JP2006200928A - Multiple vehicle tracking state presentation device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a follow-up state presentation device that enables group traveling while grasping each other's follow-up state and follow-up possibility.
SOLUTION: Based on the traveling information of the own vehicle acquired by the own vehicle information acquiring unit 100 and the traveling information of other vehicles received by the transceiver 20, the follow-up determining unit 50 determines whether these vehicles are in the following state. Determine whether or not. The determination result by the tracking determination unit 50 is displayed on the monitor 30.
[Selection] Figure 1

Description

  The present invention relates to a follow-up state presentation device.

As a device for supporting group traveling of a plurality of vehicles, for example, a device described in JP 2000-33284 A has been proposed. In the device proposed in the above publication, each vehicle in the same group transmits the position of the own vehicle acquired by the GPS system to a server by a mobile phone or the like, and the navigation system of each vehicle transmits the position of the vehicle in the group. The position is displayed.
JP 2000-33284 A

  However, what is proposed in the above publication only displays the positional relationship of vehicle groups belonging to the same group. For this reason, it has been impossible to display a detailed traveling state such as whether or not the following vehicle is following.

  The follow-up state presentation device of the present invention includes a host vehicle information acquisition unit that acquires travel information of the host vehicle, a transmission / reception unit that transmits the travel information of the host vehicle and receives the travel information of other vehicles, and a host vehicle information acquisition unit. Tracking determination means for determining whether or not these vehicles are in a tracking state based on the driving information of the own vehicle acquired in step S3 and the driving information of other vehicles received by the transmission / reception means, or for determining the tracking possibility of these vehicles. And determination result presenting means for presenting the determination result by the tracking determination means to the occupant.

  According to the present invention, at least one of the preceding vehicle and the following vehicle can grasp the following state or the possibility of following with another vehicle.

<1-1. Configuration of First Embodiment (FIG. 1)>
FIG. 1 is a block diagram showing a configuration example of a follow-up state presentation device according to the first embodiment of the present invention. This follow-up state presentation device is configured by connecting a GPS receiver 81, a direction indicator sensor 71, a transmitter / receiver 20, and a monitor 30 to a processing unit 110. Among these, the processing unit 110 includes a host vehicle information acquisition unit 100, a follow-up determination unit 50, and a display control unit 40.

  It is desirable that the GPS receiver 81, the direction indicator sensor 71, the transmitter / receiver 20, and the own vehicle information acquisition unit 100 are provided in any of a plurality of vehicles traveling in a group. On the other hand, the monitor 30, the follow-up determination unit 50, and the display control unit 40 are provided in a receiving-side vehicle that receives the travel information of other vehicles among a plurality of vehicles traveling in a group and performs the follow-up determination. Is desirable. However, it is most desirable that both the vehicles have these configurations so that each of them can transmit and receive traveling information to each other and determine whether or not to follow each other.

<1-2. Details of configuration for acquiring and transmitting traveling information of own vehicle>
The processing unit 110 functions as the host vehicle information acquisition unit 100, the tracking determination unit 50, and the like by executing a ROM that stores a program that acquires travel information of the host vehicle and performs tracking determination. A CPU and a RAM functioning as a temporary storage device are provided.

  The own vehicle information acquisition unit 100 includes an own vehicle position measurement unit 80, a blinker information acquisition unit 70, and a vehicle direction calculation unit 90, and has a function of acquiring traveling information of the own vehicle. The travel information of the host vehicle acquired by the host vehicle information acquisition unit 100 is used for the tracking determination in the tracking determination unit 50.

  The GPS receiver 81 receives synchronous radio waves from a plurality of GPS satellites, and sends time difference information until receiving the radio waves from the respective GPS satellites to the own vehicle position positioning unit 80. The own vehicle position measuring unit 80 measures the current position of the own vehicle based on the time difference information of the radio waves received by the GPS receiver 81. In addition, the vehicle orientation calculation unit 90 calculates the vehicle direction (traveling direction) based on the history of the vehicle position measured by the vehicle position measurement unit 80.

  The direction indicator sensor 71 acquires blinker information at a predetermined timing and sends it to the blinker information acquisition unit 70. The winker information includes information on which of the left and right winkers is operating.

  The transmitter / receiver 20 transmits / receives the travel information acquired by the host vehicle information acquisition unit 100 to / from another vehicle, and is configured by a wireless communication device having a communication function capable of at least transmitting / receiving data. . The transmission method of the transceiver 20 is not particularly limited, and may be a radio wave method, an infrared method, or any other method.

<1-3. Details of the configuration for judging and outputting the course change>
The tracking determination unit 50 determines whether or not these vehicles are in a tracking state based on the traveling information of the own vehicle acquired by the own vehicle information acquisition unit 100 and the traveling information of other vehicles received by the transceiver 20. judge. Specifically, it has a vehicle information comparison unit 10 including a vehicle position comparison unit 18, a blinker information comparison unit 17, and a vehicle direction comparison unit 19. judge.

  The monitor 30 is a device that outputs the determination result by the tracking determination unit 50 by displaying it based on the control by the display control unit 40. However, the output of the determination result is not limited to the display on the monitor, but may be performed by lighting a lamp (not shown) or outputting sound by a speaker (not shown).

<1-4. Acquisition of Travel Information According to First Embodiment (FIG. 2)>
FIG. 2 is a flowchart illustrating a processing procedure for acquiring travel information in the tracking state presentation device according to the first embodiment. The processing of this flowchart is executed once every fixed interval, for example, every second, in each vehicle traveling in a group.

  First, in step S <b> 101, each vehicle traveling in a group acquires the current position of the own vehicle by the own vehicle position measurement unit 80.

  In the next step S102, the vehicle orientation calculation unit 90 calculates the current direction (traveling direction) of the host vehicle from the information on the host vehicle position acquired so far.

  In the next step S103, the winker information acquisition unit 70 determines whether or not the direction indicator is operating. If the direction indicator is operating (step S103: YES), the winker information is determined in step S104. Get information. In the next step S105, the host vehicle information acquisition unit 100 temporarily stores the position information of the host vehicle, the information on the direction of the host vehicle, and the blinker information at the same time as a travel history in a memory (not shown).

  On the other hand, when the direction indicator is not operating (step S103: NO), in step S106, the host vehicle information acquisition unit 100 displays the position information of the host vehicle and the information on the direction of the host vehicle at the same time. Not stored temporarily as running history in memory.

  If another vehicle traveling in a group is provided with the follow-up determination unit 50, in step S107, the latest one point of the stored travel history information is transmitted to the other vehicle.

<1-5. Tracking determination according to first embodiment (FIGS. 3 and 4)>
FIG. 3 is a flowchart illustrating a processing procedure for tracking determination in the tracking state presentation device according to the first embodiment.

  It is assumed that the process of this flowchart is executed in a preceding vehicle among vehicles traveling in a group. However, as described later, the follow-up determination process may be executed in the following vehicle. The execution timing is synchronized with the processing in FIG. 2 and is, for example, once per second.

  First, in step S111, it is determined whether or not travel history information (here, only the latest one point information) has been sent from another vehicle. If it has not been sent, a counter described later is reset in step S120, and the process returns to step S111. If the travel history information is sent from the other vehicle, the travel history information of the other vehicle is acquired in step S112.

Next, in step S113, the vehicle information comparison unit 10 of the follow-up determination unit 50 receives, among the travel history information stored in the memory of the host vehicle that is the preceding vehicle, the travel history information of the other vehicle that is the subsequent vehicle. It is determined whether or not information that matches the latest information at one point is included (coincidence of travel history information). Specifically, using the comparison results of the vehicle position comparison unit 18, the vehicle direction comparison unit 19, and the blinker information comparison unit 17, the traveling history information is consistent by any one of the following (1) to (4). It is determined whether or not
(1) Consistency of vehicle position (2) Consistency of vehicle position and vehicle orientation at the position (3) Consistency of vehicle position and blinker information at the position (4) Vehicle position and vehicle orientation at the position Winker information consistency

  Judgment of coincidence does not require exact identity. For example, if the position is a vehicle, it is determined that the difference is up to 5 m, for example, and if it is the direction of the vehicle, it is determined that the difference is up to 30 degrees, for example. .

  Here, the case where the follow-up determination is performed in the preceding vehicle has been described. However, in the case where the follow-up determination is performed in the following vehicle, only the latest information on one point is sequentially received as the travel history information of the other vehicle that is the preceding vehicle. When the travel history information of other vehicles is received, it is necessary to store it in a memory (not shown). The follow-up state can be determined by comparing the travel history information of the other vehicle thus stored and the latest one point of the travel history information of the host vehicle that is the succeeding vehicle.

  If there is coincidence of the travel history information in step S113, the coincidence detection counter is incremented in step S118, and the process proceeds to step S114. In step S114, the follow-up determination unit 50 determines whether or not the coincidence state continues for a predetermined number of times. This can be determined by the count value of the coincidence detection counter counted up in step S118. If step S114 is negative, it is determined in step S116A that it is not in the following state, the determination result is displayed on a monitor in step S117A, and the process returns to step S111.

  When the travel history information from the other vehicle is interrupted and step S111 is denied, the coincidence detection counter is reset to 0 in step S120 as described above. If the determination in step S113 is negative, the coincidence detection counter is reset to 0 in step S119. Thus, the reception of the traveling history information of the other vehicle and the coincidence determination are repeated, and when the count of the counter reaches a predetermined number, for example, 5 times, it is determined that the coincidence state continues for a predetermined number of times.

  When the coincidence state of the travel history information continues for a predetermined number of times or more (step S114: YES), in step S115, the follow-up determination unit 50 determines that the following vehicle is following the preceding vehicle. In step S117, the determination result is output to the monitor 30 under the control of the display control unit 40.

  In step S113, when there is no coincidence of the travel history information (step S113: NO), the process proceeds to step S116 via step S119, and the follow-up determination unit 50 is in a state where the following vehicle does not follow the preceding vehicle. judge. In step S117, the determination result is output to the monitor 30 under the control of the display control unit 40.

  FIG. 4 is a diagram illustrating an example of a display output on the monitor 30. In this example, a character 31 “following OK” is displayed on the map displayed on the monitor 30, and a preceding vehicle C1 and a following vehicle C2 traveling in a group are displayed. FIG. 4 is a display example in a state in which the following vehicle follows, and a star-shaped highlighting 32 surrounding the icon shape of the following vehicle C2 is attached. As another example of the state in which the following vehicle is following, the icon shape, color, blurring, and the like of the following vehicle C2 may be different from the highlighting 32. When the following vehicle is not following, characters such as “following NG” are displayed instead of the characters 31 “following OK”.

When there are three or more vehicles that are traveling in a group including the host vehicle, the following (1) to (3) can be considered as methods for determining the following state.
(1) A method of determining whether or not a vehicle running immediately after the head vehicle is following. If this vehicle is following, there is a high possibility that the subsequent vehicles are following in the same manner.
(2) A method for determining whether or not the last vehicle follows the first vehicle. If the last vehicle is following, there is a high possibility that the vehicle on the way is also following.
(3) This is a method for determining whether all the following vehicles are following the leading vehicle. Of the three methods, this can determine the tracking state most accurately.

<1-6. Effect of First Embodiment>
According to the first embodiment described above, the following effects can be obtained.
(1) In at least one of the preceding vehicle and the following vehicle, group traveling can be easily performed while grasping the follow-up state with another vehicle.

(2) By comparing the current travel position of the following vehicle and the history (travel locus) of the travel position of the preceding vehicle, it can be reliably determined whether or not these vehicles are in the following state.

(3) In addition to the comparison of the travel position, by comparing the blinker information at the current travel position of the succeeding vehicle with the blinker information at the corresponding position of the preceding vehicle, whether the path that the subsequent vehicle is going to travel from is correct. It can be determined whether or not the preceding vehicle and the succeeding vehicle are in the following state.
(4) Not only the comparison of the travel position, but also the information on the direction of the vehicle at the current travel position of the subsequent vehicle is compared with the information on the direction of the vehicle at the current position of the preceding vehicle, so that the subsequent vehicle will advance from now on. It is possible to determine whether or not the direction in question is correct and more reliably determine whether or not the preceding vehicle and the following vehicle are in the following state.

<2-1. Configuration of Second Embodiment (FIG. 5)>
FIG. 5 is a block diagram illustrating a configuration example of the tracking state presentation device according to the second embodiment of the present invention. The same parts as those in FIG. 1 of the first embodiment are denoted by the same reference numerals and description thereof is omitted.

  In the follow-up state presentation device of the second embodiment shown in FIG. 5, in addition to the components of the first embodiment, a road map memory 61 is connected to the processing unit 110, and a followability predicting unit is included in the follow-up determination unit 50. 60. Of the components of the first embodiment, the direction indicator sensor 71, the blinker information acquisition unit 70, and the vehicle information comparison unit 10 are not necessarily provided.

  The road map memory 61 stores road shape information, intersection connection information, road type information, lane information, and the like. The road shape information is information expressed by road links and nodes, and includes the position coordinates of the nodes. The intersection connection information is information on roads connected to the intersection, and includes information on links and nodes of the connected roads. The road type information includes information for identifying whether each road is a main road or a narrow street. For example, a national road or a prefectural road can be defined as a main road, and a municipal road can be defined as a narrow street.

  The followability predicting unit 60 includes a traveling direction information determining unit 65 and a feature point determining unit 66, and determines the future followability.

  The traveling direction information determination unit 65 stores the history (traveling locus) of the traveling position of the preceding vehicle stored in a memory (not shown), the vehicle position measuring unit 80 of the subsequent vehicle, and the vehicle direction calculating unit 90. Based on the own vehicle position and the traveling direction of the subsequent vehicle at the own vehicle position, it is determined whether or not the traveling locus of the preceding vehicle is included in the traveling direction of the subsequent vehicle. For this determination, the traveling direction information determination unit 65 accesses the road map memory 61 and traces the traveling direction of the following vehicle along the road to search for the presence or absence of the traveling locus of the preceding vehicle.

  The feature point determination unit 66 determines the presence or absence of an intersection existing in the traveling direction of the following vehicle and the type of road that intersects at the intersection. For this determination, the feature point determination unit 66 also accesses the road map memory 61.

<2-2. Tracking determination according to the second embodiment (FIG. 6)>
FIG. 6 is a flowchart illustrating a processing procedure for tracking determination in the tracking state presentation device according to the second embodiment. Since the processing procedure for acquiring the travel information is the same as that in FIG. 2 for the first embodiment, illustration and description thereof are omitted.

  The process of the flowchart in FIG. 6 is executed in the preceding vehicle among the vehicles traveling in a group, as in FIG. However, as described later, the follow-up determination process may be executed in the following vehicle. The process in FIG. 6 is to receive travel history information from another vehicle (following vehicle) and determine the possibility of following. In addition to being executable during information reception, even when reception of information is interrupted, the possibility of following can be determined based on information received in the past.

  First, in step S212, the orientation of the subsequent vehicle calculated by the vehicle orientation calculation unit 90 of the subsequent vehicle is acquired. Here, when the other vehicle is a subsequent vehicle and reception of information from the subsequent vehicle is interrupted, the latest direction of the subsequent vehicle is acquired from the travel history information received in the past.

  Next, in step S213, the traveling direction information determination unit 65 determines whether or not the past traveling position (traveling locus) of the preceding vehicle exists in the traveling direction of the subsequent vehicle.

  The direction of the following vehicle can be calculated by using a line segment connecting two or more tracks of the following vehicle as a direction vector. Then, it is determined whether or not the traveling locus of the preceding vehicle exists in the direction of the traveling direction vector. If there is, the map matching is performed to determine whether or not the traveling locus of the preceding vehicle is on the road. Here, the road to be a map matching target is a road represented by a link having a common identification number with a link including two or more traveling loci of the following vehicle. Alternatively, if the route is being guided to the target point, the road is represented by a link that guides the route.

  If the other vehicle is a preceding vehicle, the travel locus of the preceding vehicle received in the past is stored in a memory (not shown) of the succeeding vehicle, and reception of information from the preceding vehicle is interrupted. Then, it is determined whether or not there is a travel locus of the preceding vehicle stored in the memory.

  When the traveling locus of the preceding vehicle exists in the traveling direction of the subsequent vehicle (step S213: YES), in step S214, the feature point determination unit 66 determines whether or not the feature point exists in the traveling direction of the subsequent vehicle. . Here, the characteristic point is “an intersection with a main road located in front of the following vehicle when it is traveling on a main road or a narrow street”.

The feature points are defined as described above for the following reasons.
When there is an intersection in the traveling direction of the following vehicle, whether the following vehicle can follow the preceding vehicle differs depending on which route the following vehicle takes. Even if it is an intersection, it is rare that you are currently traveling on a highway and entering a narrow street. Conversely, if you are currently traveling on a narrow street, do not turn left or right until you cross the highway. Such things are excluded from the feature points because they often keep going straight. That is, the following intersections are excluded.
(1) Intersection with a narrow street located in front of the main road on which the following vehicle travels (2) Intersection where the narrow street on which the subsequent vehicle travels intersects the narrow street before the intersection where the main road intersects

  Here, the intersection includes any of a three-way such as a T-junction and a Y-junction, a four-way such as a crossroad, and five or more forks.

  When there is no feature point in the traveling direction of the following vehicle (step S214: NO), the followability predicting unit 60 determines that the followability is high in step S215. On the other hand, when there is no travel locus of the preceding vehicle in the traveling direction of the following vehicle (step S213: NO), or when there is a feature point in the traveling direction of the following vehicle (step S214: YES), the followability predicting unit 60 determines that the possibility of following is low in step S216.

  Finally, in step S117, a determination result that the possibility of following is high or the possibility of following is low is output to the monitor 30 under the control of the display control unit 40. The output method is the same as that described in the first embodiment. For example, characters such as “following OK” and “following NG” may be displayed by characters, and around the icon of the following vehicle having a high possibility of following. May display a highlighting 34.

  Note that the case where there is no traveling track of the preceding vehicle in the traveling direction of the following vehicle means, for example, that the preceding vehicle traveling on the main road enters a narrow street that obliquely intersects the main road, and the traveling direction of the following vehicle Is the direction along the main road.

<2-3. Effect of Second Embodiment>
According to the second embodiment described above, the following operational effects can be obtained.
(1) Similar to the first embodiment, at least one of the preceding vehicle and the following vehicle can easily travel in a group while grasping the possibility of following with another vehicle.
(2) Since the possibility of following can be determined based on whether or not the traveling locus of the preceding vehicle is included in the traveling direction of the subsequent vehicle, more reliable determination of the possibility of following can be performed. In addition, even when the communication state deteriorates, a guideline can be given to the user by determining the followability.

(3) By determining the possibility of following based on the information of the intersection existing in the traveling direction of the following vehicle, it is possible to determine the possibility that it will become impossible to follow in the future even if it has been able to follow in the past. Can be encouraged.

<3-1. Configuration of Third Embodiment (FIG. 7)>
FIG. 7 is a block diagram illustrating a configuration example of the tracking state presentation device according to the third embodiment of the present invention. The components already described in FIG. 1 for the first embodiment or FIG. 5 for the second embodiment are denoted by the same reference numerals, and detailed description thereof is omitted.

  The follow-up state presentation device according to the third embodiment shown in FIG. 7 includes all the components of the first embodiment and includes all the components of the second embodiment. In other words, the first embodiment and the second embodiment are combined.

  Further, in the third embodiment, the display control unit 40 includes a followability display control unit 41. The followability display control unit 41 controls the monitor 30 to distinguish and output the level of the degree of followability based on the determination result in the follow determination unit 50.

<3-2. Tracking determination according to third embodiment (FIGS. 8 and 9)>
FIG. 8 is a flowchart illustrating a processing procedure for tracking determination in the tracking state presentation device according to the third embodiment. Since the processing procedure for acquiring the travel information is the same as that in FIG. 2 for the first embodiment, illustration and description thereof are omitted.

  In the process of FIG. 8, while receiving information from another vehicle, it is determined whether or not the current tracking state is in the same manner as in FIG. 3 of the first embodiment. If the information from the other vehicle is interrupted, Based on the travel history, the possibility of following is predicted in the same manner as in FIG. 6 of the second embodiment. Furthermore, in the process of FIG. 8, the level of the possibility of following is distinguished and output. The processes already described in FIG. 3 for the first embodiment or FIG. 6 for the second embodiment are denoted by the same reference numerals, and detailed description thereof is omitted.

  First, in step S111, it is determined whether or not travel history information has been sent from another vehicle, as in the first embodiment. When traveling history information is sent from another vehicle (step S111: YES), in steps S112 to S114, the latest one point of the traveling history information of the following vehicle is included in the traveling history information of the preceding vehicle. It is determined whether or not there is a match, and if there is a match, it is determined whether or not the state continues for a predetermined number of times. Details of these determination processes are as described in the first embodiment.

  If the travel history information from another vehicle is interrupted (step S111: NO), after the coincidence detection counter is reset in step S120, the travel history information has been previously sent from the other vehicle in step S311. It is determined whether or not there is. If it has never been sent (step S311: NO), the process returns to step S111. If it has been sent (step S311: YES), in steps S212 to S214, whether or not there is a past travel position of the preceding vehicle in the traveling direction of the subsequent vehicle, and if there is, the traveling direction of the subsequent vehicle It is determined whether or not there is a feature point. The details of these determination processes are as described in the second embodiment.

  Next, based on the determination result, the level of the possibility of following is determined based on the following criteria. In steps S113 and S114, the travel history information of the preceding vehicle includes information that matches the latest one point of the travel history information of the subsequent vehicle (step S113: YES), and the state is the same. When it has continued for a predetermined number of times (step S114: YES), it can be determined that the following vehicle is following the preceding vehicle. Therefore, in this case, in step S315, it is determined that the followability is, for example, the highest level “3”.

  In steps S213 and S214, when the previous travel position of the preceding vehicle exists in the traveling direction of the following vehicle (step S213: YES), and the feature point does not exist in the traveling direction of the subsequent vehicle (step S214: NO). Although it can be determined that the possibility of following is high, only determination based on information before the interruption of communication can be performed. Therefore, in this case, in step S316, it is determined that the followability is, for example, a medium level of “2”.

  In step S113 or S114, if the traveling history information of the preceding vehicle does not include information that matches the latest one point of the traveling history information of the following vehicle (step S113: NO), or matches Even if there is something to be done, if the state has not continued for a predetermined number of times (step S114: NO), it can be determined that the following vehicle is not following the preceding vehicle. In steps S213 and S214, if there is no past travel position of the preceding vehicle in the traveling direction of the subsequent vehicle (step S213: NO), or there is a feature point in the traveling direction of the subsequent vehicle even if it exists. In this case (step S214: YES), it can be determined that the possibility of following is low. Therefore, in these cases, in step S317 or step S317A, it is determined that the follow-up possibility is, for example, the lowest level “1”.

  Next, in step S318 or step S318A, the followability display control unit 41 discriminates and outputs this to the monitor 30 according to the level of the followability determined above.

  FIG. 9 is a diagram illustrating an example of a display output to the monitor 30 in the third embodiment. For example, the degree of the possibility of following is indicated by the display 33 using the numerical values such as “3”, “2”, and “1”. In the display example of FIG. 9, the preceding vehicle C1 and the following vehicle C2 traveling in a group are displayed on the map displayed on the monitor 30, and the following vehicle highlight display 34 is different depending on the level of the possibility of following. Display. And the display guidance of the emphasis display 34 when the followability possibility level is high, medium, or low is shown in the lower left of FIG. The bar code display shown in FIG. 10 may be used for high, medium and low followability levels.

  When there are three or more vehicles that are traveling in a group, including the host vehicle, and the possibility of following is determined between the host vehicle and all other vehicles that are traveling in the group, An average value of the possibilities may be output, or the lowest level of the determined following possibilities may be output.

<3-3. Effect of Third Embodiment>
According to the third embodiment described above, the following operational effects can be obtained.
(1) Similar to the first and second embodiments, at least one of the preceding vehicle and the following vehicle can easily travel in a group while grasping the following state or possibility of following with another vehicle.

(2) If it is in a communicable state, the follow-up state with other vehicles can be grasped based on real-time information, and information received in the past if it is in a state in which communication is impossible such as when the radio wave state deteriorates The possibility of following can be determined based on the above. Accordingly, the follow-up determination can be performed according to the communication status, and group traveling can be facilitated.

(3) Since the level of the degree of followability is distinguished and output, it is possible to make the presentation of the followability fine.

<4. Explanation of terms>
In addition, the own vehicle information acquisition part 100 in each embodiment described above is the "own vehicle information acquisition means" of the present invention, the transceiver 20 is the "transmission / reception means", the follow-up determination part 50 is the "follow-up determination means", The display control unit 40 and the monitor 30 correspond to “determination result presentation means”, respectively. The above description is merely an example, and when interpreting the invention, there is no limitation or restriction on the correspondence between the items described in the above embodiment and the items described in the claims.

It is a block diagram which shows the structural example of the tracking state presentation apparatus by 1st Embodiment. It is a flowchart which shows the process sequence for acquisition of driving | running | working information in the tracking state presentation apparatus by 1st thru | or 3rd Embodiment. It is a flowchart which shows the process sequence for the tracking determination in the tracking state presentation apparatus by 1st Embodiment. It is a figure which shows the example of the display output to the monitor 30 in 1st and 2nd embodiment. It is a block diagram which shows the structural example of the tracking state presentation apparatus by 2nd Embodiment. It is a flowchart which shows the process sequence for the tracking determination in the tracking state presentation apparatus by 2nd Embodiment. It is a block diagram which shows the structural example of the tracking state presentation apparatus by 3rd Embodiment. It is a flowchart which shows the process sequence for the tracking determination in the tracking state presentation apparatus by 3rd Embodiment. It is a figure which shows the example of the display output to the monitor 30 in 3rd Embodiment. It is a figure which shows the other example of the display output to the monitor 30 in 3rd Embodiment.

Explanation of symbols

DESCRIPTION OF SYMBOLS 20 ... Transmitter / receiver 30 ... Monitor 50 ... Tracking determination part 40 ... Display control part 100 ... Own vehicle information acquisition part C1 ... Predecessor vehicle C2 ... Subsequent vehicle

Claims (8)

Own vehicle information obtaining means for obtaining traveling information of the own vehicle;
Transmitting / receiving means for transmitting the traveling information of the host vehicle and receiving traveling information of the other vehicle;
Based on the travel information of the host vehicle acquired by the host vehicle information acquisition means and the travel information of the other vehicle received by the transmission / reception means, whether or not these vehicles are in a follow-up state, or of these vehicles Follow-up judging means for judging follow-up possibility;
Determination result presenting means for presenting the determination result by the follow-up determination means to the occupant;
A follow-up state presentation device characterized by comprising: In the following state presentation device according to claim 1,
The follow-up determination means includes
In a state where the traveling information of the other vehicle can be received, it is determined whether the host vehicle and the other vehicle are in a following state,
A follow-up state presentation device that determines the follow-up possibility between the host vehicle and the other vehicle in a state where the travel information of the other vehicle cannot be received. In the following state presentation device according to claim 1 or 2,
The follow-up determination means determines whether or not these vehicles are in a follow-up state by comparing a travel position of a subsequent vehicle of the host vehicle or other vehicle with a travel locus of a preceding vehicle of the host vehicle or other vehicle. A follow-up state presentation device characterized by determining the following. In the following state presentation device according to claim 3,
The follow-up determining means further determines whether or not these vehicles are in a following state by comparing the direction indicator operation information of the following vehicle and the direction indicator operation information of the preceding vehicle. Follow-up state presentation device. In the following state presentation device according to claim 3 or 4,
The follow-up determination means further determines whether or not these vehicles are in a follow-up state by comparing the vehicle-direction information of the following vehicle and the vehicle-direction information of the preceding vehicle. apparatus. In the following state presentation device according to any one of claims 1 to 5,
The follow-up determination means calculates a traveling direction of a subsequent vehicle of the host vehicle or another vehicle, and determines whether the traveling direction includes a travel locus of a preceding vehicle of the host vehicle or the other vehicle. When the determination is affirmative, the follow-up state presentation device further determines the followability of these vehicles by determining whether or not the travel locus of the preceding vehicle is located on the road. In the follow-up state presentation device according to any one of claims 1 to 6,
The follow-up state presenting apparatus is characterized in that the follow-up determining means determines the follow-up possibility of these vehicles based on information of intersections existing in the traveling direction of the following vehicle among the host vehicle or other vehicles. The following state presentation device according to any one of claims 1 to 7,
The follow-up determination means determines the degree of the follow-up possibility,
The follow-up state presentation device, wherein the determination result output means distinguishes and outputs the level of the degree of follow-up possibility.

Images