Vehicle notification device

Abstract

A notification device for a vehicle is provided, which can perform notification processing for notifying the driver of the own vehicle of the presence of an oncoming vehicle in advance when there is a high possibility of a collision with an oncoming vehicle when the own vehicle turns in a specific direction, which is one of the right and left directions, and avoid unnecessary work of the notification processing. When there is an oncoming vehicle, the notification device of the vehicle performs the notification processing when a specific condition that is satisfied when a direction indicator corresponding to the specific direction of the own vehicle is in an operating state and there is a high possibility that the own vehicle starts to turn in the specific direction is satisfied. The oncoming vehicle is another vehicle that approaches the own vehicle from the front of the own vehicle in the oncoming lane and is expected to pass by the own vehicle on the specific direction side relative to the current position of the own vehicle.

Description

Technical Field

[0001] The present invention relates to a vehicle notification device for notifying a driver of a own vehicle of the existence of an oncoming vehicle. Background Art

[0002] One of such vehicle notification devices (hereinafter also referred to as "conventional device") notifies the driver of the vehicle when the time until the oncoming vehicle reaches the expected right turn trajectory of the own vehicle is less than a predetermined time when the own vehicle is stopped and the right turn indicator is working (see, for example, Patent Document 1). This notification process is also referred to as "oncoming vehicle notification process" or "notification process".

[0003] Prior art literature

[0004] Patent Document 1: Japanese Patent Application Publication No. 2004-280453 Summary of the invention

[0005] The expected right turn trajectory (i.e. the expected driving path of the own vehicle) can be obtained based on the steering angle of the own vehicle at the current time point, for example. In this case, if the driver of the own vehicle has not started the steering operation for turning right, the oncoming vehicle notification process is not performed.

[0006] However, it is desirable to start the oncoming vehicle notification process at the earliest possible timing (for example, the timing before the driver starts the steering operation for turning right). On the other hand, it is desirable to avoid unnecessary execution of the oncoming vehicle notification process as much as possible.

[0007] Therefore, one of the objects of the present invention is to provide a vehicle notification device which can start a notification operation to notify a driver of the presence of an oncoming vehicle in advance and has a low possibility of performing an unnecessary notification operation.

[0008] A vehicle notification device for achieving the above-mentioned object (hereinafter also referred to as "the device of the present invention") includes a surrounding sensor, a direction indicator, a notification device, and a control unit.

[0009] The surrounding sensor (front camera 41) acquires "surrounding information" including information on targets existing in the area ahead of the own vehicle and dividing lines on the road on which the own vehicle is traveling.

[0010] The state of the direction indicator (direction indicator 43) is changed from a non-operating state (extinguished state) to an operating state (flashing state) by a predetermined operation of the driver of the own vehicle.

[0011] The notifier (display 46 and speaker 47) performs a "notification operation" for notifying the driver of the existence of another vehicle that the driver should be aware of.

[0012] The control unit (ECU21 to ECU29, etc.) controls the annunciator (see steps 630 and 640, etc.).

[0013] Moreover, the control unit determines whether there is an "oncoming vehicle" based on the surrounding information. The "oncoming vehicle" is another vehicle that is traveling on an "oncoming lane" relative to the driving lane in which the own vehicle is traveling, approaching the own vehicle from the front of the own vehicle, and whose "expected driving path" is passing on a "specific direction side" that is either the right or the left relative to the current position of the own vehicle.

[0014] Furthermore, when the control unit determines that the "predetermined specific condition" has been satisfied (for example, referring to Figure 6 ), the notifier starts the notifying action (e.g., step 630), and the "predetermined specific condition" is satisfied in any of the following cases: the direction indicator corresponding to the specific direction of the own vehicle in the direction indicator is in the working state, and it is determined that the oncoming vehicle exists, and it is predicted that there is a high possibility that the own vehicle starts to turn in the specific direction, and the driver of the own vehicle should recognize the existence of the oncoming vehicle before the own vehicle starts to turn in the specific direction.

[0015] The specific direction is, for example, the right direction in a left-side traffic area (an area where vehicles travel on the left side of the road), and the left direction in a right-side traffic area (an area where vehicles travel on the right side of the road). In other words, the specific direction is the direction in which the own vehicle crosses the opposite lane when turning right or left. In a case where the own vehicle is traveling in a left-side traffic area, when the own vehicle turns right while the expected driving path of the opposite vehicle passes to the right of the own vehicle, the own vehicle may collide with the opposite vehicle. Therefore, even at a time point before the own vehicle starts to turn in the specific direction, when a predetermined specific condition that is predicted (estimated) to be established when there is a high probability that the own vehicle will start to turn in the specific direction is established, the notification action is started.

[0016] In other words, even if the driver of the own vehicle has not started the steering operation for turning right, the notification action (oncoming vehicle notification processing) is started when the specific condition is met. On the other hand, if the specific condition is not met, the notification action is not started. Therefore, according to the device of the present invention, the notification action can be started at a time point before the steering operation by the driver is started (notifying the driver of the existence of the oncoming vehicle that the driver should pay attention to), and the possibility of the notification action being performed unnecessarily can be reduced.

[0017] In several technical solutions of the device of the present invention,

[0018] The control unit determines whether the following condition (i.e., specific area condition) is met based on the surrounding information (e.g., step 645), which condition is met when a part of the area through which the own vehicle passes when turning in the specific direction is included and a specific area predetermined relative to the own vehicle (e.g., a right turn passing area) does not include the dividing line on the specific direction side of a pair of (left and right) dividing lines demarcating the driving lane (i.e., the specific dividing line, refer to Lt1, Lt2, Lt3, and Lt4, etc.).

[0019] Furthermore, when the control unit determines that the condition for the specific area is satisfied, it determines that the specific condition is satisfied and causes the notifier to start a notification operation (see, for example, the case where the process proceeds from "Yes" in step 645 to step 630).

[0020] When the direction indicator of the own vehicle corresponding to the "specific direction" is in operation and the specific area does not include the specific dividing line (when the specific area condition is satisfied), the possibility that the own vehicle is about to turn in the specific direction at the intersection is high. Therefore, in this case, the notification action is started.

[0021] In several technical solutions of the device of the present invention,

[0022] The control unit is configured as follows:

[0023] Determining whether a turn standby condition is met based on the surrounding information,

[0024] When it is determined that the turn waiting condition is satisfied, it is determined that the specific condition is satisfied.

[0025] The turn waiting condition is a condition that the specific area includes the specific dividing line (step 645: No), and the traveling speed of the own vehicle is lower than a predetermined first threshold speed (Vth1) (step 650: Yes).

[0026] Sometimes, when the own vehicle turns in a specific direction at a location other than an intersection, the possibility of colliding with an oncoming vehicle becomes high. It is desirable to perform a notification operation in this case as well.

[0027] When the vehicle turns in a specific direction at a place other than an intersection, the specific demarcation line is often included in the specific passing area. Moreover, in most cases, the driver will reduce the driving speed of the vehicle before turning the vehicle in the specific direction. Therefore, when the vehicle is about to turn in a specific direction at a place other than an intersection, the turning standby condition is met. Thus, even when the vehicle turns in a specific direction at a place other than an intersection, the notification action can be appropriately performed.

[0028] On the other hand, for example, the driver sometimes operates the direction indicator corresponding to a specific direction in order to change lanes from the leftmost lane in the area of ​​left-hand traffic to the lane on the right side of the lane (not the oncoming lane, generally referred to as the overtaking lane). In this case, the driving speed of the own vehicle is often greater than the first threshold speed, so the turn standby condition is not met, and thus, the notification action is not performed. Therefore, the possibility of unnecessary notification actions in the case of lane changes can be reduced.

[0029] In several technical solutions (such as the first variant) of the device of the present invention,

[0030] The control unit is configured as follows:

[0031] Determine whether there is a preceding vehicle based on the surrounding information ( Figure 8 Step 820), the preceding vehicle is another vehicle located immediately before the own vehicle,

[0032] In the case where it is determined that the preceding vehicle exists, it is determined whether the speed of the preceding vehicle is greater than a predetermined preceding vehicle turning threshold speed (Vth2),

[0033] When it is determined that the speed of the preceding vehicle is greater than the preceding vehicle turning threshold speed, it is determined that the specific condition is satisfied (step 820 : Yes).

[0034] For example, the driver of the leading vehicle may not notice the presence of the oncoming vehicle and may start turning in a specific direction at the intersection. Or, the driver of the leading vehicle may turn in a specific direction at the intersection before the oncoming vehicle arrives at the intersection. In these cases, the driver of the own vehicle may misunderstand that there is no oncoming vehicle. Therefore, in the above technical solution, when it is determined that the speed of the leading vehicle is greater than the turning threshold speed of the leading vehicle, it is determined that the specific condition has been met and the notification action is performed.

[0035] In several technical solutions (such as the second variant) of the device of the present invention,

[0036] The control unit is configured as follows:

[0037] Based on the surrounding information, it is determined whether there is a preceding vehicle, the preceding vehicle being another vehicle located immediately in front of the own vehicle;

[0038] In the case where it is determined that the preceding vehicle exists, it is determined based on the surrounding information whether the preceding vehicle has started to turn in the specific direction ( Fig.10 Step 1020),

[0039] When it is determined that the preceding vehicle has started turning in the specific direction, it is determined that the specific condition is satisfied (step 1020 : Yes).

[0040] According to this technical solution, even if the driver of the preceding vehicle does not notice the presence of the oncoming vehicle and starts turning in a specific direction at the intersection, and intends to turn in a specific direction at the intersection before the oncoming vehicle arrives at the intersection, it is determined that the specific condition has been satisfied, and thus the notification action is performed.

[0041] In several technical solutions (such as the third variant) of the device of the present invention,

[0042] The control unit is configured as follows:

[0043] Determine whether the oncoming lane in which the oncoming vehicle is traveling and the driving lane of the own vehicle are adjacent to each other based on the surrounding information ( Fig.12 Step 1245),

[0044] When it is determined that the oncoming lane in which the oncoming vehicle is traveling and the driving lane of the own vehicle are adjacent to each other, it is determined that the specific condition is satisfied (step 1245 : Yes).

[0045] In the case where an oncoming vehicle is traveling in a lane adjacent to the driving lane in a specific direction, if the direction indicator of the own vehicle corresponding to the specific direction is in an operating state, there is a high possibility that the own vehicle crosses the lane in which the oncoming lane is traveling. That is, the case where the oncoming vehicle is traveling in a lane adjacent to the driving lane in a specific direction is a case where the driver of the own vehicle should recognize the existence of the oncoming vehicle before the own vehicle starts to turn in the specific direction. Therefore, in the above technical solution, when it is determined that the oncoming lane in which the oncoming vehicle is traveling is adjacent to the driving lane of the own vehicle, it is determined that the specific condition has been met. Therefore, the notification action is performed in this case.

[0046] In several technical solutions (such as the third variant) of the device of the present invention,

[0047] The control unit is configured as follows:

[0048] Based on the surrounding information, it is determined whether the lateral distance (|Dx|) is smaller than a predetermined first threshold distance (Dth1) ( Fig.12 Step 1250), the lateral distance is the distance in the width direction of the own vehicle from the own vehicle to the oncoming vehicle,

[0049] When it is determined that the lateral distance is smaller than the first threshold distance, it is determined that the specific condition is satisfied (step 1250 : Yes).

[0050] In the case where the lateral distance from the own vehicle to the oncoming vehicle is small, if the direction indicator of the own vehicle corresponding to the specific direction is in an operating state, the own vehicle may approach the oncoming vehicle just after the operation begins. That is, the case where the lateral distance from the own vehicle to the oncoming vehicle is small is a case where the driver of the own vehicle should recognize the existence of the oncoming vehicle before the own vehicle starts turning in the specific direction. Therefore, in the above technical solution, when it is determined that the lateral distance is smaller than the first threshold distance, it is determined that the specific condition is satisfied. Therefore, in this case, the notification action is performed.

[0051] In several technical solutions (such as the fourth variation) of the device of the present invention,

[0052] The control unit is configured as follows:

[0053] Determine whether there is a crossing vehicle based on the surrounding information ( Fig.14 In step 1450), the crossing vehicle is another vehicle different from the oncoming vehicle, and the expected travel path of the other vehicle intersects the expected travel path of the oncoming vehicle,

[0054] When the prohibition condition including the condition that the crossing vehicle exists is satisfied, the execution of the notification operation is prohibited (step 1450: No).

[0055] In several technical solutions (such as the fourth variation) of the device of the present invention,

[0056] The control unit is configured as follows:

[0057] Determine whether there is a crossing vehicle based on the surrounding information ( Fig.14 In step 1450), the crossing vehicle is another vehicle different from the oncoming vehicle, and the expected driving path of the other vehicle intersects the expected path of the own vehicle,

[0058] When the prohibition condition including the condition that the crossing vehicle exists is satisfied, the execution of the notification operation is prohibited (step 1450: No).

[0059] When the driver of the own vehicle recognizes a crossing vehicle, there is a high possibility that the own vehicle will slow down. Therefore, in the above-mentioned several technical solutions, when the prohibition condition including the condition that there is a crossing vehicle is satisfied, the execution of the notification action is prohibited. Thereby, the possibility of unnecessary execution of the notification action can be reduced.

[0060] In several technical solutions (such as the sixth variation) of the device of the present invention,

[0061] The control unit is configured as follows:

[0062] Based on the surrounding information, it is determined whether the lateral distance (|Dx|) is greater than or equal to the lateral threshold distance (Dth3, Dth4) ( Fig.19 The lateral distance is the distance in the width direction of the own vehicle from the own vehicle to the oncoming vehicle. The greater the travel speed of the own vehicle, the greater the lateral threshold distance.

[0063] When the prohibition condition including the condition that the lateral distance is equal to or greater than the lateral threshold distance is satisfied, the execution of the notification action is prohibited (step 1950: No, step 1955: No).

[0064] The lower the speed of the own vehicle, the longer the time (intersection arrival time) until reaching the expected driving path of the oncoming vehicle (the expected path of the oncoming vehicle). Moreover, the greater the distance between the own vehicle and the oncoming vehicle in the vehicle width direction (the lateral distance (|Dx|)), the longer the intersection arrival time. When the intersection arrival time becomes longer, the possibility that the driver recognizes the existence of the oncoming vehicle before the own vehicle reaches the expected path of the oncoming vehicle becomes higher. Therefore, in the above-mentioned embodiment, when the prohibition condition including the condition that the lateral distance is greater than the lateral threshold distance is satisfied, the execution of the notification action is prohibited. Thereby, the possibility of unnecessary execution of the notification action can be reduced.

[0065] In the above-mentioned "implementation of comparing the lateral distance with the lateral threshold distance", more specifically,

[0066] The control unit is configured as follows:

[0067] When the traveling speed of the own vehicle is below a fourth threshold speed (Vth4), it is determined based on the surrounding information whether a lateral distance is above a third threshold distance (Dth3), which is a distance in the width direction of the own vehicle from the own vehicle to the oncoming vehicle ( Fig.19 Step 1945 and step 1950),

[0068] When the prohibition conditions including the condition that the traveling speed of the own vehicle is lower than or equal to the fourth threshold speed and the lateral distance is higher than or equal to the third threshold distance are satisfied, the execution of the notification action is prohibited (step 1950: No).

[0069] Similarly, in the above-mentioned “implementation of comparing the lateral distance with the lateral threshold distance”, more specifically,

[0070] The control unit is configured as follows:

[0071] When the traveling speed of the own vehicle is greater than the fourth threshold speed (Vth4), it is determined based on the surrounding information whether the "lateral distance which is the distance in the width direction of the own vehicle from the own vehicle to the oncoming vehicle" is greater than or equal to the "fourth threshold distance (Dth4) greater than the third threshold distance" ( Fig.19 Step 1945 and step 1955),

[0072] When prohibition conditions including the condition that the traveling speed of the own vehicle is greater than the fourth threshold value and the lateral distance is greater than the fourth threshold distance are satisfied, the execution of the notification action is prohibited (step 1955: No).

[0073] Several technical solutions (such as the seventh variation) of the device of the present invention include:

[0074] A steering angle sensor (45) for detecting an operating angle of a steering wheel of the own vehicle; and

[0075] A brake pedal operation state sensor (48) detects the operation state of the brake pedal of the own vehicle.

[0076] Furthermore, the control unit of this embodiment determines whether a prohibition condition having the satisfaction of all the conditions described below as a prerequisite for satisfaction is satisfied, and prohibits the execution of the notification action if the prohibition condition is satisfied.

[0077] The detected operation angle (θs) is a value in a direction opposite to a direction in which the own vehicle is turned so as to cross the oncoming lane, or the detected steering angle is a value in a direction in which the own vehicle is turned so as to cross the oncoming lane, and the magnitude of the steering angle is smaller than a threshold angle (θth) ( Fig. 20 Step 2050: Yes).

[0078] The detected operation state of the brake pedal indicates that the brake pedal is operated. Fig. 20 Step 2055: Yes).

[0079] The travel speed of the own vehicle is lower than the fifth threshold speed ( Fig. 20 Step 2060: Yes).

[0080] If the driver of the own vehicle recognizes the presence of an oncoming vehicle, there is a high possibility that the driver will decelerate the own vehicle before starting to turn in a specific direction. Therefore, if the brake pedal is operated, there is a high possibility that the driver recognizes the presence of an oncoming vehicle. On the other hand, when the steering wheel is operated in a specific direction at an angle greater than a threshold angle (θth), there is a high possibility that the driver does not recognize the presence of an oncoming vehicle. Furthermore, when the driving speed of the own vehicle is greater than the fifth threshold speed, there is a high possibility that the driver does not recognize the presence of an oncoming vehicle. Therefore, according to the above embodiment, the possibility of performing a notification action in a case where there is a high possibility that the driver of the own vehicle recognizes the presence of an oncoming vehicle can be reduced.

[0081] In some technical solutions (such as the fifth variant) of the device of the present invention, the alarm includes a speaker (47) for generating sound and a display (46) for displaying.

[0082] Furthermore, the control unit is configured as follows:

[0083] When it is determined that the longitudinal distance between the vehicle determined to be the oncoming vehicle and the own vehicle is smaller than a predetermined second threshold distance and the target object driving speed of the vehicle determined to be the oncoming vehicle is less than a predetermined third threshold speed, it is determined that the vehicle determined to be the oncoming vehicle has stopped,

[0084] In a case where it is determined that the vehicle determined to be the oncoming vehicle has stopped, a stop history record is maintained, the stop history record indicating that a determination has been made that the vehicle determined to be the oncoming vehicle has stopped,

[0085] When it is determined that the stop history is not retained because the specific condition is satisfied, a notification operation using both the speaker and the display is started ( Fig.16 Step 1650: No, Step 1630 and Step 1632),

[0086] When it is determined that the stop history is held in order to satisfy the specific condition, a notification operation using the speaker instead of the display is started ( Fig.16 Step 1650: Yes, step 1632).

[0087] When the oncoming vehicle has stopped (temporarily stopped), the time that the oncoming vehicle is in the field of vision of the driver of the own vehicle becomes longer. As a result, the possibility that the driver of the own vehicle notices the oncoming vehicle becomes higher. Therefore, by performing the notification operation using the speaker instead of the display when the stop history is kept, the possibility that the driver feels annoyed by the display can be reduced.

[0088] In several technical solutions of the device of the present invention (for example, a variation of the fifth variation),

[0089] The control unit is configured as follows:

[0090] When it is determined that the longitudinal distance between the vehicle determined to be the oncoming vehicle and the own vehicle is smaller than a predetermined second threshold distance and the target object driving speed of the vehicle determined to be the oncoming vehicle is less than a predetermined third threshold speed, it is determined that the vehicle determined to be the oncoming vehicle has stopped,

[0091] In a case where it is determined that the vehicle determined to be the oncoming vehicle has stopped, a stop history record is maintained, the stop history record indicating that a determination has been made that the vehicle determined to be the oncoming vehicle has stopped,

[0092] When it is determined that the stop history is not retained in order to satisfy the specific condition, the notification operation is started.

[0093] When it is determined that the stop history is held in order to ensure that the specific condition is satisfied, the notification operation is prohibited.

[0094] According to this embodiment, when there is a high possibility that the driver of the own vehicle has noticed the oncoming vehicle because the oncoming vehicle has temporarily stopped (there is a stop history record), the notification action is prohibited. Therefore, the possibility of performing the notification action when there is a high possibility that the driver of the own vehicle recognizes the existence of the oncoming vehicle can be reduced.

[0095] In several technical solutions (such as the eighth variation) of the device of the present invention,

[0096] The control unit is configured as follows:

[0097] It is determined whether a predetermined first notification end condition is satisfied based on a parameter corresponding to the detected steering angle, the first notification end condition being satisfied when there is a high possibility that the own vehicle has stopped turning in the specific direction ( Fig. 22 Step 2210),

[0098] When it is determined that the first notification termination condition is satisfied during the execution of the notification operation, the notification operation is terminated ( Fig. 22 Step 2210: Yes, Fig. 22 Step 640).

[0099] The first notification end condition is, for example, a condition that is satisfied when the steering wheel of the vehicle is operated in a direction opposite to a specific direction at an angular velocity greater than a predetermined threshold angular velocity. When it is determined based on the operation state that the first notification end condition is satisfied, the notification operation is terminated.

[0100] In several technical solutions (such as the eighth variation) of the device of the present invention,

[0101] The control unit is configured as follows:

[0102] When it is determined that the state in which the oncoming vehicle does not exist continues for a third threshold time period or longer during the execution of the notification operation (see Fig. 22 ), so that the notification action ends (step 2265: yes, Fig. 22 Step 640).

[0103] There may be a situation where the detection accuracy of the surrounding sensors is temporarily reduced and it is temporarily determined that there is no oncoming vehicle even though there is actually one. In this case, the following situation may occur: after the notification action is completed due to the erroneous determination that there is no oncoming vehicle, the notification action is restarted immediately due to the correct determination that there is an oncoming vehicle. In this case, the driver is likely to feel uncomfortable. Therefore, the notification action is continued until the state of determining that there is no oncoming vehicle continues for the third threshold time. And the notification action is terminated at the time point when it is reliably determined that there is no oncoming vehicle.

[0104] In several technical solutions of the device of the present invention,

[0105] The control unit is configured as follows (see Figure 6 Step 635. ):

[0106] During the execution of the notification action, the notification action is terminated in at least one of the following cases: the direction indicator corresponding to the specific direction of the own vehicle changes from the working state to the non-working state (condition (C1)) and the own vehicle has stopped (condition (C3)).

[0107] In the above description, in order to help understand the present invention, for the configuration of the invention corresponding to the embodiment described later, the name and / or number used in the embodiment is added in a way of writing in brackets. However, each constituent element of the present invention is not limited to the embodiment specified by the name and / or number. Other purposes, other features and the accompanying advantages of the present invention can be easily understood based on the description of the embodiment of the present invention described with reference to the following drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0108] Figure 1 It is a schematic diagram of a vehicle (host vehicle) equipped with a vehicle notification device (host notification device) according to an embodiment of the present invention.

[0109] Figure 2 It is a block diagram of the present notification device.

[0110] Figure 3 This is a diagram showing an example in which the oncoming vehicle notification process is executed by the present notification device based on the route intersection notification condition and the first prior notification condition.

[0111] Figure 4 This is a diagram showing an example in which the oncoming vehicle notification process is executed by the present notification device based on the route intersection notification condition and the second prior notification condition.

[0112] Figure 5 This is a diagram showing an example in which the second advance notification condition is not satisfied.

[0113] Figure 6 This is a flowchart showing an oncoming vehicle notification determination processing routine executed by the present notification device.

[0114] Figure 7 This is a diagram showing an example in which an oncoming vehicle notification process is executed based on a third prior notification condition by a notification device for a vehicle according to a first modification of the embodiment of the present invention (first modification device).

[0115] Figure 8 This is a flowchart showing an oncoming vehicle notification determination processing routine executed by the first deformation device.

[0116] Fig. 9 This is a diagram showing an example in which an oncoming vehicle notification process is executed based on a fourth prior notification condition by a notification device for a vehicle according to a second modification of the embodiment of the present invention (second modification device).

[0117] Fig.10 This is a flowchart showing an oncoming vehicle notification determination processing routine executed by the second deformation device.

[0118] Fig.11This is a diagram showing an example in which the vehicle notification device (third modification device) according to the third modification example of the embodiment of the present invention performs oncoming vehicle notification processing based on the fifth prior notification condition or the sixth prior notification condition.

[0119] Fig.12 This is a flowchart showing an oncoming vehicle notification determination processing routine executed by the third deformation device.

[0120] Fig.13 This is a diagram showing an example in which an oncoming vehicle notification process is executed based on a seventh prior notification condition by a notification device for a vehicle (fourth modification device) according to a fourth modification of an embodiment of the present invention.

[0121] Fig.14 It is a flowchart showing the oncoming vehicle notification determination processing routine executed by the fourth deformation device.

[0122] Fig.15 This is a diagram showing an example in which the vehicle notification device (fifth modification device) according to the fifth modification of the embodiment of the present invention performs oncoming vehicle notification processing based on the stop history of the oncoming vehicle.

[0123] Fig.16 It is a flowchart showing the oncoming vehicle notification determination processing routine executed by the fifth deformation device.

[0124] Fig.17 This is a diagram showing an example in which an oncoming vehicle notification process is executed based on an eighth prior notification condition by a notification device for a vehicle according to a sixth modification of an embodiment of the present invention (sixth modification device).

[0125] Fig.18 This is a diagram showing an example in which the sixth variant device executes an oncoming vehicle notification process based on the ninth advance notification condition.

[0126] Fig.19 It is a flowchart showing the oncoming vehicle notification determination processing routine executed by the sixth deformation device.

[0127] Fig. 20 This is a flowchart showing an oncoming vehicle notification determination processing routine executed by a vehicle notification device (seventh modification device) according to a seventh modification example of an embodiment of the present invention.

[0128] Fig.21 This is a flowchart showing an oncoming vehicle notification determination processing routine executed by a vehicle notification device (eighth modified device) according to an eighth modified example of an embodiment of the present invention.

[0129] Fig. 22It is a flowchart showing the oncoming vehicle notification completion processing routine executed by the 8th deformation device.

[0130] Description of symbols

[0131] 10 Vehicle, 21 Vehicle control ECU, 41 Front camera, 42 Turn indicator lever sensor, 43 Direction indicator, 43L Left indicator, 43R Right indicator, 44 Vehicle speed sensor, 45 Steering angle sensor, 46 Display, 47 Speaker, 48 Brake pedal operation amount sensor, 51 Steering wheel, 51a Turn indicator lever, 52 Other vehicles, 61-67 Other vehicles. DETAILED DESCRIPTION

[0132] (constitute)

[0133] Hereinafter, a vehicle notification device according to an embodiment of the present invention (hereinafter also referred to as "this notification device") will be described with reference to the accompanying drawings. This notification device is applied to Figure 1 The vehicle 10 shown. As shown in FIG. Figure 2 As will be understood, the present notification device includes a vehicle control ECU 21 as an electronic control unit (ECU: Electronic Control Unit). The vehicle control ECU 21 is hereinafter also simply referred to as ECU 21.

[0134] ECU21 includes a microcomputer having a CPU31, a nonvolatile memory 32, and a RAM33 as main elements. CPU31 reads data, performs numerical calculations, and outputs calculation results by successively executing predetermined programs (routines). Nonvolatile memory 32 includes ROM and a readable and writable flash memory. Nonvolatile memory 32 stores programs executed by CPU31 and lookup tables (maps) referenced when executing the programs. RAM33 temporarily stores data referenced by CPU31.

[0135] The ECU 21 is connected to a front camera 41 , a turn signal lever sensor 42 , a direction indicator 43 , a vehicle speed sensor 44 , a steering angle sensor 45 , a display 46 , a speaker 47 , and a brake pedal operation amount sensor (brake pedal operation state sensor) 48 .

[0136] For the sake of convenience, the front camera 41 is also referred to as a “surrounding sensor.” For the sake of convenience, the display 46 and the speaker 47 are also referred to as a “notifier.”

[0137] (Composition - front camera)

[0138] The front camera 41 is disposed in the vicinity of a rearview mirror (not shown) in the upper part of the interior of the vehicle 10 (see Figure 1 The front camera 41 obtains a "front image" by photographing the area in front of the vehicle 10 every time a predetermined time interval ΔTc (fixed value) passes, and outputs data representing the front image (front image data) to the ECU 21. The horizontal field of view (angle of view, photographing area) of the front camera 41 is the range from the straight line Lc1 to the straight line Lc2 (refer to Figure 1 . ).

[0139] The front image last acquired by the front camera 41 is also referred to as the "latest image" hereinafter. The front image acquired by the front camera 41 immediately before the latest image (i.e., the front image acquired before the time interval ΔTc from the time when the latest image was acquired) is also referred to as the "previous image" hereinafter.

[0140] In the following description, Figure 1 As shown, the axis along the left-right direction (vehicle width direction) of the vehicle 10 is called the X-axis, and the axis along the front-back direction of the vehicle 10 is called the Y-axis. The center point of the front end of the vehicle 10 in the left-right direction of the vehicle 10 is the origin where X=0 and Y=0. The X coordinate is a positive value in the right direction when the vehicle 10 is moving forward, and a negative value in the left direction when the vehicle 10 is moving forward. The Y coordinate is a positive value in the front direction of the vehicle 10, and a negative value in the rear direction of the vehicle 10.

[0141] When receiving the front image data, the ECU 21 detects (extracts) three-dimensional objects including other vehicles and pedestrians included in the front image, and a pair of demarcation lines that delimit the driving lane (i.e., the lane in which the vehicle 10 is traveling). The three-dimensional objects detected based on the front image are also referred to as "camera detection objects" below. For the sake of convenience, information related to the camera detection objects and driving lanes detected based on the front image is also referred to as "surrounding information."

[0142] To describe the detection method of the camera detecting the target object in more detail, in order to extract the three-dimensional target object from the front image, ECU21 searches for "a portion similar to one of a large number of pre-stored templates (i.e., patterns of other vehicles and pedestrians, etc.)" in the front image. If ECU21 finds a portion of the front image similar to one of the templates (i.e., a portion of the front image where the three-dimensional target object is reflected), it extracts the contour of the "three-dimensional target object captured in the front image" corresponding to the template. That is, ECU21 extracts the contour of the three-dimensional target object contained in the front image by the pattern matching method.

[0143] When the ECU 21 detects a 3D object from the front image, it obtains the category of the template corresponding to the 3D object (i.e., the corresponding template) as the category of the 3D object. In this embodiment, the category of the 3D object (i.e., the category of the template pre-stored in the ECU 21) includes "other vehicles".

[0144] Furthermore, the ECU 21 obtains the “left end position” and “right end position” of the detected three-dimensional object relative to the vehicle 10 by a well-known method. The left end position and the right end position are respectively represented by a combination of an X coordinate value and a Y coordinate value.

[0145] ECU 21 obtains the distance between the front end of vehicle 10 and the three-dimensional object in the Y-axis direction as the longitudinal position Dy. Specifically, ECU 21 obtains the smaller value of the Y coordinate value of the left end position and the Y coordinate value of the right end position of the three-dimensional object as the longitudinal position Dy.

[0146] Then, the ECU 21 acquires the X coordinate value of the three-dimensional object as the lateral position Dx. Specifically, the ECU 21 acquires the average value of the X coordinate value of the left end position and the X coordinate value of the right end position of the three-dimensional object as the lateral position Dx.

[0147] At this time, if the category of the three-dimensional target is "other vehicle" and the front surface (front end) of the three-dimensional target (i.e., other vehicle) is included in the front image, the ECU 21 obtains the positions of the left end position (i.e., the left corner of the front end of the other vehicle) and the right end position (i.e., the right corner of the front end of the other vehicle) of the front surface of the other vehicle included in the front image, respectively, relative to the vehicle 10. Similarly, if the category of the three-dimensional target is "other vehicle" and the rear surface (rear end) of the three-dimensional target (i.e., other vehicle) is included in the front image, the ECU 21 obtains the positions of the left end position (i.e., the left corner of the rear end of the other vehicle) and the right end position (i.e., the right corner of the rear end of the other vehicle) of the rear surface of the other vehicle included in the front image, respectively, relative to the vehicle 10.

[0148] If the three-dimensional target detected from the latest image is also detected from the previous image, the ECU 21 obtains the lateral relative speed Vx, longitudinal relative speed Vy and target object travel speed Vc of the three-dimensional target. The lateral relative speed Vx indicates the relative speed of the three-dimensional target relative to the vehicle 10 in the X-axis direction. The longitudinal relative speed Vy indicates the relative speed of the three-dimensional target relative to the vehicle 10 in the Y-axis direction. The target object travel speed Vc indicates the magnitude of the moving speed of the three-dimensional target relative to the road surface (ground).

[0149] More specifically, the ECU 21 obtains the difference between the "lateral position Dx obtained based on the latest image" and the "lateral position Dx obtained based on the previous image, that is, the previous lateral position Dpx" as the lateral change amount ΔDx (i.e., ΔDx=Dx-Dpx). Furthermore, the ECU 21 obtains the lateral relative speed Vx by dividing the lateral change amount ΔDx by the time interval ΔTc (i.e., Vx=ΔDx / ΔTc).

[0150] Similarly, the ECU 21 obtains the difference between the "longitudinal position Dy obtained based on the latest image" and the "longitudinal position Dy obtained based on the previous image, that is, the previous longitudinal position Dpy" as the longitudinal change amount ΔDy (i.e., ΔDy=Dy-Dpy). Furthermore, the ECU 21 obtains the longitudinal relative speed Vy (i.e., Vy=ΔDy / ΔTc) by dividing the longitudinal change amount ΔDy by the time interval ΔTc.

[0151] Furthermore, the ECU 21 obtains the sum of the vehicle speed Vs, which is the running speed of the vehicle 10, and the longitudinal relative speed Vy as the target longitudinal speed Vcy (i.e., Vcy=Vs+Vy). Furthermore, the ECU 21 obtains the square root of the sum of the square of the target longitudinal speed Vcy and the square of the lateral relative speed Vx as the target running speed Vc (i.e., Vc=(Vcy 2 +Vx 2 ) 1 / 2 ).

[0152] Next, a detection method for a pair of dividing lines (specifically, a left dividing line and a right dividing line) that delimit the driving lane included in the front image is described. In this embodiment, the left dividing line and the right dividing line are road markings represented by white or yellow solid or dotted lines. The right dividing line is, for example, one of the lane center line and the lane boundary line. For the sake of convenience, the right dividing line is also referred to as a "specific dividing line".

[0153] ECU21 extracts the boundary (delimiting line boundary) between the dividing line extending from the front end of the vehicle 10 to the front (far away) and the area outside the dividing line based on the respective gradients of the hue, brightness, and chroma of the area corresponding to the road surface (ground) in the front image. ECU21 obtains the positions of the left dividing line and the right dividing line relative to the vehicle 10 based on the extracted dividing line. The left dividing line is represented by a set of combinations of "a certain Y coordinate value" and "the X coordinate value of the left dividing line at the Y coordinate value". Similarly, the right dividing line is represented by a set of combinations of "a certain Y coordinate value" and "the X coordinate value of the right dividing line at the Y coordinate value".

[0154] Furthermore, the ECU 21 determines whether a dividing line further to the right of the right dividing line relative to the vehicle 10 (hereinafter also referred to as an "adjacent right dividing line") is detected. The adjacent right dividing line is a dividing line that, together with the right dividing line, defines a "lane adjacent to the driving lane on the right." The lane defined by the right dividing line and the adjacent right dividing line is hereinafter also referred to as a "right adjacent lane."

[0155] (Composition - turn signal lever and turn signal indicator)

[0156] Figure 2 The turn indicator stalk sensor 42 shown detects Figure 1 The ECU 21 detects the rotational position of the turn signal lever 51a (specifically, one of the neutral position, the right position, and the left position) and outputs a signal indicating the rotational position to the ECU 21. The turn signal lever 51a is disposed on the steering column of the steering wheel 51 of the vehicle 10 so as to extend to the right relative to the driver of the vehicle 10.

[0157] The turn signal lever 51a can rotate (tilt) a predetermined angle in the right and left directions with the base of the turn signal lever 51a (i.e., the fixed position of the turn signal lever 51a to the steering column) as a fulcrum (rotation center). When the turn signal lever 51a is not operated by the driver, the turn signal lever 51a is located in a neutral position.

[0158] Figure 2 The direction indicators 43 shown include a right indicator 43R and a left indicator 43L. Figure 1 As shown, the right indicator 43R is a turn signal lamp (yellow light) disposed at the right corner of the front end and the right corner of the rear end of the vehicle 10. The left indicator 43L is a turn signal lamp disposed at the left corner of the front end and the left corner of the rear end of the vehicle 10.

[0159] Figure 2 The ECU 21 shown controls the direction indicator 43 according to the operation state of the turn signal lever 51a (i.e., the signal indicating the rotation position received from the turn signal lever sensor 42). Specifically, when the rotation position of the turn signal lever 51a is the right position (i.e., when the turn signal lever 51a is operated in the right turn direction), the ECU 21 flashes the right indicator 43R. When the rotation position of the turn signal lever 51a is the left position (i.e., when the turn signal lever 51a is operated in the left turn direction), the ECU 21 flashes the left indicator 43L. When one of the left indicator 43L and the right indicator 43R flashes, the state of the flashing direction indicator is "operating state". When one of the left indicator 43L and the right indicator 43R does not flash, the state of the non-flashing direction indicator is "non-operating state".

[0160] (Composition - Other)

[0161] The vehicle speed sensor 44 detects the vehicle speed Vs and outputs a signal indicating the vehicle speed Vs to the ECU 21 . The steering angle sensor 45 detects the steering angle θs, which is the rotation angle of the steering wheel 51 , and outputs a signal indicating the steering angle θs to the ECU 21 .

[0162] When the steering wheel 51 is in the neutral position, the steering angle θs becomes "0". The steering angle θs becomes a positive value (ie, θs>0) when the steering wheel 51 is rotated clockwise relative to the neutral position. On the other hand, the steering angle θs becomes a negative value (ie, θs<0) when the steering wheel 51 is rotated counterclockwise relative to the neutral position.

[0163] The display 46 is a liquid crystal display (LCD) disposed on an instrument panel (not shown) of the vehicle 10 and visible to the driver of the vehicle 10. The characters and graphics displayed on the display 46 are controlled by the ECU 21. The speaker 47 is disposed in the interior of the vehicle 10. The warning sound and voice message reproduced by the speaker 47 are controlled by the ECU 21.

[0164] The brake pedal operation amount sensor 48 detects the brake pedal operation amount Bp, and outputs a signal indicating the brake pedal operation amount Bp to the ECU 21. The brake pedal operation amount Bp is the operation amount of the brake pedal 52 operated by the driver to reduce the vehicle speed Vs. When the brake pedal 52 is not operated, the brake pedal operation amount Bp becomes "0". The larger the operation amount of the brake pedal 52, the larger the brake pedal operation amount Bp.

[0165] (Notification to oncoming vehicles)

[0166] Next, assuming that the vehicle 10 is traveling in an area with laws and regulations that stipulate that vehicles must travel on the left side of the road (a left-side traffic area, such as Japan or the United Kingdom), the "oncoming vehicle notification process" performed by ECU21 is described. In the case where the vehicle 10 is turning right, when the possibility of a collision with an "oncoming vehicle" is high, ECU21 performs the oncoming vehicle notification process. Specifically, ECU21 causes the display 46 and the speaker 47 of the vehicle 10 to perform "an action for notifying the driver of the vehicle 10 of the existence of an oncoming vehicle (i.e., a notification action)". An oncoming vehicle is another vehicle traveling on an oncoming lane, which is a lane opposite to the driving lane. The oncoming lane can be referred to as a lane in a road formed with a driving lane, in which the direction of vehicle travel is determined to be opposite to the direction of vehicle travel in the driving lane.

[0167] ECU21 starts the oncoming vehicle notification process when at least one of the "path intersection notification condition", "first advance notification condition" and "second advance notification condition" is satisfied. For the sake of convenience, the "path intersection notification condition", "first advance notification condition" and "second advance notification condition" are each also referred to as a "specific condition". For the sake of convenience, the right direction in the left-hand traffic area (i.e., the turning direction that will intersect with the straight-moving oncoming vehicle when the vehicle turns) is also referred to as the "specific direction". In the left-hand traffic area, the right direction is the specific direction. In the right-hand traffic area, the left direction is the specific direction.

[0168] <<Route intersection notification conditions>>

[0169] The path intersection notification condition is a condition that is satisfied when all of the following conditions (A1) to (A4) are satisfied.

[0170] Condition (A1): The right indicator 43R is in operation (flashing).

[0171] Condition (A2): There is an oncoming vehicle.

[0172] Condition (A3): The “own vehicle predicted path” of the vehicle 10 and the “oncoming vehicle predicted path” of the oncoming vehicle intersect each other.

[0173] Condition (A4): The intersection arrival time Tc is less than or equal to a predetermined first threshold time Tth1 (ie, Tc ≤ Tth1).

[0174] Reference Figure 3 Conditions (A1) to (A4) are described below. Figure 3 In FIG. 1 , the current position of the vehicle 10 is represented by the vehicle position 10a. In this example, the driver is about to make the vehicle 10 turn right at the intersection. Specifically, the driver is about to make the vehicle 10 go from the vehicle position 10a through the vehicle position 10b and the vehicle position 10c to the vehicle position 10d. The dotted line Le1 represents the driving path of the vehicle 10 intended by the driver (specifically, the moving path of the front center of the vehicle 10).

[0175] As described later, before the vehicle 10 reaches the vehicle position 10d, the presence of the other vehicle 61 is notified to the driver of the vehicle 10 by the oncoming vehicle notification process. Therefore, when the vehicle 10 is near the vehicle position 10c, the driver is likely to stop the vehicle 10.

[0176] While the vehicle 10 is traveling in the interval between the vehicle position 10a and the vehicle position 10b, the steering angle θs is 0°. After the vehicle 10 passes the vehicle position 10b, the steering angle θs starts to increase, and the vehicle 10 turns right. Then, the steering angle θs starts to decrease, and when the vehicle 10 reaches the vehicle position 10d, the steering angle θs returns to 0°.

[0177] The driver starts the operation (flashing) of the right indicator 43R when the vehicle 10 reaches the vehicle position 10a. Therefore, when the vehicle 10 reaches the vehicle position 10a, the condition (A1) is satisfied.

[0178] Figure 3 The other vehicles 61 shown are other vehicles detected based on the front image (i.e., camera detection targets whose target class is "vehicle"). The position of the other vehicle 61 at the time when the vehicle 10 is at the vehicle position 10a is represented by the other vehicle position 61a. The position of the other vehicle 61 at the time when the vehicle 10 is at the vehicle position 10b is represented by the other vehicle position 61b. The position of the other vehicle 61 at the time when the vehicle 10 is at the vehicle position 10c is represented by the other vehicle position 61c.

[0179] <<<Conditions for judging an oncoming vehicle>>>

[0180] In this embodiment, the oncoming vehicle is a camera detection target object that satisfies all of the following conditions (a) to (e). That is, if all of the conditions (a) to (e) are met, then condition (A2) is met. That is, if all of the conditions (a) to (e) are met, it is determined that there is an oncoming vehicle.

[0181] Condition (a): There is a camera detecting a target object, and the target object category is "vehicle".

[0182] Condition (b): The longitudinal position Dy of the target object detected by the camera is a positive value (ie, Dy>0).

[0183] Condition (c): The longitudinal relative velocity Vy of the target object detected by the camera is a negative value (ie, Vy<0).

[0184] Condition (d): The target object driving speed Vc detected by the camera is greater than a predetermined threshold speed Vcth of other vehicles (ie, Vc ≥ Vcth).

[0185] Condition (e): It is expected that the camera detection target object will pass to the right of the current position of the vehicle 10 .

[0186] The other vehicle 61 is a camera detection target object whose target object type is “vehicle”, and therefore, condition (a) is satisfied.

[0187] As can be understood from the other vehicle positions 61a to 61c, when the vehicle 10 is traveling in the interval between the vehicle positions 10a and 10c, the other vehicle 61 is located in front of the vehicle 10. That is, while the vehicle 10 is traveling in this interval, the longitudinal position Dy of the other vehicle 61 is a positive value, and therefore, condition (b) is satisfied.

[0188] Furthermore, while the vehicle 10 is traveling in the section between the vehicle position 10a and the vehicle position 10c, the other vehicle 61 approaches the vehicle 10 in the front-rear direction of the vehicle 10. That is, while the vehicle 10 is traveling in this section, the longitudinal relative speed Vy of the other vehicle 61 is a negative value, and therefore, condition (c) is satisfied.

[0189] The other vehicle threshold speed Vcth involved in condition (d) is pre-set to be roughly consistent with the lower limit of the general driving speed that the vehicle can take when the vehicle is driving straight at the intersection. The other vehicle 61 is about to drive straight at the intersection, so the target object driving speed Vc is greater than the other vehicle threshold speed Vcth. Therefore, condition (d) is met.

[0190] Next, condition (e) is described. When the "oncoming vehicle expected path" of the camera detection target object intersects the "right half straight line" of the vehicle 10, the ECU 21 determines that condition (e) is satisfied. The oncoming vehicle expected path is obtained based on the assumption that the speed does not change and is maintained based on the position (i.e., lateral position Dx and longitudinal position Dy) and speed (i.e., lateral relative speed Vx and longitudinal relative speed Vy) of the camera detection target object.

[0191] exist Figure 3 In the example, the expected oncoming vehicle path of the other vehicle 61 at the other vehicle position 61a is represented by the dotted line Ls1. In this example, the other vehicle 61 is traveling straight. Therefore, the expected oncoming vehicle path of the other vehicle 61 at the other vehicle position 61b is represented by Figure 3 The dashed line Ls1 in FIG. 1 is shown as the interval below the paper surface compared to the other vehicle position 61b. Similarly, the expected path of the oncoming vehicle of the other vehicle 61 at the other vehicle position 61c is represented by Figure 3 The dotted line Ls1 in FIG. 6 represents a section that is located below the paper surface compared to the other vehicle positions 61 c.

[0192] The right half line of the vehicle 10 is a half line extending rightward from the front center of the vehicle 10 (i.e., the origin of the X-Y coordinate system) in the vehicle width direction (i.e., the X-axis direction) of the vehicle 10. Figure 3, the right half straight line of the vehicle 10 at the vehicle position 10a is indicated by a single-point dashed line Lra. The right half straight line of the vehicle 10 at the vehicle position 10b is indicated by a single-point dashed line Lrb. The right half straight line of the vehicle 10 at the vehicle position 10c is indicated by a single-point dashed line Lrc.

[0193] The dotted line Ls1 (i.e., the expected oncoming vehicle path of the other vehicle 61) and the dashed line Lra intersect each other at point Pra. Similarly, the dotted line Ls1 and the dashed line Lrb intersect each other at point Prb, and the dotted line Ls1 and the dashed line Lrc intersect each other at point Prc. Therefore, while the vehicle 10 is traveling between the vehicle position 10a to the vehicle position 10c, condition (e) is satisfied.

[0194] Therefore, while the vehicle 10 is traveling in the section between the vehicle position 10a and the vehicle position 10c, the other vehicle 61 satisfies all of the conditions (a) to (e), and thus the condition (A2) is satisfied.

[0195] Next, condition (A3) is explained. The predicted path of the own vehicle is the predicted travel path of the vehicle 10, which is obtained based on the steering angle θs at the current time point, assuming that the steering angle θs does not change and is maintained. At the time point when the vehicle 10 is at the vehicle position 10a, the predicted path of the own vehicle is represented by the dotted line Lh1. As described above, the steering angle θs at this time point is 0°, so the dotted line Lh1 is a straight line. The predicted path of the own vehicle 10 at the vehicle position 10b is represented by Figure 3 The dotted line Lh1 in FIG. 1 is shown as a section above the paper surface relative to the vehicle position 10 b .

[0196] As per Figure 3 As can be understood, the predicted path of the vehicle 10 itself (i.e., dotted line Lh1) at the time when the vehicle 10 is at the vehicle position 10a and the predicted path of the oncoming vehicle (i.e., dotted line Ls1) of the other vehicle 61 (specifically, the other vehicle 61 at the other vehicle position 61a) do not intersect with each other. Similarly, the predicted path of the vehicle 10 itself (i.e., dotted line Lh1) at the time when the vehicle 10 is at the vehicle position 10b and the predicted path of the oncoming vehicle (i.e., dotted line Ls1) of the other vehicle 61 (specifically, the other vehicle 61 at the other vehicle position 61b) do not intersect with each other. Therefore, during the period when the vehicle 10 is traveling in the interval between the vehicle position 10a and the vehicle position 10b, condition (A3) does not hold. Therefore, during this period, the path intersection notification condition does not hold.

[0197] On the other hand, the predicted path of the vehicle 10 at the time when the vehicle 10 reaches the vehicle position 10c is represented by a dotted line Lh2. At this time, the steering angle θs is a positive value (steering angle θs>0), so as can be understood from the dotted line Lh2, the predicted driving path of the vehicle 10 is curved to the right.

[0198] The broken line Lh2 intersects the broken line Ls1 at the point Ps2. Therefore, when the vehicle 10 is at the vehicle position 10c, the condition (A3) is satisfied.

[0199] Furthermore, condition (A4) is explained. The intersection arrival time Tc is the time until the vehicle 10 reaches the intersection of the expected path of the own vehicle and the expected path of the oncoming vehicle (point Ps2 in this example). ECU21 obtains (calculates) the intersection arrival time Tc by dividing the distance (distance) from the vehicle 10 to the intersection of the expected path of the own vehicle and the expected path of the oncoming vehicle by the vehicle speed Vs. In this example, at the time point when the vehicle 10 reaches the vehicle position 10c, the intersection arrival time Tc becomes equal to the first threshold time Tth1. That is, at the time point when the vehicle 10 reaches the vehicle position 10c, condition (A4) is established.

[0200] Therefore, when the vehicle 10 reaches the vehicle position 10c, all of the conditions (A1) to (A4) are satisfied, and the path intersection notification condition is satisfied.

[0201] <<1st Advance Notification Condition>>

[0202] The first prior notification condition is a condition that is satisfied when all of the above-mentioned "conditions (A1) and (A2)" and the following condition (B3a) are satisfied. That is, the first prior notification condition is satisfied when all of the following conditions are satisfied.

[0203] Condition (A1): The right indicator 43R is in operation (flashing).

[0204] Condition (A2): There is an oncoming vehicle.

[0205] Condition (B3a): The "right turn passing area of ​​the vehicle 10" described later does not include the right dividing line. In addition, for the sake of convenience, condition (B3a) is also called "specific area condition". Condition (B3a) is a condition that is satisfied when it is predicted (estimated) that there is a high possibility that the vehicle will start turning in a specific direction.

[0206] The "right turn passing area" of the vehicle 10 is an area in the right oblique front direction near the vehicle 10, and more specifically, is a pentagonal area with the front end center of the vehicle 10 (origin O), point Pa, point Pb, point Pc, and point Pd as vertices. The X-Y coordinate values ​​of point Pa, point Pb, point Pc, and point Pd are Pa (0, Dy1), Pb (Dx1, Dy1), Pc (Dx1, Dy2), and Pd (Wd / 2, 0). The right turn passing area is an area that includes a portion of the area that the vehicle 10 passes through when turning right (turning in a specific direction), and is predetermined for the vehicle 10. For the sake of convenience, it is also referred to as a "specific area."

[0207] The distance Dx1, the distance Dy1, and the distance Dy2 are fixed values ​​that are predetermined so that the right turn passing area becomes an area where the vehicle 10 is likely to pass when the vehicle 10 turns right (that is, when the vehicle 10 turns right). The vehicle width Wd used to define the point Pd is the length of the vehicle 10 in the vehicle width direction (see Figure 1 ). In addition, Dy1>Dy2>0 and Dx1>Wd / 2>0.

[0208] For example, when the vehicle 10 is at the vehicle position 10a, the right turn passing area is represented by the area Rpa. The area Rpa includes the demarcation line Lt1 as the right demarcation line. Therefore, at this point in time, the condition (B3a) is not satisfied.

[0209] The right turn passing area when the vehicle 10 is at the vehicle position 10b is represented by the area Rpb, and the right turn passing area when the vehicle 10 is at the vehicle position 10c is represented by the area Rpc. These "areas Rpb and areas Rpc" do not include the dividing line (right dividing line) Lt1. That is, after the time point when the vehicle 10 reaches the vehicle position 10b, the right turn passing area does not include the dividing line (right dividing line) Lt1. Therefore, after the time point when the vehicle 10 reaches the vehicle position 10b, condition (B3a) is met. That is, at Figure 3 In the example shown, when the vehicle 10 arrives at the vehicle position 10b, the condition (A1), the condition (A2), and the condition (B3a) are satisfied, and thus the first advance notification condition is satisfied.

[0210] Thus, the first prior notification condition is satisfied at the time point when the vehicle 10 reaches the vehicle position 10b, which is a time point before the time point when the path intersection notification condition is satisfied (the time point when the vehicle 10 reaches the vehicle position 10c). Therefore, in this example, the oncoming vehicle notification process is started in advance.

[0211] <<Second Advance Notification Condition>>

[0212] The second advance notification condition is a condition that is satisfied when all of the above "conditions (A1) and (A2)" and the following "conditions (B3b) and (B4)" are satisfied. That is, the second advance notification condition is satisfied when all of the following conditions are satisfied.

[0213] Condition (A1): The right indicator 43R is in operation (flashing).

[0214] Condition (A2): There is an oncoming vehicle.

[0215] Condition (B3b): The right-turn passing area of ​​the vehicle 10 includes the right-side dividing line.

[0216] Condition (B4): The vehicle speed Vs is less than a predetermined first threshold speed Vth1 (i.e., Vs < Vth1). The first threshold speed Vth1 is predetermined to be substantially consistent with the upper limit of the general driving speed that the vehicle can take when the vehicle starts to turn right (or left) (i.e., the upper limit before turning right or left).

[0217] When both conditions (B3b) and (B4) are satisfied, for convenience of explanation, it is also expressed that the "turn standby condition" is satisfied. The turn standby condition is a condition that is satisfied when it is predicted (estimated) that the vehicle has a high probability of starting to turn in a specific direction.

[0218] Furthermore, refer to Figure 4 The second advance notification condition is explained. Figure 4 In the example shown, the current position of the vehicle 10 is represented by the vehicle position 10e. In this example, the driver is about to make the vehicle 10 cross the opposite lane and enter the parking position Rs. Specifically, the driver is about to make the vehicle 10 reach the vehicle position 10i from the vehicle position 10e through the vehicle positions 10f to 10h. The dotted line Le2 represents the driving path of the vehicle 10 intended by the driver. In this case, whether the path intersection notification condition, the first prior notification condition, and the second prior notification condition are each satisfied is described in turn.

[0219] The driver starts the operation (flashing) of the right indicator 43R when the vehicle 10 reaches the vehicle position 10f. Therefore, when the vehicle 10 reaches the vehicle position 10f, the condition (A1) is satisfied.

[0220] Figure 4 The other vehicle 62 shown is another vehicle detected based on the front image (ie, a camera detection target with the target category of “vehicle”). Therefore, the other vehicle 62 satisfies the above condition (a).

[0221] The position of the other vehicle 62 at the time when the vehicle 10 is at the vehicle position 10e is indicated by the other vehicle position 62e. The position of the other vehicle 62 at the time when the vehicle 10 is at the vehicle position 10f is indicated by the other vehicle position 62f. The position of the other vehicle 62 at the time when the vehicle 10 is at the vehicle position 10g is indicated by the other vehicle position 62g.

[0222] The oncoming vehicle predicted path of the other vehicle 62 at the other vehicle position 62e is indicated by a dotted line Ls2. In this example, the target object travel speed Vc of the other vehicle 62 is greater than the other vehicle threshold speed Vcth. Therefore, the other vehicle 62 satisfies the condition (b).

[0223] In this example, the other vehicle 62 is traveling straight. Therefore, the expected oncoming vehicle path of the other vehicle 62 at the other vehicle position 62f is Figure 4 The dashed line Ls2 in FIG. 6 is shown as a section below the paper surface compared to the other vehicle position 62f. The expected path of the oncoming vehicle of the other vehicle 62 at the other vehicle position 62g is represented by Figure 4 The dotted line Ls2 in FIG. 8 represents a section below the paper surface compared to the other vehicle positions 62g.

[0224] As per Figure 4 As can be understood, during the period when the vehicle 10 is traveling between the vehicle position 10e and the vehicle position 10g, the longitudinal position Dy of the other vehicle 62 is a positive value, and the longitudinal relative speed Vy is a negative value (i.e., Dy>0 and Vy<0). Therefore, during this period, the other vehicle 62 satisfies the conditions (b) and (c).

[0225] The right half straight line of the vehicle 10 at the vehicle position 10e is indicated by a dashed line Lre. The right half straight line of the vehicle 10 at the vehicle position 10f is indicated by a dashed line Lrf. The right half straight line of the vehicle 10 at the vehicle position 10g is indicated by a dashed line Lrg.

[0226] The dotted line Ls2 (i.e., the expected oncoming vehicle path of the other vehicle 62) and the dashed line Lre intersect each other at point Pre. Similarly, the dotted line Ls2 and the dashed line Lrf intersect each other at point Prf, and the dotted line Ls2 and the dashed line Lrg intersect each other at point Prg. Therefore, while the vehicle 10 is traveling between the vehicle position 10e and the vehicle position 10g, condition (e) is satisfied.

[0227] Therefore, while the vehicle 10 is traveling in the section between the vehicle position 10e and the vehicle position 10g, the other vehicle 62 satisfies all of the conditions (a) to (e), and therefore the condition (A2) is satisfied. That is, the other vehicle 62 is determined to be an oncoming vehicle.

[0228] The predicted path of the vehicle 10 at the time when the vehicle 10 is at the vehicle position 10f is indicated by a dotted line Lh3. The dotted line Ls2 (ie, the predicted path of the oncoming vehicle 62) and the dotted line Lh3 do not intersect each other. That is, at this time, the condition (A3) does not hold.

[0229] Then, the predicted path of the vehicle 10 at the time when the vehicle 10 is at the vehicle position 10g is represented by a dotted line Lh4. The dotted line Ls2 and the dotted line Lh4 intersect each other at a point Ps4. Therefore, at this time, the condition (A3) is satisfied.

[0230] Furthermore, the intersection arrival time Tc at the time when the vehicle 10 is at the vehicle position 10g is equal to the first threshold time Tth1. Therefore, when the vehicle 10 arrives at the vehicle position 10g, the condition (A4) is satisfied.

[0231] Therefore, when the vehicle 10 reaches the vehicle position 10g, all of the conditions (A1) to (A4) are satisfied, and the path intersection notification condition is satisfied.

[0232] Next, whether the first advance notification condition is satisfied is described. The right turn passing area of ​​the vehicle 10 at the vehicle position 10e is represented by the area Rpe. Similarly, the right turn passing area of ​​the vehicle 10 at the vehicle position 10f is represented by the area Rpf. The right turn passing area of ​​the vehicle 10 at the vehicle position 10g is represented by the area Rpg.

[0233] As per Figure 4 As can be understood, each of the regions Rpe, Rpf, and Rpg includes the right dividing line Lt2. Therefore, while the vehicle 10 is traveling in the section between the vehicle position 10e and the vehicle position 10g, the condition (B3a) is not satisfied. Therefore, during this period, the first advance notification condition is not satisfied.

[0234] Next, whether the second advance notification condition is satisfied will be described. As described above, each of the regions Rpe, Rpf, and Rpg includes the right dividing line Lt2. Therefore, while the vehicle 10 is traveling in the section between the vehicle position 10e and the vehicle position 10g, the condition (B3b) is satisfied.

[0235] As described above, the first threshold speed Vth1 is set to the upper limit immediately before the right or left turn, and the driver of the vehicle 10 intends to turn right. Therefore, during the period when the vehicle 10 is traveling in the interval between the vehicle position 10e and the vehicle position 10g, the vehicle speed Vs is lower than the first threshold speed Vth1. Therefore, during this period, the condition (B4) is satisfied.

[0236] As described above, the driver operates the right indicator 43R when the vehicle 10 reaches the vehicle position 10f, so the condition (A1) is satisfied at this point in time. Therefore, when the vehicle 10 reaches the vehicle position 10f, the second advance notification condition is satisfied.

[0237] Thus, the second prior notification condition is satisfied at the time point when the vehicle 10 reaches the vehicle position 10f, which is a time point before the time point when the path intersection notification condition is satisfied (the time point when the vehicle 10 reaches the vehicle position 10g). Therefore, in this example, the oncoming vehicle notification process is started in advance.

[0238] Next, refer to Figure 5 The reason why the second advance notification condition includes condition (B4) is explained below. Figure 5 In the figure, the current position of the vehicle 10 is represented by the vehicle position 10j. The driver is about to change the lane of the vehicle 10 from the driving lane to the lane adjacent to the driving lane on the right side of the vehicle 10 (the lane whose determined vehicle travel direction is the same as the vehicle travel direction in the driving lane is generally also called the 'overtaking lane' or 'adjacent lane'). Specifically, the driver is about to change the vehicle 10 from the vehicle position 10j to the vehicle position 10m via the vehicle position 10k. The dotted line Le3 represents the driving path of the vehicle 10 intended by the driver.

[0239] The driver starts the operation of the right indicator 43R when the vehicle 10 reaches the vehicle position 10k. Therefore, when the vehicle 10 reaches the vehicle position 10k, the condition (A1) is satisfied. In addition, when the vehicle 10 reaches the vehicle position 10m (that is, when the lane change is completed), the driver ends the operation of the right indicator 43R.

[0240] Figure 5 The other vehicles 63 shown are other vehicles detected based on the front image (ie, camera detection targets whose target category is “vehicle”).

[0241] The position of the other vehicle 63 at the time when the vehicle 10 is at the vehicle position 10j is indicated by the other vehicle position 63j. The position of the other vehicle 63 at the time when the vehicle 10 is at the vehicle position 10k is indicated by the other vehicle position 63k. The position of the other vehicle 63 at the time when the vehicle 10 is at the vehicle position 10m is indicated by the other vehicle position 63m.

[0242] Although detailed description is omitted, during the period when the vehicle 10 is traveling in the section between the vehicle position 10j and the vehicle position 10m, the other vehicle 63 satisfies the requirements of the oncoming vehicle (i.e., conditions (a) to (e)). Therefore, condition (A2) is satisfied. On the other hand, during the period when the vehicle 10 is traveling in the section between the vehicle position 10j and the vehicle position 10m, conditions (A3) and (A4) are not satisfied. That is, during this period, the path intersection notification condition is not satisfied.

[0243] The right turn passing area of ​​the vehicle 10 at the vehicle position 10j is represented by the area Rpj. Similarly, the right turn passing area of ​​the vehicle 10 at the vehicle position 10k is represented by the area Rpk. The right turn passing area of ​​the vehicle 10 at the vehicle position 10m is represented by the area Rpm.

[0244] The right dividing line of the driving lane of the vehicle 10 at the vehicle position 10j is the dividing line Lt3. The right dividing line of the adjacent lane is the dividing line Lt4. Figure 5 As can be understood, the area Rpj and the area Rpk each include the dividing line Lt3. Moreover, the area Rpm includes the dividing line Lt4. Therefore, during the period when the vehicle 10 is traveling in the section between the vehicle position 10j and the vehicle position 10m, the condition (B3a) is not satisfied. That is, during this period, the first advance notification condition is not satisfied.

[0245] On the other hand, during the period when the vehicle 10 is traveling in the interval between the vehicle position 10j and the vehicle position 10m, the condition (B3b) is satisfied. Moreover, during the period when the vehicle 10 is traveling in the interval between the vehicle position 10j and the vehicle position 10m, the vehicle speed Vs is greater than the first threshold speed Vth1. Therefore, during this period, the condition (B4) is not satisfied. Figure 5 When the vehicle 10 changes lanes as shown in FIG. Figure 4 As shown, the vehicle speed Vs is likely to be high when the vehicle 10 turns right. In this case, the vehicle speed Vs is greater than the first threshold speed Vth1, so the condition (B4) is not satisfied. That is, during this period, the second advance notification condition is not satisfied.

[0246] Therefore, while the vehicle 10 is traveling in the interval between the vehicle position 10j and the vehicle position 10m, the path intersection notification condition, the first prior notification condition, and the second prior notification condition are not satisfied, and therefore, the oncoming vehicle notification process is not executed. In other words, for example, even when the right indicator 43R is working and there is an oncoming vehicle (i.e., even if the conditions (A1), (A2), and (B3b) are satisfied), if the driver does not reduce the vehicle speed Vs in order to turn the vehicle 10 right, the condition (B4) is also not satisfied. Therefore, when changing lanes, the second prior notification condition is not satisfied, and the oncoming vehicle notification process is not executed.

[0247] (Specific work)

[0248] Next, the specific operation of the ECU 21 will be described. The CPU 31 (hereinafter also referred to as "CPU") of the ECU 21 executes the following operation every time a predetermined time has passed. Figure 6 The “oncoming vehicle notification determination processing routine” represented by the flowchart.

[0249] Therefore, when the appropriate timing is reached, the CPU Figure 6 The process starts from step 600, and proceeds to step 605 to determine whether the state at the current time point is a state where the oncoming vehicle notification process (hereinafter also referred to as "notification process") is not executed. That is, the CPU determines whether the "notification action using the display 46 and the speaker 47" for notifying the driver of the existence of the oncoming vehicle is not performed at the current time point.

[0250] (Scenario A)

[0251] It is assumed that this routine is executed for the first time after the notification process has not been executed and the path intersection notification condition is satisfied.

[0252] Based on this assumption, the notification process is not executed at the current time point, so the CPU determines "yes" in step 605 and proceeds to step 610 to determine whether the right indicator 43R is in operation (in operation). That is, the CPU determines whether the above condition (A1) is satisfied.

[0253] According to the above assumption, the right indicator 43R is in operation. Therefore, the CPU determines "yes" in step 610 and proceeds to step 615 to determine whether there is an oncoming vehicle. That is, the CPU determines whether condition (A2) is satisfied.

[0254] According to the above assumption, there is an oncoming vehicle. Therefore, the CPU determines "yes" in step 615 and proceeds to step 620 to determine whether the expected path of the own vehicle and the expected path of the oncoming vehicle intersect each other. That is, the CPU determines whether condition (A3) is satisfied.

[0255] According to the above assumption, the predicted path of the own vehicle and the predicted path of the oncoming vehicle intersect each other. Therefore, the CPU determines "yes" in step 620 and proceeds to step 625 to determine whether the intersection arrival time Tc is less than the first threshold time Tth1. That is, the CPU determines whether condition (A4) is satisfied.

[0256] According to the above assumption, the intersection arrival time Tc is equal to or less than the first threshold time Tth1. Therefore, the CPU makes a "yes" determination in step 625 and proceeds to step 630 to start the notification process.

[0257] Specifically, the CPU causes the display 46 to display a mark indicating that the vehicle 10 has a high possibility of colliding with the oncoming vehicle (oncoming vehicle warning mark). Furthermore, the CPU causes the speaker 47 to generate a warning sound indicating that the vehicle 10 has a high possibility of colliding with the oncoming vehicle (oncoming vehicle warning sound). Next, the CPU proceeds to step 695 and ends the processing of this routine.

[0258] (Scenario B)

[0259] It is assumed that this routine is executed for the first time after the notification process has not been executed and the first prior notification condition has been satisfied. Figure 3 In the example shown, the case where the present routine is executed for the first time after the vehicle 10 has arrived at the vehicle position 10 b meets this assumption.

[0260] In this case, both conditions (A1) and (A2) are satisfied, so the CPU determines "yes" in steps 610 and 615, respectively, and proceeds to step 620. Based on the aforementioned assumption, the path intersection notification condition is not satisfied (i.e., condition (A3) is not satisfied). Therefore, the CPU determines "no" in step 620 and proceeds to step 645 to determine whether the current state is "a state where the right-turn passing area does not include the right-hand dividing line". That is, the CPU determines whether condition (B3a) is satisfied (in other words, whether it is in a state where condition (B3b) is not satisfied).

[0261] Based on the above assumption, the first prior notification condition is satisfied (ie, condition (B3a) is satisfied), and therefore the CPU makes a "yes" determination in step 645 and proceeds to step 630 to start notification processing.

[0262] (Scenario C)

[0263] It is assumed that this routine is executed for the first time after the notification process has not been executed and the second prior notification condition has been satisfied. Figure 4 In the example shown, the case where the present routine is executed for the first time after the vehicle 10 has arrived at the vehicle position 10 f meets this assumption.

[0264] In this case, both conditions (A1) and (A2) are satisfied, while both conditions (A3) and (B3a) are not satisfied. Therefore, the CPU makes a "yes" decision in steps 610 and 615, and then makes a "no" decision in steps 620 and 645, and proceeds to step 650.

[0265] In step 650, the CPU determines whether the vehicle speed Vs is lower than the first threshold speed Vth1. That is, the CPU determines whether condition (B4) is satisfied. Based on the above assumption, the vehicle speed Vs is lower than the first threshold speed Vth1, so the CPU determines "yes" in step 650 and proceeds to step 630 to start the notification process.

[0266] (Scenario D)

[0267] Next, it is assumed that the notification process is being executed and the "notification end condition" is not satisfied. The notification end condition is a condition that is satisfied when the notification process should be terminated, and will be described later.

[0268] In this case, the notification process is already being executed, so the CPU determines "No" in step 605 and proceeds to step 635 to determine whether the notification end condition is satisfied. Based on the above assumption, the notification end condition is not satisfied, so the CPU determines "No" in step 635 and directly proceeds to step 695. That is, after the notification process is started, the notification process is continuously performed until the notification end condition is satisfied.

[0269] (Scenario E)

[0270] It is assumed that this routine is executed for the first time after the notification processing is being executed and the notification end condition is satisfied.

[0271] <<Conditions for notification end>>

[0272] The notification end condition in the present embodiment is a condition that is satisfied when at least one of the following conditions (C1) to (C3) is satisfied.

[0273] Condition (C1): The operation of the right indicator 43R has ended (the state of the right indicator 43R has changed from the operating state to the non-operating state).

[0274] Condition (C2): There is no oncoming vehicle.

[0275] Condition (C3): The vehicle 10 has stopped (the vehicle speed Vs has changed to “0”).

[0276] For example, when the other vehicle (i.e., the oncoming vehicle) decelerates and the target object travel speed Vc becomes smaller than the other vehicle threshold speed Vcth, condition (d) becomes invalid, and thus the other vehicle is no longer an oncoming vehicle. In this case, condition (C2) is satisfied, and thus the notification end condition is satisfied. Furthermore, when the driver who has noticed the presence of the oncoming vehicle stops the vehicle 10 (i.e., when the vehicle speed Vs becomes "0"), condition (C3) is satisfied, and thus the notification end condition is satisfied.

[0277] According to the above assumption, the notification end condition is satisfied, so the CPU determines "yes" in step 635 and proceeds to step 640 to end the notification process. Specifically, the CPU ends the display of the above-mentioned oncoming vehicle warning mark on the display 46. In addition, the CPU ends the generation of the oncoming vehicle warning sound by the speaker 47. Then, the CPU directly proceeds to step 695.

[0278] (Other situations)

[0279] When the notification process is not executed and the condition (A1) is not satisfied, the CPU makes a “No” determination in step 610 and directly proceeds to step 695 .

[0280] If the notification process is not executed and the condition (A1) is satisfied but the condition (A2) is not satisfied, the CPU makes a “No” determination in step 615 and directly proceeds to step 695 .

[0281] If the notification process is not executed and the conditions (A1) to (A3) are satisfied but the condition (A4) is not satisfied, the CPU makes a “No” determination in step 625 and directly proceeds to step 695 .

[0282] If the notification process is not executed, and conditions (A1), (A2), and (B3b) are satisfied, but condition (B4) is not satisfied, the CPU makes a “No” determination in step 650 and directly proceeds to step 695 .

[0283] As described above, even if the predicted path of the vehicle 10 obtained based on the steering angle θs and the predicted path of the oncoming vehicle do not intersect each other (that is, even if the path intersection notification condition is not satisfied), the notification device equipped with ECU 21 performs the oncoming vehicle notification process at the timing when the first prior notification condition or the second prior notification condition is satisfied. That is, according to the notification device, the oncoming vehicle notification process can be started in advance. Moreover, as Figure 5 As shown in the example of FIG. 1 , when the vehicle 10 changes lanes to the right (ie, when the vehicle 10 does not turn right), the oncoming vehicle notification process is not executed. That is, the oncoming vehicle notification process does not operate unnecessarily.

[0284] (First Modification of the Present Notification Device)

[0285] Next, the first variant of the present notification device (first variant device) is described. The present notification device described above performs oncoming vehicle notification processing when at least one of the path intersection notification condition, the first prior notification condition, and the second prior notification condition is satisfied. In contrast, the first variant device performs oncoming vehicle notification processing when at least one of the path intersection notification condition and the "third prior notification condition" is satisfied. The third prior notification condition is a condition that determines whether it is satisfied based on the state of the "previous vehicle", and the "previous vehicle" is another vehicle traveling in a position immediately in front of the vehicle 10. This difference is described below.

[0286] <<3rd Advance Notification Condition>>

[0287] The third advance notification condition is a condition that is satisfied when all of the above conditions (A1) and (A2) and the following condition (D3) are satisfied. That is, the third advance notification condition is satisfied when all of the following conditions are satisfied.

[0288] Condition (A1): The right indicator 43R is in operation (flashing).

[0289] Condition (A2): There is an oncoming vehicle.

[0290] Condition (D3): The target object driving speed Vc of the leading vehicle is greater than the predetermined second threshold speed Vth2 (i.e., Vc>Vth2). The second threshold speed Vth2 is pre-set to be roughly consistent with the lower limit of the range of general driving speeds when the vehicle turns right. For ease of explanation, the second threshold speed Vth2 is also called the leading vehicle turning threshold speed. When the target object driving speed Vc of the leading vehicle changes from a value below the second threshold speed Vth2 to a value greater than the second threshold speed Vth2, it can be determined that the leading vehicle has started to turn right (turn in a specific direction). Condition (D3) is a condition that is met when it is predicted (estimated) that there is a high possibility that the own vehicle has started to turn in a specific direction.

[0291] Reference Figure 7 The third advance notification condition is explained. Figure 7 In FIG. 1 , the current position of the vehicle 10 is represented by the vehicle position 10n. In this example, the driver is about to make the vehicle 10 turn right at the intersection. Specifically, the driver is about to make the vehicle 10 go from the vehicle position 10n to the vehicle position 10o and reach the vehicle position 10p. The dotted line Le4 represents the driving path of the vehicle 10 intended by the driver.

[0292] The predicted path of the vehicle 10 at the time when the vehicle 10 is at the vehicle position 10n is represented by a dotted line Lh5. The predicted path of the vehicle 10 at the time when the vehicle 10 is at the vehicle position 10o is represented by Figure 7The dotted line Lh5 in FIG. 1 is indicated as a section above the paper surface relative to the vehicle position 10о.

[0293] Figure 7 The other vehicle 64 shown is another vehicle detected based on the front image (i.e., a camera detection target with a target class of "vehicle"). The position of the other vehicle 64 at the time when the vehicle 10 is at the vehicle position 10n is represented by the other vehicle position 64n. The position of the other vehicle 62 at the time when the vehicle 10 is at the vehicle position 10o is represented by the other vehicle position 64o.

[0294] The driver starts the operation (flashing) of the right indicator 43R when the vehicle 10 reaches the vehicle position 10o. Therefore, when the vehicle 10 reaches the vehicle position 10o, the condition (A1) is satisfied.

[0295] Although detailed description is omitted, at least during "the period when vehicle 10 is traveling in the interval between vehicle position 10n and vehicle position 10o", other vehicle 64 meets the requirements of an oncoming vehicle, and therefore, condition (A2) is satisfied. On the other hand, conditions (A3) and (A4) are satisfied after vehicle 10 passes vehicle position 10o. In other words, at the time point when vehicle 10 arrives at vehicle position 10o, conditions (A3) and (A4) are not satisfied. In this example, at the time point after vehicle 10 arrives at vehicle position 10o, conditions (A3) and (A4) are satisfied, and as a result, the path intersection notification condition is satisfied.

[0296] Figure 7 The other vehicle 65 shown is a camera detection target object detected based on the front image. The position of the other vehicle 65 at the time when the vehicle 10 is at the vehicle position 10n is represented by the other vehicle position 65n. The position of the other vehicle 65 at the time when the vehicle 10 is at the vehicle position 10o is represented by the other vehicle position 65o.

[0297] The vehicle control ECU 22 of the first modified device (hereinafter also simply referred to as “ECU 22 ”) determines that the other vehicle 65 is a preceding vehicle while the vehicle 10 is traveling in the section from the vehicle position 10 n to the vehicle position 10 o .

[0298] <<<Conditions for determining a vehicle as a leading vehicle>>>

[0299] More specifically, the preceding vehicle is a camera detection target object that satisfies all of the above conditions (a) and (b) and the following conditions (f) and (g). That is, if conditions (a), (b), (f) and (g) are all met, it is determined that there is a preceding vehicle.

[0300] Condition (a): There is a camera detecting a target object, and the target object category is "vehicle".

[0301] Condition (b): The longitudinal position Dy of the target object detected by the camera is a positive value (ie, Dy>0).

[0302] Condition (f): The longitudinal position Dy of the target object detected by the camera is smaller than the predetermined distance Dy3 (ie, Dy<Dy3).

[0303] Condition (g): The left end position of the target object detected by the camera is on the left side of the expected path of the own vehicle, and the right end position is on the right side of the expected path of the own vehicle.

[0304] The other vehicle 65 is a camera detection target with the target type "vehicle", so condition (a) is satisfied. During the period when the vehicle 10 is traveling in the interval between the vehicle position 10n and the vehicle position 10o, the other vehicle 65 is located in front of the vehicle 10, so the longitudinal position Dy is a positive value. Therefore, during this period, condition (b) is satisfied.

[0305] As per Figure 7 As can be understood, the longitudinal position Dy of the other vehicle 65 at the time when the vehicle 10 is at the vehicle position 10n is the distance Da, which is smaller than the distance Dy3 (ie, Da<Dy3). Therefore, the condition (f) is satisfied.

[0306] At this time point, the left end position of the other vehicle 65 is point Pe, and the right end position is point Pf. Point Pe (i.e., the left end position) is to the left of the dotted line Lh5 (i.e., the expected path of the own vehicle), and point Pf (i.e., the right end position) is to the right of the dotted line Lh5. Therefore, condition (g) is satisfied.

[0307] In this example, while the vehicle 10 is traveling in the interval between the vehicle position 10n and the vehicle position 10o, both conditions (f) and (g) are satisfied. That is, while the vehicle 10 is traveling in the interval between the vehicle position 10n and the vehicle position 10o, all conditions (a), (b), (f), and (g) are satisfied. Therefore, during this period, the other vehicle 65 satisfies the requirements of the preceding vehicle.

[0308] Furthermore, in this example, the target object travel speed Vc of the other vehicle 65 (i.e., the preceding vehicle) is greater than the second threshold speed Vth2 while the vehicle 10 is traveling in the interval between the vehicle position 10n and the vehicle position 10o. That is, the condition (D3) is satisfied while the vehicle 10 is traveling in the interval between the vehicle position 10n and the vehicle position 10o.

[0309] For example, when the driver of the other vehicle 65 does not notice the presence of the oncoming vehicle (the other vehicle 64 in this example) and tries to turn right at the intersection, the target object travel speed Vc of the other vehicle 65 may be greater than the second threshold speed Vth2. Alternatively, when the driver of the other vehicle 65 tries to turn the other vehicle 65 right before the other vehicle 64 reaches the intersection, the target object travel speed Vc of the other vehicle 65 may be greater than the second threshold speed Vth2. In these cases, the driver of the vehicle 10 may think that there is no oncoming vehicle and start the right turn of the vehicle 10 following the other vehicle 65. In order to avoid such a situation, when condition (D3) is satisfied based on condition (A1) and condition (A2), the oncoming vehicle notification process is executed.

[0310] Therefore, when the right indicator 43R starts to work due to the driver's operation at the time when the vehicle 10 reaches the vehicle position 10o, the condition (A1) is satisfied, and the third prior notification condition (before the path intersection notification condition is satisfied) is satisfied. That is, at the time when the vehicle 10 reaches the vehicle position 10o, the oncoming vehicle notification process is started.

[0311] (Specific operation of the first deformation device)

[0312] The CPU 31 (hereinafter also referred to as "CPU") of the ECU 22 of the first variant device executes a Figure 8 The "oncoming vehicle notification determination processing routine" represented by the flowchart is replaced by Figure 6 In addition, the following flowcharts are each executed in accordance with the "oncoming vehicle notification determination processing routine". Figure 6 The same processing steps as those shown in the flowchart are given Figure 6 The steps are numbered the same.

[0313] Therefore, when the appropriate timing is reached, the CPU Figure 8 The CPU starts processing at step 800 and executes processing at steps after step 605. When the CPU determines that the answer is "no" at step 620 (that is, when conditions (A1) and (A2) are satisfied, but condition (A3) is not satisfied), the CPU proceeds to step 820.

[0314] In step 820, the CPU determines whether there is a preceding vehicle, and if there is a preceding vehicle, determines whether the target object travel speed Vc of the preceding vehicle is greater than the second threshold speed (preceding vehicle turning threshold speed) Vth2. That is, the CPU determines whether condition (D3) is satisfied.

[0315] If the target object speed Vc of the preceding vehicle is greater than the second threshold speed Vth2 (i.e., if condition (D3) is satisfied), the CPU determines "yes" in step 820 and proceeds to step 630 to start the notification process. That is, in this case, the third advance notification condition is satisfied. Then, the CPU proceeds to step 895 to end the processing of this routine.

[0316] On the other hand, if the target object travel speed Vc of the preceding vehicle is less than or equal to the second threshold speed Vth2 (i.e., if both conditions (A1) and (A2) are satisfied, but condition (D3) is not satisfied), the CPU makes a “No” determination in step 820 and directly proceeds to step 895. Furthermore, if there is no preceding vehicle, the CPU also makes a “No” determination in step 820 and directly proceeds to step 895.

[0317] As described above, the first deformation device determines whether the oncoming vehicle notification process should be executed based on the preceding vehicle. Thus, even if the path intersection notification condition is not satisfied, the first deformation device can execute the oncoming vehicle notification process at the timing when the third prior notification condition is satisfied. Therefore, according to the first deformation device, the oncoming vehicle notification process can be started in advance, and the oncoming vehicle notification process will not operate unnecessarily. In addition, it can also be configured that the CPU 31 of the ECU 22 determines whether the "previous vehicle has started a right turn (a turn in a specific direction)" based on the front image (historical record), and when it is determined that the preceding vehicle has started a right turn, it is determined that the condition (D3) has been satisfied.

[0318] (Second Modification of the Present Notification Device)

[0319] Next, the second variant of the present notification device (second variant device) is described. The first variant device described above performs the oncoming vehicle notification process when at least one of the path intersection notification condition and the third prior notification condition is satisfied. In contrast, the second variant device performs the oncoming vehicle notification process when at least one of the path intersection notification condition and the "fourth prior notification condition" is satisfied. The following describes this difference.

[0320] <<4th Advance Notification Condition>>

[0321] The fourth advance notification condition is a condition that is satisfied when all of the conditions (A1), (A2) and the following condition (E3) are satisfied. The preceding vehicle is a camera detection target object that satisfies all of the above conditions (a), (b), (f) and (g).

[0322] Condition (A1): The right indicator 43R is in operation (flashing).

[0323] Condition (A2): There is an oncoming vehicle.

[0324] Condition (E3): It is determined that another vehicle for the preceding vehicle has started turning to the right (ie, turning right). Condition (E3) is a condition that is satisfied when it is predicted (estimated) that there is a high possibility that the own vehicle has started turning in a specific direction.

[0325] Next, refer to Fig. 9 The fourth advance notification condition is explained. Fig. 9 , the current position of the vehicle 10 is represented by the vehicle position 10r. In this example, the driver is about to make the vehicle 10 turn right at the intersection. Specifically, the driver is about to make the vehicle 10 go from the vehicle position 10r to the vehicle position 10s and reach the vehicle position 10t. The dotted line Le5 represents the driving path of the vehicle 10 intended by the driver.

[0326] The predicted path of the vehicle 10 at the time when the vehicle 10 is at the vehicle position 10r is represented by a dotted line Lh6. The predicted path of the vehicle 10 at the time when the vehicle 10 is at the vehicle position 10s is represented by Fig. 9 The dotted line Lh6 in FIG. 1 is indicated as a section above the paper surface compared to the vehicle position 10s.

[0327] Fig. 9 The other vehicle 66 shown is another vehicle detected based on the front image (i.e., a camera detection target object whose target object category is "vehicle"). The position of the other vehicle 66 at the time when the vehicle 10 is at the vehicle position 10r is represented by the other vehicle position 66r. The position of the other vehicle 66 at the time when the vehicle 10 is at the vehicle position 10s is represented by the other vehicle position 66s.

[0328] The driver starts the operation (flashing) of the right indicator 43R when the vehicle 10 reaches the vehicle position 10r. Therefore, when the vehicle 10 reaches the vehicle position 10r, the condition (A1) is satisfied.

[0329] Although detailed description is omitted, at least during the "period when vehicle 10 is traveling in the interval between vehicle position 10r and vehicle position 10s", other vehicle 66 meets the requirements of an oncoming vehicle, and therefore, condition (A2) is satisfied. On the other hand, conditions (A3) and (A4) are satisfied after vehicle 10 passes vehicle position 10s. In other words, at the time point when vehicle 10 arrives at vehicle position 10s, conditions (A3) and (A4) are not satisfied. In this example, at the time point after vehicle 10 arrives at vehicle position 10s, conditions (A3) and (A4) are satisfied, and as a result, the path intersection notification condition is satisfied.

[0330] Next, Fig. 9Condition (E3) is explained by taking the other vehicle 67 shown in FIG. 1 as an example. The driver of the other vehicle (i.e., the preceding vehicle) 67 may not notice the existence of the other vehicle 66 (i.e., the oncoming vehicle) and turn right at the intersection. Alternatively, the driver of the other vehicle 67 may turn right at the intersection before the other vehicle 66 arrives at the intersection. In such a case, the driver of the vehicle 10 may misunderstand that there is no oncoming vehicle (i.e., the other vehicle 66). Therefore, when conditions (A1) and (A2) are met, when condition (E3) is met (i.e., when the preceding vehicle starts to turn right), the oncoming vehicle notification process is executed.

[0331] The other vehicle 67 is a camera detection target object detected based on the front image. The position of the other vehicle 67 at the time when the vehicle 10 is at the vehicle position 10r is represented by the other vehicle position 67r. The position of the other vehicle 67 at the time when the vehicle 10 is at the vehicle position 10s is represented by the other vehicle position 67s.

[0332] Although detailed description is omitted, while the vehicle 10 is traveling in the section from the vehicle position 10r to the vehicle position 10s, the other vehicle 67 satisfies the conditions (a), (b), and (f).

[0333] The left end position of the other vehicle 67 at the other vehicle position 67r is indicated by point Pg, and the right end position is indicated by point Ph. The left end position of the other vehicle 67 at the other vehicle position 67s is indicated by point Pi, and the right end position is indicated by point Pj.

[0334] As per Fig. 9 As can be understood, the point Pg, which is the left end position of the other vehicle position 67r, is located to the left of the dotted line Lh6 (i.e., the expected path of the vehicle 10 at the vehicle position 10r), and the point Ph, which is the right end position of the other vehicle position 67r, is located to the right of the dotted line Lh6. Therefore, when the vehicle 10 is at the vehicle position 10r, the condition (g) is satisfied, and therefore, at this point in time, it is determined that the other vehicle 67 is the preceding vehicle.

[0335] On the other hand, the point Pi, which is the left end position of the other vehicle position 67s, and the point Pj, which is the right end position of the other vehicle position 67s, are both on the right side relative to the dotted line Lh6 (i.e., the expected path of the own vehicle of the vehicle 10 at the vehicle position 10s). More specifically, the other vehicle position 67s represents the position of the other vehicle 67 just after the left end position changes from the left to the right of the dotted line Lh6. That is, at the time point when the vehicle 10 reaches the vehicle position 10s, the preceding vehicle (the other vehicle 67) moves to the right relative to the vehicle 10 relative to the expected path of the own vehicle (the dotted line Lh6). In other words, at this time point, it is determined that the other vehicle for the preceding vehicle starts to turn to the right. Therefore, at this time point, the condition (E3) is satisfied.

[0336] Therefore, when the vehicle 10 reaches the vehicle position 10s, condition (E3) is newly satisfied in addition to conditions (A1) and (A2), and the fourth prior notification condition is satisfied (before the route intersection notification condition is satisfied).

[0337] (Specific operation of the second deformation device)

[0338] The CPU 31 (hereinafter also referred to as "CPU") of the vehicle control ECU 23 (hereinafter also referred to as "ECU 23") of the second variant device executes a Fig.10 The "oncoming vehicle notification determination processing routine" represented by the flowchart is replaced by Figure 6 The “oncoming vehicle notification determination processing routine” shown.

[0339] Therefore, when the appropriate timing is reached, the CPU Fig.10 The process starts from step 1000 and executes the processes after step 605. When the CPU determines that it is "No" in step 620 (that is, when conditions (A1) and (A2) are satisfied, and condition (A3) is not satisfied), the process proceeds to step 1020.

[0340] In step 1020, the CPU determines whether there was a preceding vehicle shortly before the time point, and if there was a preceding vehicle, determines that another vehicle for the preceding vehicle has started to turn right, and then determines whether this routine is being executed for the first time. That is, the CPU determines whether this routine is being executed for the first time after condition (E3) is satisfied.

[0341] If the condition E3 is satisfied, the CPU makes a "yes" determination in step 1020 and proceeds to step 630 to start the notification process. That is, in this case, the fourth prior notification condition is satisfied. Next, the CPU proceeds to step 1095 to end the processing of this routine.

[0342] On the other hand, if the preceding vehicle has not started to turn right (if condition E3 is not satisfied), the CPU makes a “No” determination in step 1020 and directly proceeds to step 1095 .

[0343] As described above, the second variant device determines whether the oncoming vehicle notification process should be executed based on the preceding vehicle. Thus, even if the path intersection notification condition is not satisfied, the second variant device can execute the oncoming vehicle notification process at the timing when the fourth prior notification condition is satisfied. Therefore, according to the second variant device, the oncoming vehicle notification process can be started in advance, and the oncoming vehicle notification process will not be executed unnecessarily.

[0344] (Third Modification of the Present Notification Device)

[0345] The third modified example (third modified device) of the present notification device executes oncoming vehicle notification processing when at least one of the route intersection notification condition, the "fifth prior notification condition" and the "sixth prior notification condition" is satisfied.

[0346] <<Section 5 Advance Notification Condition>>

[0347] The fifth advance notification condition is a condition that is satisfied when all of the above conditions (A1) and (A2) and the following condition (F3) are satisfied. That is, the fifth advance notification condition is satisfied when all of the following conditions are satisfied.

[0348] Condition (A1): The right indicator 43R is in operation (flashing).

[0349] Condition (A2): There is an oncoming vehicle.

[0350] Condition (F3): The oncoming vehicle is traveling in the right adjacent lane. That is, the oncoming lane in which the oncoming vehicle is traveling is adjacent to the driving lane of the vehicle 10. Condition (F3) is a condition that is satisfied when the driver of the own vehicle should recognize the presence of the oncoming vehicle before the own vehicle starts turning in a specific direction.

[0351] <<Section 6 Advance Notification Condition>>

[0352] The sixth advance notification condition is a condition that is satisfied when the above-mentioned conditions (A1) and (A2) and the following condition (F4) are all satisfied. That is, the sixth advance notification condition is satisfied when all the following conditions are satisfied.

[0353] Condition (A1): The right indicator 43R is in operation (flashing).

[0354] Condition (A2): There is an oncoming vehicle.

[0355] Condition (F4): The magnitude of the lateral position Dx of the oncoming vehicle (lateral distance |Dx|) is smaller than a predetermined first threshold distance Dth1 (i.e., lateral distance |Dx|<Dth1). The first threshold distance Dth1 is set to a value slightly larger than the width of the driving lane in most cases. Condition (F4) is a condition that is satisfied when the driver of the own vehicle should recognize the presence of the oncoming vehicle before the own vehicle starts turning in a specific direction.

[0356] Reference Fig.11 The fifth and sixth advance notification conditions are described in detail. Fig.11 , the current position of the vehicle 10 is represented by the vehicle position 10u. In this example, the driver is about to make a lane change to the adjacent lane on the right (right side) and then turn the vehicle 10 right at the intersection. Specifically, the driver is about to make the vehicle 10 from the vehicle position 10u through the vehicle position 10v to the vehicle position 10x to reach the vehicle position 10y. The dotted line Le6 represents the driving path of the vehicle 10 intended by the driver.

[0357] Fig.11 The other vehicles 68 shown are other vehicles detected based on the front image (i.e., camera detection targets whose target class is "vehicle"). The position of the other vehicle 68 at the time when the vehicle 10 is at the vehicle position 10u is represented by the other vehicle position 68u. The position of the other vehicle 68 at the time when the vehicle 10 is at the vehicle position 10v is represented by the other vehicle position 68v. The position of the other vehicle 68 at the time when the vehicle 10 is at the vehicle position 10w is represented by the other vehicle position 68w. The position of the other vehicle 68 at the time when the vehicle 10 is at the vehicle position 10x is represented by the other vehicle position 68x.

[0358] The oncoming vehicle predicted path of the other vehicle 68 at the other vehicle position 68u is indicated by a dotted line Ls3. In this example, the other vehicle 68 is traveling straight.

[0359] The driver starts the operation (flashing) of the right indicator 43R when the vehicle 10 reaches the vehicle position 10u. Therefore, when the vehicle 10 reaches the vehicle position 10u, the condition (A1) is satisfied.

[0360] Although detailed description is omitted, at least during the period when the vehicle 10 is traveling in the interval between the vehicle position 10u and the vehicle position 10x, the other vehicle 68 satisfies the requirements of the oncoming vehicle (the above-mentioned conditions (a) to (e)). Therefore, condition (A2) is satisfied. Moreover, at the time point after the vehicle 10 reaches the vehicle position 10x, conditions (A3) and (A4) are both satisfied, and as a result, the path intersection notification condition is satisfied.

[0361] Next, whether the fifth advance notification condition is satisfied will be described. When the ECU 24 of the third variant device determines that the condition (A2) is satisfied (i.e., there is an oncoming vehicle) and there is no middle lane described later, it determines that the condition (F3) is satisfied. That is, when the ECU 24 determines that there is an oncoming vehicle and there is no middle lane, it determines that the oncoming vehicle is traveling in the right adjacent lane.

[0362] The middle lane is another lane located between the oncoming lane in which the oncoming vehicle is traveling and the traveling lane of the vehicle 10. The ECU 24 determines that there is a middle lane when both the following conditions (x1) and (x2) are satisfied.

[0363] Condition (x1): Both the right dividing line and the adjacent right dividing line are detected.

[0364] Condition (x2): The expected path of the oncoming vehicle (in this example, the dotted line Ls3 ) is located to the right of the adjacent right dividing line relative to the vehicle 10 .

[0365] Specifically, when the vehicle 10 is at the vehicle position 10u, the dividing line Lm1 is detected as the right dividing line, and the dividing line Lm2 is detected as the adjacent right dividing line, and there is a middle lane defined by the dividing lines Lm1 and Lm2. In this case, the expected path of the oncoming vehicle (dashed line Ls3) is located to the right of the adjacent right dividing line (dividing line Lm2) relative to the vehicle 10. Therefore, the conditions (x1) and (x2) are met, and therefore, the ECU 24 determines that there is a middle lane, and therefore, at this point in time, it is determined that the condition (F3) is not met.

[0366] Then, when the vehicle 10 reaches the vehicle position 10v, the dividing line Lm2 is detected as the right dividing line, and the dividing line Lm3 is detected as the adjacent right dividing line. The dotted line Ls3 (i.e., the expected path of the oncoming vehicle) is located to the left of the dividing line Lm3 relative to the vehicle 10. Therefore, in this case, there is no middle lane (i.e., the other vehicle 68 is traveling in the right adjacent lane), so the condition (F3) is satisfied, and thus the fifth advance notification condition is satisfied.

[0367] Next, whether the sixth advance notification condition is satisfied will be described. When the vehicle 10 is at the vehicle position 10u, the magnitude |Dx| of the lateral position Dx of the other vehicle 68 at the other vehicle position 68u is greater than the first threshold distance Dth1. Therefore, at this point in time, the condition (F4) is not satisfied.

[0368] Then, when the vehicle 10 is changing lanes from the driving lane to the lane adjacent to the right of the vehicle 10 (i.e., the lane defined by the dividing lines Lm1 and Lm2), the magnitude |Dx| of the lateral position Dx of the other vehicle 68 decreases. And when the vehicle 10 reaches the vehicle position 10w, the magnitude |Dx| of the lateral position Dx of the other vehicle 68 becomes smaller than the first threshold distance Dth1. Therefore, when the vehicle 10 reaches the vehicle position 10w, the condition (F4) is satisfied, and therefore the sixth advance notification condition is satisfied.

[0369] (Specific operation of the third deformation device)

[0370] The CPU 31 (hereinafter also referred to as "CPU") of the ECU 24 of the third variant device executes a Fig.12 The "oncoming vehicle notification determination processing routine" represented by the flowchart is replaced by Figure 6 The “oncoming vehicle notification determination processing routine” shown.

[0371] Therefore, when the appropriate timing is reached, the CPU Fig.12 The process starts from step 1200 and the process after step 605 is executed. When the CPU determines that it is "No" in step 620 (that is, when conditions (A1) and (A2) are satisfied, and condition (A3) is not satisfied), the process proceeds to step 1245.

[0372] In step 1245, the CPU determines whether the oncoming vehicle is traveling in the right adjacent lane. That is, the CPU determines whether the condition (F3) is satisfied.

[0373] If the oncoming vehicle is traveling in the right adjacent lane (ie, if condition (F3) is satisfied), the CPU makes a "yes" determination in step 1245 and proceeds to step 630 to start the notification process.

[0374] On the other hand, if the oncoming vehicle is not traveling in the right adjacent lane (i.e., if condition (F3) is not satisfied), the CPU determines "No" in step 1245 and proceeds to step 1250. In step 1250, the CPU determines whether the lateral distance |Dx|, which is the magnitude of the lateral position Dx of the oncoming vehicle, is smaller than the first threshold distance Dth1. That is, the CPU determines whether condition (F4) is satisfied.

[0375] If the magnitude |Dx| of the lateral position Dx of the oncoming vehicle is smaller than the first threshold distance Dth1 (i.e., if condition (F4) is satisfied), the CPU makes a "yes" determination in step 1250 and proceeds to step 630. On the other hand, if the magnitude |Dx| of the lateral position Dx of the oncoming vehicle is greater than or equal to the first threshold distance Dth1 (i.e., if condition (F4) is not satisfied), the CPU makes a "no" determination in step 1250 and directly proceeds to step 1295, terminating the processing of this routine.

[0376] As described above, the third modified device can start the oncoming vehicle notification process when the oncoming vehicle is traveling in the right adjacent lane. In other words, the oncoming vehicle notification process can be executed at an appropriate timing.

[0377] (Fourth Modification of the Present Notification Device)

[0378] Next, the fourth modified example of the present notification device (fourth modified device) executes the oncoming vehicle notification process when at least one of the route intersection notification condition and the "seventh prior notification condition" is satisfied.

[0379] <<Article 7 Advance Notification Condition>>

[0380] The seventh advance notification condition is a condition that is satisfied when the above-mentioned "condition (A1), condition (A2) and condition (B3a)" and the condition (G4) described below are all satisfied. That is, the seventh advance notification condition is satisfied when the above-mentioned first advance notification condition is satisfied and further the condition (G4) is satisfied.

[0381] Condition (A1): The right indicator 43R is in operation (flashing).

[0382] Condition (A2): There is an oncoming vehicle.

[0383] Condition (B3a): The right-turn passing area of ​​the vehicle 10 does not include the right-side dividing line.

[0384] Condition (G4): There is no "crossing vehicle" described later.

[0385] Reference Fig.13 The seventh advance notification condition is explained. Fig.13 , the current position of the vehicle 10 is represented by the vehicle position 10z. In this example, the driver is about to make the vehicle 10 turn right at the intersection. Specifically, the driver is about to make the vehicle 10 go from the vehicle position 10z through the vehicle position 10A and the vehicle position 10B to the vehicle position 10C. The dotted line Le7 represents the driving path of the vehicle 10 intended by the driver.

[0386] Fig.13The other vehicles 69 shown are other vehicles detected based on the front image (i.e., camera detection targets whose target class is "vehicle"). The position of the other vehicle 69 at the time when the vehicle 10 is at the vehicle position 10z is represented by the other vehicle position 69z. The position of the other vehicle 69 at the time when the vehicle 10 is at the vehicle position 10A is represented by the other vehicle position 69A. The position of the other vehicle 69 at the time when the vehicle 10 is at the vehicle position 10B is represented by the other vehicle position 69B.

[0387] The oncoming vehicle predicted path of the other vehicle 69 at the other vehicle position 69z is indicated by a dotted line Ls4. In this example, the other vehicle 69 is traveling straight.

[0388] The driver starts the operation (flashing) of the right indicator 43R when the vehicle 10 reaches the vehicle position 10z. Therefore, when the vehicle 10 reaches the vehicle position 10z, the condition (A1) is satisfied.

[0389] Detailed description is omitted, but at least during the "period when vehicle 10 is traveling in the interval between vehicle position 10z and vehicle position 10B", the other vehicle 69 meets the requirements of the oncoming vehicle (i.e., conditions (a) to (e)). Therefore, condition (A2) is met. On the other hand, conditions (A3) and (A4) are met after vehicle 10 passes vehicle position 10A. In other words, at the time point when vehicle 10 arrives at vehicle position 10A, conditions (A3) and (A4) are not met. In this example, at the time point when vehicle 10 is halfway from vehicle position 10A to vehicle position 10B, conditions (A3) and (A4) are met, and as a result, the path intersection notification condition is met.

[0390] On the other hand, when the vehicle 10 reaches the vehicle position 10A, the right dividing line is not included in the area Rpn which is the right turn passing area of ​​the vehicle 10. That is, when the vehicle 10 reaches the vehicle position 10A, the condition (B3a) is satisfied.

[0391] Fig.13 The other vehicle 71 shown is another vehicle detected based on the front image (i.e., a camera detection target object whose target object category is "vehicle"). The position of the other vehicle 71 at the time when the vehicle 10 is at the vehicle position 10z is represented by the other vehicle position 71z. The position of the other vehicle 71 at the time when the vehicle 10 is at the vehicle position 10A is represented by the other vehicle position 71A. The position of the other vehicle 71 at the time when the vehicle 10 is at the vehicle position 10B is represented by the other vehicle position 71B.

[0392] The vehicle control ECU 25 (hereinafter also simply referred to as “ECU 25”) of the fourth modified device determines that the other vehicle 71 is a crossing vehicle at least “while the vehicle 10 is traveling in the section from the vehicle position 10z to the vehicle position 10B”.

[0393] More specifically, the camera detection target object of the crossing vehicle satisfies all of the above conditions (a) and the following conditions (h) and (i). That is, if all of the following "conditions (a), (h) and (i)" are met, ECU25 determines that there is a crossing vehicle. As a result, ECU25 determines that condition (G4) is not met. In addition, for the sake of convenience, the condition that there is a crossing vehicle is also referred to as a "prohibition condition."

[0394] Condition (a): There is a camera detecting a target object, and its target object category is "vehicle".

[0395] Condition (h): The target object detected by the camera is a target object (another vehicle) other than the oncoming vehicle, and the “expected path of the crossing vehicle” of the target object detected by the camera intersects with the expected path of the oncoming vehicle.

[0396] Condition (i): The intersection time Tr is less than or equal to a predetermined second threshold time Tth2 (ie, Tr≤Tth2).

[0397] The other vehicle 71 is a camera detection target object with the target object category of "vehicle", so condition (a) is satisfied. Condition (h) is explained. The expected path of the crossing vehicle is the expected travel path of the camera detection target object. The expected path of the crossing vehicle is obtained based on the assumption that the speed and the moving direction do not change and are maintained based on the position (i.e., the lateral position Dx and the longitudinal position Dy) and the speed (i.e., the lateral relative speed Vx and the longitudinal relative speed Vy) of the camera detection target object.

[0398] exist Fig.13 In the example, the expected path of the crossing vehicle of the other vehicle 71 at the other vehicle position 71z is represented by the dotted line Ls5. In this example, the other vehicle 71 is traveling straight. Therefore, the expected path of the oncoming vehicle of the other vehicle 71 at the other vehicle position 71A is represented by Fig.13 The dashed line Ls5 in FIG. 1 is shown as the interval on the right side of the paper relative to the other vehicle position 71A. Similarly, the expected path of the oncoming vehicle of the other vehicle 71 at the other vehicle position 71B is represented by Fig.13 The dotted line Ls5 in FIG. 7 is indicated as a section on the right side of the paper relative to the other vehicle position 71B.

[0399] As per Fig.13As can be understood, the dotted line Ls4 and the dotted line Ls5 intersect each other at point Ps5. In other words, at least during "the period when the vehicle 10 is traveling in the interval between the vehicle position 10z and the vehicle position 10B", the expected path of the crossing vehicle 71 and the expected path of the oncoming vehicle 69 intersect each other, so condition (h) is satisfied.

[0400] Next, condition (i) is explained. The intersection time Tr is the time until the camera detection target object with the expected path of the crossing vehicle as the expected path reaches the expected path of the oncoming vehicle. The intersection time Tr of the other vehicle 71 at the current time point (i.e., the time point when the vehicle 10 is at the vehicle position 10z) is the time required for the other vehicle 71 to travel from the other vehicle position 71z to the point Ps5. In this example, at the time point when the vehicle 10 arrives at the vehicle position 10z, the intersection time Tr becomes equal to the second threshold time Tth2. Therefore, at least during the "period when the vehicle 10 travels in the interval between the vehicle position 10z and the vehicle position 10B", condition (i) is met.

[0401] In other words, at least during the period when the vehicle 10 is traveling in the interval between the vehicle position 10z and the vehicle position 10B, the other vehicle 71 meets the requirements for crossing the vehicle (i.e., conditions (a), (h), and (i)), and therefore, condition (G4) is not satisfied. Therefore, the seventh advance notification condition is not satisfied. Therefore, the ECU 25 starts the notification process when the vehicle 10 reaches the vehicle position 10B (i.e., when the path intersection notification condition is satisfied).

[0402] (Specific operation of the fourth deformation device)

[0403] The CPU 31 (hereinafter also referred to as "CPU") of the ECU 25 of the fourth modified device executes a Fig.14 The "oncoming vehicle notification determination processing routine" represented by the flowchart is replaced by Figure 6 The “oncoming vehicle notification determination processing routine” shown.

[0404] Therefore, when the appropriate timing is reached, the CPU Fig.14 The process starts at step 1400 and executes the processes after step 605. When the CPU determines that it is "No" in step 620 (that is, when conditions (A1) and (A2) are satisfied, and condition (A3) is not satisfied), the process proceeds to step 645.

[0405] When the CPU determines "yes" in step 645 (that is, when condition (B3a) is satisfied), the process proceeds to step 1450 to determine whether there is no crossing vehicle. That is, the CPU determines whether condition (G4) is satisfied.

[0406] If there is no crossing vehicle (that is, if the condition (G4) is satisfied), the CPU makes a "yes" determination in step 1450 and proceeds to step 630. That is, in this case, the seventh prior notification condition is satisfied, and therefore the CPU starts the notification process.

[0407] On the other hand, if there is a crossing vehicle, the CPU makes a "No" determination in step 1450 and proceeds to step 1495 to terminate the processing of this routine.

[0408] If the determination condition of step 645 is not satisfied (ie, if condition (B3a) is not satisfied), the CPU makes a “No” determination in step 645 and directly proceeds to step 1495 .

[0409] As described above, according to the fourth modified device, whether the prohibition condition is satisfied is determined based on whether there is a crossing vehicle. Therefore, according to the fourth modified device, the oncoming vehicle notification process does not operate unnecessarily.

[0410] (Fifth Modification of the Present Notification Device)

[0411] The fifth modified example (fifth modified device) of the present notification device executes the oncoming vehicle notification process when at least one of the route intersection notification condition and the first prior notification condition is satisfied.

[0412] However, the vehicle control ECU 26 (hereinafter also referred to as "ECU 26") of the fifth variant device, when the first prior notification condition is satisfied and when there is no (no held) "stop history record" about the oncoming vehicle, performs both the "first notification process" and the "second notification process" as the oncoming vehicle notification process. On the other hand, when the first prior notification condition is satisfied and when there is (held) a "stop history record" about the oncoming vehicle, only the second notification process is performed as the oncoming vehicle notification process.

[0413] The first notification process is a notification process performed using the display 46 instead of the speaker 47. The second notification process is a notification process performed using the speaker 47 instead of the display 46. The process in which both the first notification process and the second notification process are performed is the same as the oncoming vehicle notification process performed by the above-mentioned ECU 21. That is, the above-mentioned ECU 21 can be said to be configured to start the first notification process and the second notification process together when at least one of the path intersection notification condition, the first prior notification condition, and the second prior notification condition is satisfied.

[0414] When the first prior notification condition is satisfied, if there is a "stop history" about the oncoming vehicle, the ECU 26 performs notification using the speaker 47 instead of the display 46. On the other hand, when the first prior notification condition is satisfied, if there is no "stop history" about the oncoming vehicle, the ECU performs notification using both the display 46 and the speaker 47.

[0415] Next, the above-mentioned stop history is described. When the longitudinal position Dy of the oncoming vehicle is smaller than the predetermined second threshold distance Dth2, and the target object travel speed Vc of the oncoming vehicle is less than the predetermined third threshold speed Vth3, the ECU 26 determines that the oncoming vehicle has stopped. In the fifth modification, the third threshold speed Vth3 is "0". When the ECU 26 determines that the oncoming vehicle has stopped, it keeps the stop history related to the oncoming vehicle after the time point of making the determination.

[0416] Reference Fig.15 The following describes an example of an oncoming vehicle that has a stop history. Fig.15 , the current position of the vehicle 10 is indicated by the vehicle position 10F. The vehicle 10 passes through the vehicle position 10D and the vehicle position 10E to reach the vehicle position 10F. The solid line Le8 indicates the path that the vehicle 10 has traveled.

[0417] The driver starts the operation (flashing) of the right indicator 43R when the vehicle 10 reaches the vehicle position 10E. Therefore, when the vehicle 10 reaches the vehicle position 10E, the condition (A1) is satisfied.

[0418] In this example, the driver is about to turn right at an intersection without a traffic light. Specifically, the driver is about to drive the vehicle 10 from the vehicle position 10F to the vehicle position 10G and then to the vehicle position 10H. The dashed line Le9 indicates the driving path of the vehicle 10 that the driver intends.

[0419] Fig.15 The pedestrian 81 shown has just crossed the road by walking on the crosswalk. The current position of the pedestrian 81 is indicated by pedestrian position 81F. The position of the pedestrian 81 at the time when the vehicle 10 is at vehicle position 10D is indicated by pedestrian position 81D. The position of the pedestrian 81 at the time when the vehicle 10 is at vehicle position 10E is indicated by pedestrian position 81E. The solid line Lw1 indicates the path that the pedestrian 81 has walked.

[0420] The other vehicle 72 is another vehicle detected based on the front image (i.e., a camera detection target with the target class of "vehicle"), and is a vehicle identified as an oncoming vehicle. The position of the other vehicle 72 during the period when the vehicle 10 travels from the vehicle position 10D to the vehicle position 10E is represented by the other vehicle position 72D. More specifically, the pedestrian 81 walks across the crosswalk in front of the other vehicle 72, and therefore, the other vehicle 72 stops at the other vehicle position 72D during the period when the vehicle 10 travels from the vehicle position 10D to the vehicle position 10E.

[0421] Then (ie, after the pedestrian 81 has completed crossing the road), the other vehicle 72 resumes traveling. The position of the other vehicle 72 at the time when the vehicle 10 is at the vehicle position 10F is indicated by the other vehicle position 72F. The solid line Ls6 indicates the path that the other vehicle 72 has traveled.

[0422] The position of the other vehicle 72 at the time when the vehicle 10 is at the vehicle position 10G is indicated by the other vehicle position 72G. The expected oncoming vehicle path of the other vehicle 72 at the other vehicle position 72F is indicated by the dotted line Ls7. In this example, the other vehicle 72 is traveling straight. Therefore, the expected oncoming vehicle path of the other vehicle 72 at the other vehicle position 72G is indicated by Fig.15 The dotted line Ls7 in FIG. 7 is shown as a section located below the paper surface compared to other vehicle positions 72G.

[0423] In this example, after the position of the other vehicle 72 reaches the other vehicle position 72D, there is a stop history record of the other vehicle 72. More specifically, at the time point when the vehicle 10 reaches the vehicle position 10D (the time point when the position of the other vehicle 72 reaches the other vehicle position 72D), the target object travel speed Vc of the other vehicle 72 becomes equal to the third threshold speed Vth3 (=0), and the longitudinal position Dy of the other vehicle 72 at this time point is smaller than the second threshold distance Dth2. Therefore, the ECU 26 determines that the other vehicle 72 as the oncoming vehicle has stopped. Therefore, at the time point when the vehicle 10 reaches the vehicle position 10E, the other vehicle 72 starts to travel, but the stop history record of the other vehicle 72 is maintained (existent).

[0424] Although detailed description is omitted, at least during the period "when the vehicle 10 is traveling in the interval between the vehicle position 10F and the vehicle position 10G", the other vehicle 72 meets the requirements of the oncoming vehicle (i.e., conditions (a) to (e)), and therefore, condition (A2) is satisfied. However, at the time point when the vehicle 10 reaches the vehicle position 10F, both conditions (A3) and conditions (A4) are not satisfied. In addition, in this example, at the time point after the vehicle 10 reaches the vehicle position 10G, conditions (A3) and conditions (A4) are satisfied, and as a result, the path intersection notification condition is satisfied.

[0425] Furthermore, when the vehicle 10 reaches the vehicle position 10F, the area Rpo, which is the right turn passing area of ​​the vehicle 10, does not include the right dividing line. In other words, at the time point when the vehicle 10 reaches the vehicle position 10F, the condition (B3a) is satisfied. Therefore, at the point when the vehicle 10 reaches the vehicle position 10F, the first advance notification condition is satisfied.

[0426] In this case (i.e., when the first prior notification condition is satisfied), as described above, the vehicle control ECU 26 of the fifth variant device only performs the second notification process as the oncoming vehicle notification process when there is a "stop history record" about the oncoming vehicle. Thus, in the above example, there is a stop history record of the oncoming vehicle (i.e., the other vehicle 72), and therefore, when the vehicle 10 reaches the vehicle position 10F and the first prior notification condition is satisfied, the ECU 26 starts the second notification process (the notification process performed using the speaker 47). Then, when the vehicle 10 reaches the vehicle position 10G (i.e., when the path intersection notification condition is satisfied), the ECU 26 starts the first notification process. That is, the ECU 26 performs the first notification process (the notification process performed using the display 46) on the basis of the second notification process.

[0427] On the other hand, if there is no stop history of the other vehicle 72 , the ECU 26 starts both the first notification process and the second notification process when the vehicle 10 reaches the vehicle position 10F.

[0428] (Specific operation of the fifth deformation device)

[0429] The CPU 31 (hereinafter also referred to as "CPU") of the driving support ECU 26 of the fifth modified embodiment executes a Fig.16 The "oncoming vehicle notification determination processing routine" represented by the flowchart is replaced by Figure 6 The “oncoming vehicle notification determination processing routine” shown.

[0430] Therefore, when the appropriate timing is reached, the CPU Fig.16 The CPU starts the process from step 1600 and proceeds to step 1605 to determine whether the second notification process is not executed. In other words, when both the first notification process and the second notification process are executed or when only the second notification process is executed, the CPU determines "no" in step 1605 and proceeds to step 635.

[0431] If the determination condition of step 635 is not satisfied (that is, if the notification end condition is not satisfied), the CPU makes a “No” determination in step 635 and proceeds to step 610 .

[0432] Furthermore, when the CPU proceeds to step 1605 , if the second notification process has not been executed, the CPU makes a “yes” determination in step 1605 and proceeds to step 610 .

[0433] When the CPU determines that the answer is "yes" in step 625 (i.e., when the path intersection notification condition is satisfied), the process proceeds to step 1630 to execute the first notification process. More specifically, if the first notification process is not executed (i.e., if the first notification process has not started), the CPU starts the first notification process by displaying an oncoming vehicle warning mark on the display 46. On the other hand, if the first notification process is being executed, the CPU continues to execute the first notification process.

[0434] Next, the CPU proceeds to step 1632 to execute the second notification process. More specifically, if the second notification process is not executed (i.e., if the second notification process has not started), the CPU starts the second notification process by causing the speaker 47 to generate an oncoming vehicle warning sound. On the other hand, if the second notification process is executed, the CPU continues to execute the second notification process. Then, the CPU proceeds to step 1695 to end the processing of this routine.

[0435] When the CPU determines "yes" in step 645 (i.e., when the path intersection notification condition is not satisfied but the first prior notification condition is satisfied because condition (B3a) is satisfied), the process proceeds to step 1650. In step 1650, the CPU determines whether a stop history of the oncoming vehicle is retained (existent).

[0436] If the stop history of the oncoming vehicle is retained (exists), the CPU determines "yes" in step 1650 and proceeds to step 1632 to perform the second notification process as the oncoming vehicle notification process. On the other hand, if the stop history of the oncoming vehicle is not retained (does not exist), the CPU determines "no" in step 1650 and proceeds to step 1630 and step 1632. As a result, the "first notification process and the second notification process" are performed together as the oncoming vehicle notification process.

[0437] According to the fifth variation, whether the prohibition condition is satisfied is determined based on whether there is a stop history record of the oncoming vehicle. Therefore, according to the fifth variation, the first notification process does not operate unnecessarily.

[0438] Furthermore, according to the fifth variation, when the prohibition condition is satisfied, the second notification process is not executed, and only the first notification process is executed. Therefore, the possibility that the driver will feel annoyed by the execution of the notification process can be reduced.

[0439] In addition, for the sake of convenience, the condition that is satisfied when there is a stop history record related to the oncoming vehicle is also referred to as a "prohibition condition (stop history prohibition condition)". Furthermore, the modification of the fifth modification device may prohibit not only the first notification process but also the second notification process when the stop history prohibition condition is satisfied. That is, the CPU may Fig.16 If the answer in step 1650 is "yes", the process goes directly to step 1695 without going to step 1632.

[0440] (Sixth Modification of the Present Notification Device)

[0441] The sixth variation of the present notification device (sixth variation device) executes oncoming vehicle notification processing when at least one of the path intersection notification condition, the "eighth prior notification condition" and the "ninth prior notification condition" is satisfied.

[0442] <<Article 8 Advance Notification Condition>>

[0443] The eighth advance notification condition is a condition that is satisfied when all of the above-mentioned "conditions (A1), (A2), and (B3a)" and the following "conditions (H4a) and (H5a)" are satisfied. That is, the eighth advance notification condition is satisfied when all of the following conditions are satisfied.

[0444] Condition (A1): The right indicator 43R is in operation (flashing).

[0445] Condition (A2): There is an oncoming vehicle.

[0446] Condition (B3a): The right-turn passing area of ​​the vehicle 10 does not include the right-side dividing line.

[0447] Condition (H4a): The vehicle speed Vs of the vehicle 10 is equal to or lower than a predetermined fourth threshold speed Vth4 (ie, Vs≤Vth4).

[0448] Condition (H5a): The magnitude of the lateral position Dx of the oncoming vehicle (lateral distance |Dx|) is smaller than a predetermined third threshold distance Dth3 (i.e., |Dx|<Dth3). The third threshold distance Dth3 is pre-set to be substantially consistent with the upper limit value of the magnitude of the lateral position Dx (lateral distance |Dx|) that the oncoming vehicle can take when traveling in a lane adjacent to the driving lane (right adjacent lane).

[0449] <<Section 9 Advance Notification Condition>>

[0450] The ninth advance notification condition is a condition that is satisfied when all of the above-mentioned "conditions (A1), (A2), and (B3a)" and the following "conditions (H4b) and (H5b)" are satisfied. That is, the ninth advance notification condition is satisfied when all of the following conditions are satisfied.

[0451] Condition (A1): The right indicator 43R is in operation (flashing).

[0452] Condition (A2): There is an oncoming vehicle.

[0453] Condition (B3a): The right-turn passing area of ​​the vehicle 10 does not include the right-side dividing line.

[0454] Condition (H4b): The vehicle speed Vs of the vehicle 10 is greater than the fourth threshold speed Vth4 (ie, Vs>Vth4).

[0455] Condition (H5b): The magnitude of the lateral position Dx of the oncoming vehicle (lateral distance |Dx|) is smaller than a predetermined fourth threshold distance Dth4 (i.e., |Dx|<Dth4). The fourth threshold distance Dth4 is a value larger than the third threshold distance Dth3 (i.e., Dth3<Dth4), and is pre-set to be substantially consistent with the upper limit value of the magnitude of the lateral position Dx (lateral distance |Dx|) that the oncoming vehicle can take when traveling in "the lane adjacent to the right of the right adjacent lane relative to the vehicle 10".

[0456] Furthermore, the conditions of "condition (H4a) and condition (H5a)" included in the eighth advance notification condition and "condition (H4b) and condition (H5b)" included in the ninth advance notification condition can be summarized into the following condition (H6).

[0457] Condition (H6): The magnitude of the lateral position Dx of the oncoming vehicle (lateral distance |Dx|) is smaller than the lateral threshold distance (Dxyth), and the lateral threshold distance (Dxyth) increases as the vehicle speed Vs of the vehicle 10 increases.

[0458] Reference Fig.17 The eighth advance notification condition is explained. Fig.17 , the current position of the vehicle 10 is represented by the vehicle position 10J. In this example, the driver is about to make the vehicle 10 turn right at the intersection. Specifically, the driver is about to make the vehicle 10 go from the vehicle position 10J through the vehicle position 10K and the vehicle position 10L to the vehicle position 10M. The dotted line Le10 represents the driving path of the vehicle 10 intended by the driver.

[0459] Fig.17The other vehicles 73 shown are other vehicles detected based on the front image (i.e., camera detection targets whose target class is "vehicle"). The position of the other vehicle 73 at the time when the vehicle 10 is at the vehicle position 10J is indicated by the other vehicle position 73J. The position of the other vehicle 73 at the time when the vehicle 10 is at the vehicle position 10K is indicated by the other vehicle position 73K. The position of the other vehicle 73 at the time when the vehicle 10 is at the vehicle position 10L is indicated by the other vehicle position 73L.

[0460] The oncoming vehicle predicted path of the other vehicle 73 at the other vehicle position 73J is indicated by a dotted line Ls8. In this example, the other vehicle 73 is traveling straight.

[0461] The driver starts the operation (flashing) of the right indicator 43R when the vehicle 10 reaches the vehicle position 10J. Therefore, when the vehicle 10 reaches the vehicle position 10J, the condition (A1) is satisfied.

[0462] Although detailed description is omitted, at least during the period "when the vehicle 10 is traveling in the interval between the vehicle position 10J and the vehicle position 10L", the other vehicle 73 satisfies the requirements of the oncoming vehicle (i.e., conditions (a) to (e)). Therefore, during this period, condition (A2) is satisfied. On the other hand, at the time point when the vehicle 10 arrives at the vehicle position 10K, conditions (A3) and (A4) are not satisfied. In addition, in this example, at the time point after the vehicle 10 arrives at the vehicle position 10L, conditions (A3) and (A4) are satisfied, and as a result, the path intersection notification condition is satisfied.

[0463] Furthermore, when the vehicle 10 reaches the vehicle position 10K, the right dividing line is not included in the area Rpp which is the right turn passing area of ​​the vehicle 10. That is, at the time when the vehicle 10 reaches the vehicle position 10K, the condition (B3a) is satisfied.

[0464] In this example, when the vehicle 10 reaches the vehicle position 10K, the vehicle speed Vs is less than the fourth threshold speed Vth4. Therefore, at this time point, the condition (H4a) is satisfied. Fig.17 As can be understood, the lateral position Dx of the other vehicle 73 at this time point is smaller than the third threshold distance Dth3, so the condition (H5a) is satisfied. Therefore, when the vehicle 10 reaches the vehicle position 10K, the eighth advance notification condition is satisfied.

[0465] Next, refer to Fig.18 The ninth advance notification condition is explained. Fig.18, the current position of the vehicle 10 is represented by the vehicle position 10N. In this example, the driver is about to make the vehicle 10 turn right at the intersection. Specifically, the driver is about to make the vehicle 10 go from the vehicle position 10N through the vehicle position 10P and the vehicle position 10Q to the vehicle position 10R. The dotted line Le11 represents the driving path of the vehicle 10 intended by the driver.

[0466] Fig.18 The other vehicles 74 shown are other vehicles detected based on the front image (i.e., camera detection targets whose target class is "vehicle"). The position of the other vehicle 74 at the time when the vehicle 10 is at the vehicle position 10N is represented by the other vehicle position 74N. The position of the other vehicle 74 at the time when the vehicle 10 is at the vehicle position 10P is represented by the other vehicle position 74P. The position of the other vehicle 74 at the time when the vehicle 10 is at the vehicle position 10Q is represented by the other vehicle position 74Q.

[0467] The oncoming vehicle predicted path of the other vehicle 74 at the other vehicle position 74N is indicated by a dotted line Ls9. In this example, the other vehicle 74 is traveling straight.

[0468] The driver starts the operation (flashing) of the right indicator 43R when the vehicle 10 reaches the vehicle position 10N. Therefore, when the vehicle 10 reaches the vehicle position 10N, the condition (A1) is satisfied.

[0469] Although detailed description is omitted, at least during the period "when the vehicle 10 is traveling in the interval between the vehicle position 10N and the vehicle position 10Q", the other vehicle 74 satisfies the requirements (a) to (e) of the oncoming vehicle. Therefore, during this period, the condition (A2) is satisfied. On the other hand, at the time point when the vehicle 10 reaches the vehicle position 10P, the conditions (A3) and (A4) are not satisfied. In addition, in this example, at the time point after the vehicle 10 reaches the vehicle position 10Q, the conditions (A3) and (A4) are satisfied, and as a result, the path intersection notification condition is satisfied.

[0470] Furthermore, when the vehicle 10 reaches the vehicle position 10P, the right dividing line is not included in the area Rpq which is the right turn passing area of ​​the vehicle 10. That is, at the time when the vehicle 10 reaches the vehicle position 10P, the condition (B3a) is satisfied.

[0471] In this example, when the vehicle 10 reaches the vehicle position 10P, the vehicle speed Vs is greater than the fourth threshold speed Vth4. Therefore, at this time point, the condition (H4b) is satisfied. Fig.18As can be understood, the lateral position Dx of the other vehicle 74 at this time point is smaller than the fourth threshold distance Dth4, so the condition (H5b) is satisfied. Therefore, when the vehicle 10 reaches the vehicle position 10P, the ninth advance notification condition is satisfied.

[0472] (Specific operation of the sixth deformation device)

[0473] The CPU 31 (hereinafter also referred to as "CPU") of the driving support ECU 27 of the sixth modified device executes a Fig.19 The "oncoming vehicle notification determination processing routine" represented by the flowchart is replaced by Figure 6 The “oncoming vehicle notification determination processing routine” shown.

[0474] Therefore, when the appropriate timing is reached, the CPU Fig.19 The CPU starts processing at step 1900 and executes processing at steps after step 605. When the CPU determines that the answer at step 645 is "yes" (i.e., when conditions (A1), (A2), and (B3a) are satisfied), the CPU proceeds to step 1945 to determine whether the vehicle speed Vs of the vehicle 10 is less than or equal to the fourth threshold speed Vth4. That is, the CPU determines whether condition (H4a) is satisfied.

[0475] If the vehicle speed Vs is less than the fourth threshold speed Vth4, the CPU determines "yes" in step 1945 and proceeds to step 1950 to determine whether the lateral position Dx of the oncoming vehicle (|Dx|) is smaller than the third threshold distance Dth3. That is, the CPU determines whether the condition (H5a) is satisfied.

[0476] If the magnitude (|Dx|) of the lateral position Dx of the oncoming vehicle is smaller than the third threshold distance Dth3, the CPU makes a "yes" determination in step 1950 and proceeds to step 630. That is, in this case, the eighth prior notification condition is satisfied, and therefore the CPU starts notification processing.

[0477] On the other hand, if the vehicle speed Vs is greater than the fourth threshold speed Vth4 (i.e., if condition (H4b) is satisfied), the CPU makes a "No" determination in step 1945 and proceeds to step 1955 to determine whether the magnitude (|Dx|) of the lateral position Dx of the oncoming vehicle is smaller than the fourth threshold distance Dth4. That is, the CPU determines whether condition (H5b) is satisfied.

[0478] If the magnitude (|Dx|) of the lateral position Dx of the oncoming vehicle is smaller than the fourth threshold distance Dth4, the CPU determines "yes" in step 1955 and proceeds to step 630. That is, in this case, the ninth advance notification condition is satisfied, and therefore the CPU starts the notification process. On the other hand, if the magnitude (|Dx|) of the lateral position Dx of the oncoming vehicle is greater than the fourth threshold distance Dth4, the CPU determines "no" in step 1955 and directly proceeds to step 1995.

[0479] If the determination condition of step 1950 is not satisfied (ie, if the magnitude (|Dx|) of the lateral position Dx of the oncoming vehicle is greater than the third threshold distance Dth3), the CPU makes a “no” determination in step 1950 and directly proceeds to step 1995 .

[0480] According to the sixth variation, it is possible to perform oncoming vehicle notification processing at an appropriate timing in each of the cases where the oncoming vehicle is traveling in the right adjacent lane and the case where the oncoming vehicle is traveling in the lane further to the right of the right adjacent lane.

[0481] (Seventh Modification of the Present Notification Device)

[0482] The seventh modification of the present notification device (the seventh modification device) executes the oncoming vehicle notification process when at least one of the route intersection notification condition and the "tenth prior notification condition" is satisfied.

[0483] <<Article 10 Advance Notification Condition>>

[0484] The tenth prior notification condition is a condition that is satisfied when all of the above-mentioned "conditions (A1), (A2), and (B3a)" and the condition (J4) described below are satisfied. That is, the tenth prior notification condition is satisfied when all of the following conditions are satisfied.

[0485] Condition (A1): The right indicator 43R is in operation (flashing).

[0486] Condition (A2): There is an oncoming vehicle.

[0487] Condition (B3a): The right-turn passing area of ​​the vehicle 10 does not include the right-side dividing line.

[0488] Condition (J4): The "prohibition condition (specific prohibition condition)" described later does not hold.

[0489] The prohibition condition (specific prohibition condition) of condition (J4) is a condition that is satisfied when all of the following conditions (j), (k), and (m) are satisfied.

[0490] <<<Specific Prohibition Conditions>>>

[0491] Condition (j): The steering angle θs is smaller than a predetermined positive threshold angle θth (i.e., 0<θth and θs<θth). That is, the steering angle θs is a value for turning the vehicle 10 so as to cross the opposite lane, and the magnitude of the steering angle θs |θs| is smaller than the threshold angle θth (|θs|<θth).

[0492] Condition (k): The brake pedal operation amount Bp is greater than a predetermined threshold operation amount Bth (ie, Bp>Bth). That is, the brake is in operation.

[0493] Condition (m): The vehicle speed Vs of the vehicle 10 is equal to or lower than a predetermined fifth threshold speed Vth5 (ie, Vs≤Vth5).

[0494] In the present modification, the threshold operation amount Bth is “0.” For convenience of explanation, the fifth threshold speed Vth5 is also referred to as a “specific speed.”

[0495] (Specific operation of the seventh deformation device)

[0496] The CPU 31 (hereinafter also referred to as "CPU") of the driving support ECU 28 of the seventh modified device executes a Fig. 20 The "oncoming vehicle notification determination processing routine" represented by the flowchart is replaced by Figure 6 The “oncoming vehicle notification determination processing routine” shown.

[0497] Therefore, when the appropriate timing is reached, the CPU Fig. 20 The process starts from step 2000 and executes the process from step 605 onwards. When the CPU determines that the answer in step 645 is "yes" (i.e., when conditions (A1), (A2) and (B3a) are satisfied), the process proceeds to step 2050 to determine whether the steering angle θs is smaller than the threshold angle θth. That is, the CPU determines whether condition (j) is satisfied.

[0498] If the steering angle θs is greater than or equal to the threshold angle θth (i.e., if the condition (j) is not satisfied and the prohibition condition (specific prohibition condition) is not satisfied), the CPU determines "No" in step 2050 and proceeds to step 630. That is, in this case, the 10th prior notification condition is satisfied, so the CPU starts the notification process. Then, the CPU proceeds to step 2095 and ends the process of this routine.

[0499] On the other hand, if the steering angle θs is smaller than the threshold angle θth, the CPU determines "yes" in step 2050 and proceeds to step 2055 to determine whether the brake pedal operation amount Bp is greater than the threshold operation amount Bth. That is, the CPU determines whether condition (k) is satisfied. If the brake pedal operation amount Bp is less than the threshold operation amount Bth (that is, if condition (k) is not satisfied and the prohibition condition (specific prohibition condition) is not satisfied), the CPU determines "no" in step 2055 and proceeds to step 630 to start the notification process.

[0500] If the brake pedal operation amount Bp is greater than the threshold operation amount Bth, the CPU determines "yes" in step 2055 and proceeds to step 2060 to determine whether the vehicle speed Vs is less than the fifth threshold speed Vth5. That is, the CPU determines whether condition (m) is satisfied. If the vehicle speed Vs is greater than the fifth threshold speed Vth5 (that is, if condition (m) is not satisfied and the prohibition condition (specific prohibition condition) is not satisfied), the CPU determines "no" in step 2060 and proceeds to step 630 to start the notification process.

[0501] On the other hand, if the vehicle speed Vs is lower than the fifth threshold speed Vth5 (that is, if the prohibition condition is satisfied), the CPU makes a “YES” determination at step 2060 and directly proceeds to step 2095 .

[0502] According to the seventh modification, whether the prohibition condition is satisfied is determined based on the steering angle θs, the brake pedal operation amount Bp, and the vehicle speed Vs. Therefore, according to the seventh modification, the oncoming vehicle notification process is not performed unnecessarily.

[0503] (Eighth Modification of the Present Notification Device)

[0504] Next, the eighth variant of the present notification device (eighth variant device) is described. The present notification device and the variant described above terminate the notification process when at least one of the conditions (C1) to (C3) is satisfied. In contrast, the eighth variant device terminates the notification process at the time point when the "first notification termination condition" described later is satisfied, or the time point when the "second notification termination condition" described later is satisfied for more than the predetermined third threshold time Tth3, whichever comes first. This is described in detail below.

[0505] The first notification end condition is determined based on the state of the driver's driving operation. More specifically, the first notification end condition is a condition that is satisfied when it is determined (estimated) that the driver of the vehicle 10 has a high probability of recognizing the presence of an oncoming vehicle.

[0506] <<Conditions for the end of the first notification>>

[0507] In this modification, the first notification end condition is satisfied when both the end condition (END11) and the end condition (END12) described below are satisfied.

[0508] End condition (END11): The steering speed Ws, which is the amount of change per unit time of the steering angle θs, is a negative value. That is, the driver is steering the steering wheel 51 to the left.

[0509] End condition (END12): The absolute value of the steering speed Ws |Ws| is greater than the predetermined threshold angular velocity Wth (i.e. |Ws|>Wth>0). The threshold angular velocity Wth is preset to be substantially consistent with the lower limit of the threshold angular velocity Wth when the driver operates the steering wheel 51 to the left after noticing the presence of the oncoming vehicle after the vehicle 10 starts to turn right. In this modification, for the sake of convenience, the steering angle sensor 45 is also referred to as a "driving state sensor or driving operation state sensor".

[0510] <<Conditions for the end of the second notification>>

[0511] The second notification end condition is determined based on at least one of the vehicle speed Vs and the surrounding information of the vehicle 10. More specifically, the second notification end condition is a condition that is satisfied when it is determined that there is no possibility of collision between the vehicle 10 and the oncoming vehicle. In this modification, the second notification end condition is a condition that is satisfied when the condition (C2) is satisfied (that is, when there is no oncoming vehicle).

[0512] (Specific operation of the eighth deformation device)

[0513] The CPU 31 (hereinafter also referred to as "CPU") of the driving support ECU 29 (hereinafter also referred to as "ECU 29") of the eighth modified device executes a Fig.21 The "oncoming vehicle notification determination processing routine" represented by the flowchart is replaced by Figure 6 The “oncoming vehicle notification determination processing routine” shown. Fig.21 The routine shown is from Figure 6 The illustrated routine has the routines of step 635 and step 640 deleted.

[0514] Then, the CPU executes the following operation every time a predetermined time shorter than the third threshold time Tth3 has elapsed. Fig. 22 The “oncoming vehicle notification completion processing routine” represented by the flowchart.

[0515] In addition, for Fig. 22The value of the notification flag Xw used in the routine is set to "0" by an initialization routine (not shown) executed by the CPU when an ignition switch (not shown) of the vehicle 10 is turned on.

[0516] When the appropriate timing is reached, the CPU Fig.21 The CPU starts processing at step 2100 and enters step 605. When the CPU determines "no" in step 605, it directly enters step 2195 and ends the processing of this routine. On the contrary, when the CPU determines "yes" in step 605, it performs the processing of the steps after step 610. Thus, when at least one of the path intersection notification condition, the first prior notification condition, and the second prior notification condition is satisfied, the notification processing (step 630) is started.

[0517] When the appropriate timing is reached, the CPU Fig. 22 The process starts from step 2200 and enters step 2205 to determine whether the state at the current time point is the state of the notification process being executed. If the state at the current time point is not the state of the notification process being executed, the CPU determines "no" in step 2205 and enters step 2295 to end the process of this routine.

[0518] On the other hand, if the current state is that the notification process is being executed, the CPU determines "yes" in step 2205 and proceeds to step 2210 to determine whether the first notification end condition (a condition that is established when the driver operates the steering wheel 51 to the left after the vehicle 10 starts to turn right and notices the existence of the oncoming vehicle) is established. That is, the CPU determines whether both the end condition (END11) and the end condition (END12) are established. If the first notification end condition is established, the CPU determines "yes" in step 2210 and proceeds to step 640 to end the notification process.

[0519] Next, the CPU proceeds to step 2245 to determine whether the value of the notification flag Xw is "1". As described later, the value of the notification flag Xw is set to "1" when the second notification end condition is satisfied during the execution of the notification process (see step 2270). When the CPU proceeds to step 2245, if the value of the notification flag Xw is "1", the CPU determines "yes" in step 2245 and proceeds to step 2250 to set the value of the notification flag Xw to "0". Then, the CPU proceeds to step 2295.

[0520] In contrast, when the CPU proceeds to step 2245 , if the value of the notification flag Xw is not “1” (that is, if the value of the notification flag Xw is “0”), the CPU makes a “No” determination in step 2245 and directly proceeds to step 2295 .

[0521] When the CPU proceeds to step 2210, if the first notification end condition is not satisfied, the CPU makes a "No" determination in step 2210 and proceeds to step 2255 to determine whether the second notification end condition is satisfied. That is, the CPU determines whether there is no oncoming vehicle.

[0522] If the second notification end condition is satisfied, the CPU determines "yes" in step 2255 and proceeds to step 2260 to determine whether the value of the notification flag Xw is "1". If the value of the notification flag Xw is "0", the CPU determines "no" in step 2260 and proceeds to step 2270 to set the value of the notification flag Xw to "1". Furthermore, the CPU stores the time (flag change time) when the value of the notification flag Xw is set to "1" in RAM 33. Then, the CPU proceeds to step 2295.

[0523] When the present routine is executed next, if the first notification end condition is not satisfied and the second notification end condition continues to be satisfied, the CPU proceeds to step 2260 via steps 2205, 2210, and 2255. The CPU makes a "yes" determination at step 2260 and proceeds to step 2265.

[0524] In step 2265 , the CPU determines whether the third threshold time Tth3 has elapsed after the value of the notification flag Xw becomes “1”. Specifically, the CPU determines whether the current time is a time after the flag change time stored in RAM 33 by a third threshold time Tth3 or more.

[0525] After the value of the notification flag Xw becomes "1", if the third threshold time Tth3 has not passed, the CPU determines "No" in step 2265 and directly proceeds to step 2295. On the other hand, after the value of the notification flag Xw becomes "1", if the third threshold time Tth3 has passed, the CPU determines "Yes" in step 2265 and proceeds to step 640. In this case, the notification process is terminated in step 640, and the value of the notification flag Xw is set to "0" in step 2250.

[0526] If the determination condition of step 2255 is not satisfied (ie, if the second notification end condition is not satisfied), the CPU determines "No" in step 2255 and proceeds to step 2245. The CPU may directly proceed to step 2295 when the determination in step 2255 is "No".

[0527] According to the eighth variant, when the first notification end condition is satisfied (i.e., when it is estimated that the driver of the vehicle 10 has noticed the presence of the oncoming vehicle), the notification process is immediately terminated. Furthermore, according to the eighth variant, when the state in which the second notification end condition is satisfied (the state in which the oncoming vehicle does not exist) continues for more than the third threshold time Tth3, the notification process is terminated. Thus, the notification process can be terminated when a safer state is confirmed.

[0528] The above describes the embodiments and variations of the notification device according to the present invention, but the present invention is not limited to the above embodiments and variations, and various variations can be adopted within the scope of the present invention. For example, the specific direction of the above embodiments and variations is the right. However, in areas with laws and regulations that stipulate that vehicles pass on the right side of the road (right-side traffic areas), the specific direction becomes the left.

[0529] Moreover, in the present embodiment, the right turn passing area is an area defined based on fixed values ​​(specifically, the distance Dx1, the distance Dy1, the distance Dy2, and the vehicle width Wd). However, the right turn passing area may be an area different from this. For example, the right turn passing area may be defined in such a way that the greater the width of the driving lane (i.e., the distance between the right dividing line and the left dividing line), the greater the length of the right turn passing area in the X-axis direction.

[0530] Furthermore, each of the ECUs 21 to 29 of the present embodiment determines that there is an oncoming vehicle if all of the above conditions (a) to (e) are satisfied. However, the conditions for determining whether the camera detection target is an oncoming vehicle may be different from this.

[0531] For example, each of ECU21 to ECU29 may be configured to determine that condition (b) is satisfied when the longitudinal position Dy of the target object detected by the camera is a positive value and is smaller than a predetermined fifth threshold distance Dth5 (ie, 0<Dy<Dth5).

[0532] Alternatively, each of the ECU 21 to ECU 29 may be configured to determine that an oncoming vehicle exists when all of the conditions (a) to (e) and the following condition (n) are satisfied.

[0533] Condition (n): The reference time Tt is a value obtained by dividing the longitudinal position Dy of the target object detected by the camera by the longitudinal relative speed Vy, and is smaller than the predetermined reference time Ts (i.e., |Tt|<Ts). In this case, other vehicles that are relatively far from the vehicle 10 or other vehicles that take a long time to approach the vehicle 10 are not determined as oncoming vehicles.

[0534] Moreover, the ECU 22 and ECU 23 of the present embodiment obtain the predicted path of the own vehicle as a straight line or a curve, and determine whether the condition (g) is satisfied based on the positional relationship between the predicted path of the own vehicle and "the left end position of the other vehicle and the right end position of the other vehicle". However, the condition (g) may be different from this. For example, the ECU 22 and ECU 23 may also be configured to obtain a strip-shaped area with a predetermined width in the left and right directions relative to the predicted path of the own vehicle (for example, half of the vehicle width Wd (Wd / 2) or a value obtained by adding a margin α to half of the vehicle width (α+Wd / 2)) as the predicted travel area. That is, the predicted travel area is an area that the vehicle 10 passes through when traveling, and is an area whose width is approximately the vehicle width Wd. Furthermore, each of these ECUs may also be configured to determine that the condition (g) is satisfied when a part or all of the camera detection target (specifically, other vehicles) is included in the predicted travel area.

[0535] Moreover, if the right-turn passing area includes a right-side dividing line (specifically, a road surface marking drawn by a white or yellow solid or dotted line), condition (B3b) is determined to be met, but condition (B3b) can also be determined to be met when the right-turn passing area includes a central isolation strip.

[0536] Furthermore, the ECU 22 of the present embodiment determines that the third advance notification condition is satisfied when all of the conditions (A1), (A2), and (D3) are satisfied. However, the ECU 22 may be configured to determine that the third advance notification condition is satisfied when all of the conditions (A1), (A2), (D3), and the following condition (D4) are satisfied.

[0537] Condition (D4): The direction indicator on the right side of the preceding vehicle is in an operating (flashing) state, and the direction indicator on the left side of the preceding vehicle is in an inoperative state.

[0538] In this case, the ECU 22 determines whether the direction indicator of the preceding vehicle is in the operating state based on the history of the preceding image (a plurality of preceding images acquired during a predetermined period).

[0539] Furthermore, ECU25 determines that the camera detection target object that satisfies all of conditions (a), conditions (h), and conditions (i) is a crossing vehicle. However, ECU25 may also be configured to determine that the camera detection target object that satisfies all of conditions (a), conditions (h), conditions (i), and the following condition (p) is a crossing vehicle. Furthermore, ECU25 may also be configured to replace condition (h) with condition (p) and determine that the camera detection target object that satisfies all of conditions (a), conditions (i), and conditions (p) is a crossing vehicle.

[0540] Condition (p): The target object detected by the camera is a target object (another vehicle) other than the oncoming vehicle, and the "anticipated path of the crossing vehicle" of the target object intersects with the anticipated path of the own vehicle.

[0541] Furthermore, when the longitudinal position Dy of the oncoming vehicle is smaller than the second threshold distance Dth2 and the target object speed Vc of the oncoming vehicle is less than a predetermined third threshold speed Vth3, the ECU 26 determines that the oncoming vehicle has stopped. However, the ECU 26 may be configured to determine that the oncoming vehicle has stopped regardless of the longitudinal position Dy when the target object speed Vc of the oncoming vehicle detected based on the front image becomes less than the third threshold speed Vth3.

[0542] Moreover, ECU29 determines whether the first notification end condition is satisfied based on the steering speed Ws. However, ECU29 may also be configured to determine that the first notification end condition is satisfied when the steering angle θs is smaller than a predetermined negative threshold angle θth in the left-hand traffic area. Alternatively, ECU29 may also be configured to determine that the first notification end condition is satisfied when the steering angle θs is larger than a predetermined positive threshold angle θth in the right-hand traffic area. Furthermore, ECU29 may also be configured to determine that the first notification end condition is satisfied based on a change in the yaw rate of the vehicle 10.

[0543] Furthermore, when there is no oncoming vehicle, ECU29 determines that the second notification end condition is satisfied. However, ECU29 may also be configured to determine that the second notification end condition is satisfied when the vehicle speed Vs is greater than a predetermined threshold speed. Alternatively, ECU29 may also be configured to determine whether the direction indicator of the oncoming vehicle is working (flashing) based on the front image, and when it is determined that the direction indicator of the oncoming vehicle is working, determine that the second notification end condition is satisfied.

[0544] Furthermore, the third threshold speed Vth3 and the threshold operation amount Bth are both “0.” However, one or both of the third threshold speed Vth3 and the threshold operation amount Bth may be a value greater than “0” (eg, a small value).

[0545] Moreover, in the present embodiment and the modified example, the oncoming vehicle and the preceding vehicle are detected based on the front image. That is, the oncoming vehicle and the preceding vehicle are detected using the front camera 41. However, at least one of the oncoming vehicle and the preceding vehicle may also be detected by a sensor different from the front camera 41. For example, at least one of the oncoming vehicle and the preceding vehicle may also be detected by a LiDAR (Laser Imaging Detection and Ranging) device or a millimeter wave radar device.

[0546] Furthermore, the functions implemented by the ECUs 21 to 29 of the present embodiment may be implemented by a plurality of ECUs. For example, the processing of detecting a three-dimensional object based on a front image may be executed by an ECU included in the front camera 41 .

Claims

1. A vehicle notification device, comprising: A surrounding sensor that obtains surrounding information, the surrounding information including information about a target object existing in a front area of ​​the own vehicle and a dividing line on a road on which the own vehicle is traveling; a direction indicator whose state is changed from a non-operating state to an operating state by a predetermined operation of a driver of the own vehicle; a notifier for performing a notifying action for notifying the driver of the existence of another vehicle that the driver should pay attention to; as well as A control unit controls the alarm. The control unit is configured as follows: determining whether there is an oncoming vehicle based on the surrounding information, the oncoming vehicle being another vehicle traveling in an oncoming lane relative to the driving lane in which the own vehicle is traveling so as to approach the own vehicle from in front of the own vehicle, and the other vehicle being another vehicle whose expected driving path is passing in a specific direction side, which is one of the right and the left, relative to the current position of the own vehicle, The notifier starts the notification action when it is determined that a predetermined specific condition has been met, wherein the direction indicator corresponding to the specific direction of the own vehicle among the direction indicators is in the working state, and it is determined that the oncoming vehicle exists, and it is predicted that there is a high possibility that the own vehicle starts to turn in the specific direction, determining whether a specific area condition is satisfied based on the surrounding information, the specific area condition being a condition satisfied when a part of an area through which the own vehicle passes when turning in the specific direction is included and a specific area predetermined relative to the own vehicle does not include a specific dividing line, the specific dividing line being a dividing line on the specific direction side of a pair of dividing lines that delimit the driving lane, When it is determined that the condition for the specific area is satisfied, it is determined that the specific condition is satisfied.

2. The vehicle notification device according to claim 1, The control unit is configured as follows: Based on the surrounding information, it is determined whether the lateral distance is greater than a lateral threshold distance, the lateral distance being the distance in the width direction of the own vehicle from the own vehicle to the oncoming vehicle, and the greater the travel speed of the own vehicle, the greater the lateral threshold distance. When prohibition conditions including a condition that the lateral distance is equal to or greater than the lateral threshold distance are satisfied, execution of the notification operation is prohibited.

3. The vehicle notification device according to claim 1, The control unit is configured as follows: When the traveling speed of the own vehicle is lower than or equal to a fourth threshold speed, determining whether a lateral distance is higher than or equal to a third threshold distance based on the surrounding information, the lateral distance being the distance in the width direction of the own vehicle from the own vehicle to the oncoming vehicle, When prohibition conditions including the condition that the traveling speed of the own vehicle is lower than or equal to the fourth threshold speed and the lateral distance is higher than or equal to the third threshold distance are satisfied, execution of the notification operation is prohibited.

4. The vehicle notification device according to claim 3, The control unit is configured as follows: When the traveling speed of the own vehicle is higher than the fourth threshold speed, determining whether the lateral distance is equal to or greater than a fourth threshold distance that is higher than the third threshold distance based on the surrounding information, When prohibition conditions including the condition that the traveling speed of the own vehicle is greater than the fourth threshold value and the lateral distance is greater than or equal to the fourth threshold distance are satisfied, execution of the notification operation is prohibited.

5. The vehicle notification device according to claim 1, comprising: A steering angle sensor for detecting an operating angle of a steering wheel of the own vehicle; and a brake pedal operation state sensor for detecting the operation state of the brake pedal of the own vehicle, The control unit is configured as follows: Determine whether the prohibition condition is met. When the prohibition condition is satisfied, the execution of the notification action is prohibited. The prohibition conditions include the following conditions: the detected operation angle is a value in a direction opposite to a direction in which the own vehicle turns so as to cross the oncoming lane, or the detected steering angle is a value in a direction in which the own vehicle turns so as to cross the oncoming lane, and the magnitude of the steering angle is smaller than a threshold angle, The detected operation state of the brake pedal indicates that the brake pedal is operated, and The traveling speed of the host vehicle is equal to or lower than a fifth threshold speed.

6. The vehicle notification device according to claim 1, The notifier includes a speaker for generating sound and a display for displaying. The control unit is configured as follows: When it is determined that the longitudinal distance between the vehicle determined to be the oncoming vehicle and the own vehicle is smaller than a predetermined second threshold distance and the target object driving speed of the vehicle determined to be the oncoming vehicle is less than a predetermined third threshold speed, it is determined that the vehicle determined to be the oncoming vehicle has stopped, In a case where it is determined that the vehicle determined to be the oncoming vehicle has stopped, a stop history record is maintained, the stop history record indicating that a determination has been made that the vehicle determined to be the oncoming vehicle has stopped, When it is determined that the stop history is not stored because the specific condition is satisfied, a notification operation using both the speaker and the display is started, When it is determined that the stop history is held in order to ensure that the specific condition is satisfied, a notification operation using the speaker instead of the display is started.

7. The vehicle notification device according to claim 1, The control unit is configured as follows: When it is determined that the longitudinal distance between the vehicle determined to be the oncoming vehicle and the own vehicle is smaller than a predetermined second threshold distance and the target object driving speed of the vehicle determined to be the oncoming vehicle is less than a predetermined third threshold speed, it is determined that the vehicle determined to be the oncoming vehicle has stopped, In a case where it is determined that the vehicle determined to be the oncoming vehicle has stopped, a stop history record is maintained, the stop history record indicating that a determination has been made that the vehicle determined to be the oncoming vehicle has stopped, When it is determined that the stop history is not retained in order to satisfy the specific condition, the notification operation is started. When it is determined that the stop history is held in order to ensure that the specific condition is satisfied, the notification operation is prohibited.

8. The vehicle notification device according to claim 1, A steering angle sensor is provided, wherein the steering angle sensor detects an operating angle of a steering wheel of the own vehicle; The control unit is configured as follows: determining whether a predetermined first notification end condition is satisfied based on a parameter corresponding to the detected steering angle, the first notification end condition being satisfied when there is a high possibility that the own vehicle has stopped turning in the specific direction midway, When it is determined that the first notification termination condition is satisfied during the execution of the notification operation, the notification operation is terminated.

9. The vehicle notification device according to claim 1, The control unit is configured as follows: When it is determined that the state in which the oncoming vehicle is absent continues for a third threshold time period or longer during the execution of the notification operation, the notification operation is terminated.

10. The vehicle notification device according to claim 1, The control unit is configured as follows: During the execution of the notification action, the notification action is terminated in at least one of a case where the direction indicator corresponding to the specific direction of the own vehicle changes from the operating state to the non-operating state and a case where the own vehicle has stopped.

11. A vehicle notification device, comprising: A surrounding sensor that obtains surrounding information, the surrounding information including information about a target object existing in a front area of ​​the own vehicle and a dividing line on a road on which the own vehicle is traveling; a direction indicator whose state is changed from a non-operating state to an operating state by a predetermined operation of a driver of the own vehicle; a notifier for performing a notifying action for notifying the driver of the existence of another vehicle that the driver should pay attention to; as well as A control unit controls the alarm. The control unit is configured as follows: determining whether there is an oncoming vehicle based on the surrounding information, the oncoming vehicle being another vehicle traveling in an oncoming lane relative to the driving lane in which the own vehicle is traveling so as to approach the own vehicle from in front of the own vehicle, and the other vehicle being another vehicle whose expected driving path is passing in a specific direction side, which is one of the right and the left, relative to the current position of the own vehicle, The notifier starts the notification action when it is determined that a predetermined specific condition has been met, wherein the direction indicator corresponding to the specific direction of the own vehicle among the direction indicators is in the working state, and it is determined that the oncoming vehicle exists, and it is predicted that there is a high possibility that the own vehicle starts to turn in the specific direction, determining whether a turn standby condition is satisfied based on the surrounding information, the turn standby condition being satisfied when a part of an area through which the own vehicle passes when turning in the specific direction is included, a specific area predetermined relative to the own vehicle includes a specific dividing line, and a driving speed of the own vehicle is lower than a predetermined first threshold speed, the specific dividing line being a dividing line on the specific direction side of a pair of dividing lines that delimit the driving lane, If it is determined that the turn waiting condition is satisfied, it is determined that the specific condition is satisfied.

12. A vehicle notification device comprising: A surrounding sensor that obtains surrounding information, the surrounding information including information about a target object existing in a front area of ​​the own vehicle and a dividing line on a road on which the own vehicle is traveling; a direction indicator whose state is changed from a non-operating state to an operating state by a predetermined operation of a driver of the own vehicle; a notifier for performing a notifying action for notifying the driver of the existence of another vehicle that the driver should pay attention to; as well as A control unit controls the alarm. The control unit is configured as follows: determining whether there is an oncoming vehicle based on the surrounding information, the oncoming vehicle being another vehicle traveling in an oncoming lane relative to the driving lane in which the own vehicle is traveling so as to approach the own vehicle from in front of the own vehicle, and the other vehicle being another vehicle whose expected driving path is passing in a specific direction side, which is one of the right and the left, relative to the current position of the own vehicle, The notifier starts the notification action when it is determined that a predetermined specific condition has been met, wherein the direction indicator corresponding to the specific direction of the own vehicle among the direction indicators is in the working state, and it is determined that the oncoming vehicle exists, and it is predicted that there is a high possibility that the own vehicle starts to turn in the specific direction, Based on the surrounding information, it is determined whether there is a preceding vehicle, the preceding vehicle being another vehicle located immediately in front of the own vehicle; In the case where it is determined that the preceding vehicle exists, determining whether the speed of the preceding vehicle is greater than a predetermined preceding vehicle turning threshold speed, When it is determined that the speed of the preceding vehicle is greater than the preceding vehicle turning threshold speed, it is determined that the specific condition is satisfied.

13. A vehicle notification device, comprising: A surrounding sensor that obtains surrounding information, the surrounding information including information about a target object existing in a front area of ​​the own vehicle and a dividing line on a road on which the own vehicle is traveling; a direction indicator whose state is changed from a non-operating state to an operating state by a predetermined operation of a driver of the own vehicle; a notifier for performing a notifying action for notifying the driver of the existence of another vehicle that the driver should pay attention to; as well as A control unit controls the alarm. The control unit is configured as follows: determining whether there is an oncoming vehicle based on the surrounding information, the oncoming vehicle being another vehicle traveling in an oncoming lane relative to the driving lane in which the own vehicle is traveling so as to approach the own vehicle from in front of the own vehicle, and the other vehicle being another vehicle whose expected driving path is passing in a specific direction side, which is one of the right and the left, relative to the current position of the own vehicle, The notifier starts the notification action when it is determined that a predetermined specific condition has been met, wherein the direction indicator corresponding to the specific direction of the own vehicle among the direction indicators is in the working state, and it is determined that the oncoming vehicle exists, and it is predicted that there is a high possibility that the own vehicle starts to turn in the specific direction, Based on the surrounding information, it is determined whether there is a preceding vehicle, the preceding vehicle being another vehicle located immediately in front of the own vehicle; In a case where it is determined that the preceding vehicle exists, determining whether the preceding vehicle has started to turn in the specific direction based on the surrounding information, When it is determined that the preceding vehicle has started turning in the specific direction, it is determined that the specific condition is satisfied.

14. A vehicle notification device, comprising: A surrounding sensor that obtains surrounding information, the surrounding information including information about a target object existing in a front area of ​​the own vehicle and a dividing line on a road on which the own vehicle is traveling; a direction indicator whose state is changed from a non-operating state to an operating state by a predetermined operation of a driver of the own vehicle; a notifier for performing a notifying action for notifying the driver of the existence of another vehicle that the driver should pay attention to; as well as A control unit controls the alarm. The control unit is configured as follows: determining whether there is an oncoming vehicle based on the surrounding information, the oncoming vehicle being another vehicle traveling in an oncoming lane relative to the driving lane in which the own vehicle is traveling so as to approach the own vehicle from in front of the own vehicle, and the other vehicle being another vehicle whose expected driving path is passing in a specific direction side, which is one of the right and the left, relative to the current position of the own vehicle, The notifier starts the notification action when it is determined that a predetermined specific condition has been met, wherein the direction indicator corresponding to the specific direction of the own vehicle among the direction indicators is in the working state, and it is determined that the oncoming vehicle exists, and it is predicted that there is a high possibility that the own vehicle starts to turn in the specific direction, determining whether there is a crossing vehicle based on the surrounding information, the crossing vehicle being another vehicle different from the oncoming vehicle and another vehicle whose expected travel path intersects with the expected travel path of the oncoming vehicle; When prohibition conditions including the condition that the crossing vehicle exists are satisfied, execution of the notification operation is prohibited.

15. A vehicle notification device, comprising: A surrounding sensor that obtains surrounding information, the surrounding information including information about a target object existing in a front area of ​​the own vehicle and a dividing line on a road on which the own vehicle is traveling; a direction indicator whose state is changed from a non-operating state to an operating state by a predetermined operation of a driver of the own vehicle; a notifier for performing a notifying action for notifying the driver of the existence of another vehicle that the driver should pay attention to; as well as A control unit controls the alarm. The control unit is configured as follows: determining whether there is an oncoming vehicle based on the surrounding information, the oncoming vehicle being another vehicle traveling in an oncoming lane relative to the driving lane in which the own vehicle is traveling so as to approach the own vehicle from in front of the own vehicle, and the other vehicle being another vehicle whose expected driving path is passing in a specific direction side, which is one of the right and the left, relative to the current position of the own vehicle, The notifier starts the notification action when it is determined that a predetermined specific condition has been met, wherein the direction indicator corresponding to the specific direction of the own vehicle among the direction indicators is in the working state, and it is determined that the oncoming vehicle exists, and it is predicted that there is a high possibility that the own vehicle starts to turn in the specific direction, determining whether there is a crossing vehicle based on the surrounding information, the crossing vehicle being another vehicle different from the oncoming vehicle and another vehicle whose expected travel path intersects with the expected path of the own vehicle, When prohibition conditions including the condition that the crossing vehicle exists are satisfied, execution of the notification operation is prohibited.

Images