer than the warning distance Dth2, the warning process is terminated.

[0134] At S320, controller 101a triggers an alarm.

[0135] (Details of the notification control for vehicles traveling straight) Figures 7 to 9 are flowcharts illustrating the content of the notification control performed by the controller 101b on the straight-moving vehicle VB. The flowchart in Figure 7 shows the overall flow of the notification control, the flowchart in Figure 8 shows the content of the information presentation processing performed by the straight-moving vehicle VB, and the flowchart in Figure 9 shows the content of the warning processing performed by the straight-moving vehicle VB. When the controller 101b detects an intersection CS on the road R in front of its vehicle, it performs notification control at predetermined intervals. The execution cycle of the notification control may be the same or different for controllers 101a and 101b. Furthermore, it is possible to synchronize the execution of the notification control by both controllers 101a and 101b.

[0136] Each process performed by controller 101a and controller 101b regarding notification control corresponds to the other. Therefore, in the following explanation, detailed explanations of processes that are performed similarly by both controllers will be omitted.

[0137] In the flowchart shown in Figure 7, the controller 101b reads various control information used for notification control (S411), detects another vehicle in the opposing lane's right-turn lane L11, i.e., the 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 intention to turn right, the controller 101b identifies the right-turning vehicle VA's current position Pa 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 actions from S416 onwards; otherwise, it terminates the current control. The controller 101b performs information presentation processing in S416 and warning processing in S417. The information presentation processing and warning processing are repeated until the right-turning vehicle VA passes through the intersection area ACS.

[0138] In the flowchart shown in Figure 8, the controller 101b reads various control information used for information presentation processing, such as the current positions Pb and Pa of the straight-going vehicle VB and the right-turning vehicle VA (S511), and identifies the current positions Pb and Pa of the straight-going vehicle VB and the right-turning vehicle VA on the road map, respectively (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 determines that the right-turning vehicle VA is outside the collision prediction area ACP, it 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 less than or equal to a predetermined vehicle speed VSP1 (S515). If the vehicle speed VSPa is less than or equal to the predetermined vehicle speed VSP1, the controller 101b performs the processing from S516 onwards. If it is higher than the predetermined vehicle speed VSP1, it terminates the information presentation processing. If the controller 101b uses the operation status of the right turn signal to detect the intention to turn right of the right-turning vehicle VA, it may determine whether the right turn signal is still operating in conjunction with the processing in S513, and if the right turn signal is still operating, it may perform the processing from S514 onwards. The controller 101b then calculates the intersection arrival distance Db of its own vehicle, the straight-going vehicle VB (S516), reads the vehicle speed VSPb of its own vehicle (i.e., the straight-going vehicle VB) (S517), and calculates the information presentation distance Dth1 (S518). If the intersection arrival distance Db is less than or equal to the information presentation distance Dth1 (S519), the controller 101b proceeds to S520 and issues an information presentation alert; if it is longer than the information presentation distance Dth1, it terminates the information presentation process.

[0139] In the flowchart shown in Figure 9, the controller 101b reads various control information used for warning processing, such as the current positions Pb and Pa of the straight-going vehicle VB and the right-turning vehicle VA (S611), and identifies the current positions Pb and Pa of the straight-going vehicle VB and the right-turning vehicle VA on the road map, respectively (S612). In S613, the controller 101b determines whether the right-turning vehicle VA, which is another vehicle, is within the collision prediction area ACP. If it determines that the right-turning vehicle VA is not within the collision prediction area ACP, it 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 processing from S616 onwards. If it is less than or equal to the predetermined vehicle speed VSP1, it terminates the warning processing. If the operation status of the right turn signal is used to detect the intention to turn right of a right-turning vehicle VA, the condition for performing the process in S613 may include the condition that the right turn signal is still operating. The controller 101b then calculates the intersection arrival distance Db of its own vehicle, the straight-going vehicle VB (S616), reads the vehicle speed VSPb of its own vehicle (i.e., the straight-going vehicle VB) (S617), and calculates the warning distance Dth2 (S618). If the intersection arrival distance Db is less than or equal to the warning distance Dth2, the controller 101b proceeds to S620 and issues a warning; if it is longer than the warning distance Dth2, the warning process is terminated.

[0140] (Explanation of action and effects) The vehicle notification system 1 according to this embodiment has the above configuration. The effects obtained by this embodiment will be described below.

[0141] Firstly, in a traffic situation where there is a right-turning vehicle VA turning right at intersection CS and a straight-ahead vehicle VB traveling in the opposite lane L22 towards intersection CS, the notification system 1 identifies the current position Pa of the right-turning vehicle VA on the road map and the current position Pb of the straight-ahead vehicle VB on the road map. Then, after detecting the intention of the right-turning vehicle VA to turn right, the notification system 1 issues different modes of notification at the timing when it detects that the right-turning vehicle VA is at a first predetermined position P1 or a position closer to the intersection center CTR than there, and at the timing when the right-turning vehicle VA is traveling towards the collision prediction point CPP from a position closer to the collision prediction point CPP than the first predetermined position P1, or when it has entered a position closer to the collision prediction point CPP than the second predetermined position P2, provided that the notification conditions regarding the distance Db of the straight-ahead vehicle VB are met. In this way, the notification system 1 can realize notification in an appropriate mode according to the relative relationship between the right-turning vehicle VA and the straight-ahead vehicle VB.

[0142] Specifically, after detecting the intention to turn right, the notification system 1 issues a first predetermined mode of notification to traffic participants when the right-turning vehicle VA is at a relatively long distance from the predicted collision point CPP, and the straight-going vehicle VB is at a first predetermined distance from the intersection CS, i.e., the information presentation distance Dth1, or closer to the intersection CS. In this embodiment, both the right-turning vehicle VA and the straight-going vehicle VB are considered traffic participants to whom notifications are issued.

[0143] On the other hand, if a right-turning vehicle VA has passed the first predetermined position P1 and is still traveling, or is approaching a position closer to the collision prediction point CPP, the notification system 1 will issue a notification to traffic participants in a second predetermined mode, which is different from the first predetermined mode, provided that the straight-ahead vehicle VB is closer to the intersection CS, that is, at a second predetermined distance (warning distance Dth2) from the intersection CS or closer to the intersection CS than this distance.

[0144] 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-going vehicle VB, performs a first predetermined mode of issuing a notification aimed at prompting recognition of the presence of the other vehicle (for example, the straight-going vehicle VB relative to the right-turning vehicle VA), i.e., issuing an informational notification, while performing a second predetermined mode of issuing a notification aimed at prompting recognition of a higher level of urgency, i.e., issuing a warning.

[0145] Secondly, the notification system 1 issues a warning by display, and by differentiating the display of the warning between the first predetermined mode and the second predetermined mode, it is possible to facilitate the driver's quick and easy understanding of the warning and its contents. Furthermore, in addition to issuing a warning by display, the notification system 1 also issues a warning by voice, and by differentiating the voice of the warning between the first predetermined mode and the second predetermined mode, it is possible to further facilitate the driver's quick and easy understanding of the warning and its contents.

[0146] Thirdly, by setting the intersection area ACS and the collision prediction area ACP, the notification system 1 can easily determine the timing for issuing a notification in the first predetermined mode and the second predetermined mode, and then issue the notification.

[0147] Fourth, the notification system 1 calculates first and second predetermined distances (information presentation distance Dth1, warning distance Dth2) based on the vehicle speed VSPb of the straight-moving vehicle VB, and is able to issue warnings for the first and second predetermined modes at appropriate timings that reflect the distance required for the straight-moving vehicle VB to decelerate and brake.

[0148] Fifth, the notification system 1 sets a deceleration DEC1 for calculating the information presentation distance and a deceleration DEC2 that is higher for calculating the warning distance. Based on these deceleration DEC1 and DEC2, in accordance with the vehicle speed VSPb of the straight-moving vehicle VB, it calculates the first and second predetermined distances, making it possible to issue alerts for the first and second predetermined modes at a timing that matches the vehicle's behavior when braking.

[0149] Sixth, the notification system 1 can set the deceleration DEC2 for calculating the alarm distance to a higher deceleration than the deceleration DEC1 for calculating the information presentation distance, thereby enabling the notification of the first predetermined mode to be issued at a timing that assumes gentler braking, and the notification of the second predetermined mode to be issued at a timing that assumes sudden braking.

[0150] Seventh, the notification system 1 learns the actual deceleration of the straight-moving vehicle VB in response to the activation of the second predetermined mode, and corrects the deceleration DEC1 and DEC2 used when calculating the information presentation distance Dth1 and warning distance Dth2, respectively, based on the learned values ​​obtained thereby. This makes it possible to calculate the timing of the actual activation of information presentation and warnings more appropriately, reflecting the driver's actual braking tendencies (e.g., the degree of acceleration and deceleration), and to activate each mode at a more appropriate timing.

[0151] Here, the notification system 1 detects a right-turn intention when it is indicated by entering the right-turn lane L11 or activating the right turn signal, etc., and this continues for a predetermined period of time or longer. This makes it possible to avoid unnecessary alarm activation when the indication of entering the right-turn lane L11, etc., is not based on a genuine right-turn intention but is merely temporary. For example, if there is another vehicle stopped on the shoulder of the road R extending beyond the intersection CS, or if there are roadside installations such as signs, the vehicle may change lanes before or after entering the intersection CS in order to avoid a collision with these obstacles. In such cases, the system does not detect a right-turn intention, and for the right-turning vehicle VA, it terminates control with the negative determination in S113 shown in Figure 4, and for the straight-going vehicle VB, it terminates control with the negative determination in S413 shown in Figure 7, thereby avoiding unnecessary alarm activation.

[0152] In contrast, in the case of a right turn based on a genuine intention to turn right, the right-turning vehicle VA slows down before entering the intersection CS, and a certain amount of time is available between the display of the intention to turn right and entering the intersection CS. Therefore, even if the continuation of the display of the intention to turn right is used as a condition for detecting the intention to turn right, there is no substantial drawback to the detection of the intention to turn right, and it is possible to appropriately detect that the right-turning vehicle VA has the intention to turn right.

[0153] Furthermore, when the notification system 1 simultaneously meets the conditions for issuing an information alert and the conditions for issuing a warning, it prioritizes issuing a warning over issuing an information alert, thereby enabling it to prioritize more urgent alerts and promote accurate awareness of the situation by the driver.

[0154] The traffic participants targeted for notification are not limited to the right-turning vehicle VA and the straight-ahead vehicle VB, but may also include other vehicles approaching the intersection CS. Examples of such vehicles include vehicles traveling towards the intersection CS, which the right-turning vehicle VA is heading towards, in lanes other than the right-turning lane L11 and the lane running parallel to it (for example, the straight-ahead lane L12), specifically in lanes that intersect the right-turning lane L11 (i.e., intersecting vehicles). Here, vehicles other than the right-turning vehicle VA that are approaching the intersection CS and have the potential to enter the intersection CS are called "vehicles entering the intersection," and these include not only the straight-ahead vehicle VB but also intersecting vehicles.

[0155] In the road R shown in Figure 11, in addition to the right-turning vehicle VA and the straight-ahead vehicle VB, there are also crossing vehicles (not shown) traveling towards intersection CS. If there are no traffic signals to regulate the passage of crossing vehicles at intersection CS, the timing of the crossing vehicles entering intersection CS coincides with the timing of the right-turning vehicle VA and the straight-ahead vehicle VB entering intersection CS, raising concerns about contact or collisions between these vehicles.

[0156] In such a situation, after detecting the intention of the right-turning vehicle VA to turn right, the notification system 1 monitors the relative positional relationship between the right-turning vehicle VA and the intersecting vehicle, either in addition to controlling the notification between the right-turning vehicle VA and the straight-ahead vehicle VB. Then, as described above, at appropriate timings from when the right-turning vehicle VA approaches the intersection CS until it passes through the intersection CS, it issues an alert according to the urgency of the situation regarding contact or collision between the right-turning vehicle VA and the intersecting vehicle. As an example, the right-turning vehicle VA and the intersecting vehicle perform information presentation processing and warning processing of the same content as the right-turning vehicle VA and the straight-ahead vehicle VB perform between these vehicles VA and VB.

[0157] Furthermore, the notification system 1 according to this embodiment includes notification units B118a, B118b, B119a, and B119b that, upon notification, display information VBT indicating the type of the other vehicle, the straight-ahead vehicle VB, and information VBTD indicating the direction of travel of the straight-ahead vehicle VB on the display 141a in the right-turning vehicle VA, and display information VAT indicating the type of the other vehicle, the right-turning vehicle VA, and information VATD indicating the direction of travel of the straight-ahead vehicle VA on the display 141b in the straight-ahead vehicle VB. By limiting the notification content displayed by the right-turning vehicle VA and the straight-ahead vehicle VB to the minimum necessary information, such as the type of the other vehicle and the direction of travel, the notification content is made easier for the driver to understand. Moreover, by limiting the information to the minimum necessary information, the notification content can be displayed, for example, using relatively large illustrations or characters. In other words, the notification content can be displayed using relatively large illustrations and text to improve the driver's visibility. Therefore, the notification system 1 can allow the driver to recognize the notification content accurately and quickly without interfering with the driver's driving.

[0158] Furthermore, in the notification system 1 according to this embodiment, the information VAT indicating the type of right-turning vehicle VA that is the vehicle opposite to the straight-going vehicle VB includes at least one of two-wheeled vehicles and four-wheeled vehicles, and the information VBT indicating the type of straight-going vehicle VB that is the vehicle opposite to the right-turning vehicle VA includes at least one of two-wheeled vehicles and four-wheeled vehicles. Therefore, the notification system 1 allows the driver of the right-turning vehicle VA to understand whether the straight-going vehicle VB, which is in the blind spot from the perspective of the right-turning vehicle VA, is a two-wheeled vehicle or a four-wheeled vehicle, and allows the driver of the straight-going vehicle VB to understand whether the right-turning vehicle VA, which is in the blind spot from the perspective of the straight-going vehicle VB, is a two-wheeled vehicle or a four-wheeled vehicle.

[0159] Furthermore, in the notification system 1 according to this embodiment, the information VAT indicating the type of right-turning vehicle VA and the information VATD indicating the direction of travel of the right-turning vehicle VA, as well as the information VBT indicating the type of straight-going vehicle VB and the information VBTD indicating the direction of travel of the straight-going vehicle VB, are displayed in a first color when the risk of collision between the right-turning vehicle VA and the straight-going vehicle VB is low, and are displayed in a second color different from the first color when the risk of collision between the right-turning vehicle VA and the straight-going vehicle VB is high. Therefore, the notification system 1 allows the driver to recognize the degree of danger simply by the change in color, without the driver having to stare at the screen. Consequently, the notification system 1 enables the driver to make quick driving decisions in dangerous situations.

[0160] Furthermore, in this embodiment, the notification system 1 displays, at least by illustration, information VBT indicating the type of straight-ahead vehicle VB and information VBTD indicating the direction of travel of straight-ahead vehicle VB, closer to one end of the display area DAb on the display 141a of the HMI device 131a, located on the driver's side of the right-turning vehicle VA, rather than positioning them in the center of the display area DAb on the display 141a of the HMI device 131a, in the direction of travel of the straight-ahead vehicle VB. Furthermore, the notification system 1 displays information VATD indicating the direction of travel of the right-turning vehicle VA to the straight-going vehicle VB, at least by illustration, from one end of the lateral X direction of the display area DAb located on the driver's side of the straight-going vehicle VB, across the center of the lateral X direction of the display area DAb, and toward the other end of the lateral X direction of the display area DAb. As a result, the notification system 1 makes it extremely easy for the driver to recognize information indicating the type of vehicle and information indicating the direction of travel of the vehicle.

[0161] Furthermore, the notification system 1 according to this embodiment includes displays 141a and 141b having display areas DAa and DAb, which are divided sequentially from top to bottom and include first display areas DAa1 and DAb1, second display areas DAa2 and DAb2, and third display areas DAa3 and DAb3. In the case of a right-turning vehicle VA which is the vehicle opposite to a straight-going vehicle VB, information VBT indicating the type of straight-going vehicle VB is displayed in the first display area DAa1 as an illustration, and information VBTD indicating the direction of travel of the straight-going vehicle VB is displayed in the second display area DAa2 as an illustration and in the third display area DAa3 as text. Furthermore, in the case of a straight-going vehicle VB which is the vehicle opposite to a right-turning vehicle VA, information VAT indicating the type of right-turning vehicle VA is displayed in the first display area DAb1 as an illustration, and information VATD indicating the direction of travel of the right-turning vehicle VA is displayed in the second display area DAb2 as an illustration and in the third display area DAb3 as text. Therefore, the notification system 1 can enable the driver of the right-turning vehicle VA to understand the notification content regarding the straight-ahead vehicle VB by simply glancing at approximately two-thirds of the display content, such as the first display area DAa1 and the second display area DAa2, or the second display area DAa2 and the third display area DAa3. Similarly, the notification system 1 can enable the driver of the straight-ahead vehicle VB to understand the notification content regarding the right-turning vehicle VA by simply glancing at approximately two-thirds of the display content, such as the first display area DAb1 and the second display area DAb2, or the second display area DAb2 and the third display area DAb3.

[0162] Furthermore, the notification system 1 according to this embodiment includes notification units B118a, B118b, B119a, and B119b that, while a predetermined notification flag is being issued from OFF to ON and notification is being issued, detect that a right-turning vehicle VA or a straight-going vehicle VB has finished passing through intersection CS based on the identification results by the road map storage units B113a and B113b, and then the predetermined notification flag is turned OFF to OFF and notification is terminated. Therefore, the notification system 1 can reset the notification conditions established between the right-turning vehicle VA and the straight-going vehicle VB, and, for example, confirm the establishment of new notification conditions between the right-turning vehicle VA and a straight-going vehicle other than the straight-going vehicle VB, and then issue a new notification. In other words, the notification system 1 can prepare for notification towards the next new intersection CS and confirm the establishment of notification conditions between the vehicle that has passed through intersection CS and the following vehicle.

[0163] Furthermore, the notification system 1 according to this embodiment includes notification units B118a, B118b, B119a, and B119b that continue to emit a notification even if the predetermined notification flag changes from ON to OFF if a certain amount of time has not elapsed since the predetermined notification flag changed from OFF to ON, and terminate the notification when the predetermined notification flag changes from ON to OFF after a certain amount of time has elapsed since the predetermined notification flag changed from OFF to ON. Therefore, the notification system 1 prevents repeated instances of notification being emitted and not emitted via display within a short period of time, and enables the driver to accurately recognize the notification content.

[0164] In the above explanation, the distance Db from intersection CS to the straight-ahead vehicle VB was defined as the distance from the intersection of the outer edge of the collision prediction area ACP, specifically the distance from the intersection of the straight-ahead vehicle VB's travel path TRb and the circle defining the outer edge of the collision prediction area ACP (the circle shown by the dashed line in Figures 12 and 13) to the straight-ahead vehicle VB. However, the distance Db may also be defined as the distance from the collision prediction point CPP to the straight-ahead vehicle VB, or the distance along the center line of the opposing lane L22 from the right-turning vehicle VA to the straight-ahead vehicle VB.

[0165] Furthermore, the controllers 101a and 101b, each equipped in the right-turning vehicle VA or the straight-going vehicle VB, constitute the calculation unit of the notification system 1, and the controllers 101a and 101b constitute a single virtual controller. However, it is also possible to configure the system so that the road map and the computer program for notification control are stored in a roadside unit or a remote server, and the notification control is executed outside the vehicle. In this case, the right-turning vehicle VA and the straight-going vehicle VB transmit their respective vehicle position information to an external controller via vehicle-to-infrastructure communication and receive a command signal, which is the result of calculations related to control. Based on the command signal, the system then displays information or issues a warning.

[0166] Furthermore, the above explanation assumes a traffic situation in which a right-turning vehicle VA is traveling towards intersection CS on a left-hand traffic road R in order to turn right at intersection CS, and a straight-ahead vehicle VB is traveling in the opposing lane L22, which is opposite the lane L11 in which the right-turning vehicle VA is traveling, heading straight towards intersection CS. As mentioned above, the notification system 1 is applicable not only to left-hand traffic roads but also to right-hand traffic roads.

[0167] In other words, the notification system 1 according to this embodiment is a vehicle notification system that notifies traffic participants, including the vehicle itself which is in the driving lane leading to the intersection in order to turn right or left at the intersection, and other vehicles which are traveling in the opposite lane to the driving lane in the direction of going straight toward the intersection. It includes notification units B118a, B118b, B119a, and B119b which issue notifications at least by display via HMI devices 131a and 131b as output means to avoid collisions between the vehicle itself and other vehicles. The HMI devices 131a and 131b have displays 141a and 141b as display means configured to switch the screen display between a direction indicating the vehicle is going straight and a direction indicating the vehicle is turning right or left when issuing a notification. Therefore, assuming a left-hand traffic road R, the notification system 1 according to this embodiment can notify a right-turning vehicle VA by displaying information VBTD indicating the direction of travel (straight direction) of a straight-going vehicle VB on the display 141a. Furthermore, assuming a left-hand traffic road R, the notification system 1 can provide notification to a straight-traveling vehicle VB by displaying information VATD on the display 141b indicating the direction of travel (right turn direction) of a right-turning vehicle VA. In addition, since the notification system 1 can also provide notification indicating the direction of a left turn of a vehicle, it can provide notification in the same way as on a left-hand traffic road R for left-turning vehicles traveling towards an intersection on a right-hand traffic road, and for straight-traveling vehicles traveling in the opposite lane of the lane in which the left-turning vehicle is traveling, heading straight towards the intersection.

[0168] While several embodiments of the present invention have been described, these embodiments are presented as examples only and are not intended to limit the scope of the invention. These novel embodiments can be carried out in a variety of other forms, and various omissions, substitutions, and modifications can be made without departing from the spirit of the invention. These embodiments and their variations are included in the scope and spirit of the invention, as well as in the claims of the invention and its equivalents. [Explanation of Symbols]

[0169] 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, 141a, 141b...Display.

Claims

1. A vehicle turning right in the lane leading to the intersection, A vehicle notification system that issues a notification to traffic participants, including a vehicle traveling in the opposite lane to the aforementioned driving lane in the direction of the intersection, The system includes an alarming means that performs the alarm by displaying it via a display means provided by the output means in order to avoid a collision between the right-turning vehicle and the straight-going vehicle, A vehicle notification system in which, upon notification, the notification means displays information indicating the type of the right-turning vehicle and information indicating the direction of travel of the straight-turning vehicle on the display means in the right-turning vehicle, based on right-turning vehicle information and straight-turning vehicle information that have become shareable between the right-turning vehicle and the straight-turning vehicle via communication between the right-turning vehicle and the straight-turning vehicle, and the straight-turning vehicle displays information indicating the type of the right-turning vehicle and information indicating the direction of travel of the straight-turning vehicle on the display means in the straight-turning vehicle.

2. The information indicating the type of the vehicle making the right turn includes at least one of two-wheeled vehicles and four-wheeled vehicles. The vehicle notification system according to claim 1, wherein the information indicating the type of the straight-moving vehicle includes at least one of two-wheeled vehicles and four-wheeled vehicles.

3. The information indicating the type of the right-turning vehicle and the information indicating the direction of travel of the right-turning vehicle, and the information indicating the type of the straight-going vehicle and the information indicating the direction of travel of the straight-going vehicle, When the risk of collision between the right-turning vehicle and the straight-going vehicle is low, it is displayed in the first color. The vehicle notification system according to claim 1, which is displayed in a second color different from the first color when there is a high risk of collision between the right-turning vehicle and the straight-going vehicle.

4. The driver's seat of the vehicle making the right turn is located on the right side of the vehicle making the right turn. The driver's seat of the vehicle traveling straight ahead is located on the right side of the vehicle traveling straight ahead. In the vehicle turning right, the information indicating the type of the vehicle going straight and the information indicating the direction of travel of the vehicle going straight are each displayed, at least by illustration, closer to one of the lateral edges of the display area, located on the driver's side of the vehicle turning right, rather than being located in the lateral center of the display area of ​​the display means. In the case of the vehicle going straight, the information indicating the type of the vehicle turning right is displayed, at least by illustration, closer to one of the lateral ends of the display area, located on the driver's side of the vehicle going straight, rather than being located in the lateral center of the display area of ​​the display means, and the information indicating the direction of travel of the vehicle turning right is displayed, at least by illustration, from one of the lateral ends of the display area, located on the driver's side of the vehicle going straight, rather than being located in the lateral center of the display area, passing through the lateral center of the display area and toward the other lateral end of the display area, according to claim 1.

5. The display means has a display area that includes a first display area, a second display area, and a third display area, which are divided in order from the top. In the aforementioned right-turning vehicle, the information indicating the type of the straight-going vehicle is displayed in the first display area by illustration, and the information regarding the direction of travel of the straight-going vehicle is displayed in the second display area by illustration and in the third display area by text. The vehicle notification system according to claim 1, wherein, in the case of the vehicle going straight, the information indicating the type of the vehicle turning right is displayed in the first display area by illustration, the information indicating the direction of travel of the vehicle turning right is displayed in the second display area by illustration, and the information is also displayed in the third display area by text.

6. The system includes a road map storage means that stores a road map including the aforementioned intersection and identifies the current position of the right-turning vehicle on the road map and the current position of the straight-going vehicle on the road map. The aforementioned alarm-generating means is The alarm is issued when a predetermined alarm flag is ON, and the alarm is not issued when the predetermined alarm flag is OFF. The vehicle notification system according to claim 1, wherein if the predetermined notification flag changes from OFF to ON and the notification is being made, and the right-turning vehicle or the straight-going vehicle is detected to have finished passing the intersection based on the identification result by the road map storage means, the predetermined notification flag changes from ON to OFF and the notification is terminated.

7. The aforementioned alarm-generating means is The alarm is issued when a predetermined alarm flag is ON, and the alarm is not issued when the predetermined alarm flag is OFF. If a certain amount of time has not elapsed since the predetermined alarm flag changed from OFF to ON, the alarm will continue even if the predetermined alarm flag changes from ON to OFF. The vehicle notification system according to any one of claims 1 to 6, wherein if a certain period of time has elapsed since the predetermined notification flag changed from OFF to ON, the notification is terminated when the predetermined notification flag changes from ON to OFF.

8. In order to turn right or left at the intersection, the vehicle is in the lane leading to the intersection, A vehicle notification system that issues an alert to traffic participants, including other vehicles traveling in the opposite lane to the aforementioned driving lane in the direction of the intersection, The vehicle is equipped with an alarming means that performs the alarm at least by display via an output means to avoid a collision between the vehicle and the other vehicle, The output means is a vehicle notification system having a display means configured to switch the screen display between a direction indicating the vehicle is moving straight and a direction indicating the vehicle is turning right or left when an alert is issued.

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