Driving assistance method and driving assistance device

Abstract

The present invention provides a driving assistance method and a driving assistance device. The driving assistance device (1) comprises: a camera (10) for detecting other vehicles in front of a vehicle, and a controller (20) for setting the detection range of the camera (10). The controller (20) determines that the other vehicle has inserted in front of the vehicle when the degree of the other vehicle entering the detection range is greater than a first specified value when the vehicle is traveling, and determines that the other vehicle has inserted in front of the vehicle when the degree of the other vehicle entering the detection range is greater than a second specified value smaller than the first specified value when the vehicle is stopped.

Description

Technical Field

[0001] The present invention relates to a driving assistance method and a driving assistance device. Background Art

[0002] Conventionally, there is known an invention for making a host vehicle automatically follow a preceding vehicle (Patent Document 1). The invention described in Patent Document 1 detects the number of start requests when the host vehicle stops waiting for a traffic light, and sets a start permission period based on the detected number of start requests.

[0003] Prior art literature

[0004] Patent Literature

[0005] Patent Document 1: International Publication No. 2017 / 009940 Summary of the invention

[0006] Problems to be solved by the invention

[0007] When the vehicle is stopped, it is necessary to detect a vehicle that may cut in front of the vehicle.

[0008] The present invention has been made in view of the above-mentioned problems, and an object of the present invention is to provide a driving assistance method and a driving assistance device capable of detecting a vehicle that may cut in front of a host vehicle when the host vehicle is stopped.

[0009] Technical solutions for solving technical problems

[0010] A driving assistance method according to one embodiment of the present invention sets a detection range of a sensor in front of a vehicle, and when the vehicle is traveling, if the degree to which other vehicles enter the detection range is greater than a first specified value, determines that the other vehicles have inserted in front of the vehicle; and when the vehicle is stopped, if the degree to which other vehicles enter the detection range is greater than a second specified value which is smaller than the first specified value, determines that the other vehicles have inserted in front of the vehicle.

[0011] Effects of the Invention

[0012] According to the present invention, a vehicle that may cut in front of the host vehicle can be detected when the host vehicle is stopped. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 It is a configuration diagram of a driving assistance device 1 according to an embodiment of the present invention.

[0014] Figure 2 This is a diagram showing an example of a method for detecting insertion.

[0015] Figure 3 It is a diagram showing another example of the method of detecting insertion.

[0016] Figure 4It is a diagram showing another example of the method of detecting insertion.

[0017] Figure 5 It is a diagram showing another example of the method of detecting insertion.

[0018] Figure 6 It is a diagram showing another example of the method of detecting insertion.

[0019] Figure 7 It is a diagram showing another example of the method of detecting insertion.

[0020] Figure 8 This is a flowchart for explaining an operation example of the driving assistance device 1 .

[0021] Fig. 9 It is a diagram showing another example of the method of detecting insertion.

[0022] Fig.10 It is a diagram showing another example of the method of detecting insertion.

[0023] Fig.11 It is a diagram showing another example of the method of detecting insertion.

[0024] Fig.12 It is a diagram showing another example of the method of detecting insertion. DETAILED DESCRIPTION

[0025] Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings. In the description of the drawings, the same reference numerals are used for the same parts, and the description thereof will be omitted.

[0026] Reference Figure 1 , describing a structural example of a driving assistance device 1. The driving assistance device 1 is mounted on a vehicle having an automatic driving function. The automatic driving functions include ACC (Adaptive Cruise Control), lane keeping, automatic lane change, automatic parking, etc., but in this embodiment, the driving assistance device 1 is mainly used in ACC. ACC is an automatic driving function that automatically controls the acceleration and deceleration of the vehicle and follows the vehicle in front, with a speed pre-set by the user as the upper limit. At this time, vehicle distance control is also performed to ensure the vehicle-to-vehicle distance corresponding to the set speed.

[0027] The following control also includes control to follow the preceding vehicle after detecting that the preceding vehicle has started, when the own vehicle is stopped due to waiting for a traffic light, traffic congestion, etc.

[0028] like Figure 1As shown, the driving assistance device 1 includes a camera 10 , a radar 11 , a sonar 12 , a vehicle speed sensor 13 , a GPS receiver 14 , a switch 15 , a controller 20 , a steering actuator 30 , an accelerator pedal actuator 31 , and a brake actuator 32 .

[0029] The camera 10 is provided in a plurality of locations in front, on the sides, on the rear, in the side mirrors, etc. of the vehicle. The camera 10 has imaging elements such as CCD (charge-coupled device) and CMOS (complementary metal oxide semiconductor). The camera 10 detects objects (pedestrians, bicycles, two-wheeled vehicles, other vehicles, etc.) around the vehicle, as well as information about the vehicle's surroundings (dividing lines, traffic lights, signs, crosswalks, intersections, etc.). The camera 10 outputs the captured image to the controller 20.

[0030] A plurality of radars 11 are provided in front of the vehicle, on the front side, and on the rear side. The radars 11 transmit radio waves to objects around the vehicle and measure the reflected waves to measure the distance and direction to the objects. The radars 11 output the measured data to the controller 20.

[0031] The sonar 12 is installed on the front bumper or the front grille. The sonar 12 emits ultrasonic waves and measures the reflected waves, thereby measuring the distance and direction to objects near the vehicle (for example, about 1m to 2m). The sonar 12 outputs the measured data to the controller 20.

[0032] The vehicle speed sensor 13 detects the speed of the host vehicle and outputs the detected speed to the controller 20 .

[0033] The GPS receiver 14 detects the position information of the vehicle on the ground by receiving radio waves from artificial satellites. The position information of the vehicle detected by the GPS receiver 14 includes latitude information and longitude information. It should be noted that the method of detecting the position information of the vehicle is not limited to the GPS receiver 14. For example, the position can also be estimated using a method called odometry. The odometry method is a method of estimating the position of the vehicle by calculating the movement amount and movement direction of the vehicle based on the rotation angle and rotation angular velocity of the vehicle. The location where the GPS receiver 14 is set is not particularly limited, but as an example, the GPS receiver 14 is set on the dashboard of the vehicle. The GPS receiver 14 outputs the detected position information to the controller 20.

[0034] A plurality of switches 15 are provided on the steering wheel. The plurality of switches 15 include: a switch for selecting a radio channel, a switch for adjusting the volume, a switch for starting ACC, a switch for adjusting the speed controlled by ACC, a switch for setting the inter-vehicle distance when ACC is performed, a switch for starting the following driving when the preceding vehicle starts, etc. In the present embodiment, the switch 15 is described as a physical switch, but is not limited thereto. The switch 15 may also be a virtual switch. In the case where the switch 15 is a virtual switch, the switch 15 may also be displayed on a touch panel used in the navigation device.

[0035] The controller 20 is an electronic control unit (ECU) having a CPU (Central Processing Unit), a ROM (Read Only Memory), a RAM (Random Access Memory), a CAN (Controller Area Network) communication circuit, etc. A computer program useful as the driving assistance device 1 is installed in the controller 20. By executing the computer program, the controller 20 is used as a plurality of information processing circuits possessed by the driving assistance device 1. It should be noted that, here, an example of realizing the plurality of information processing circuits possessed by the driving assistance device 1 by software is shown, and of course, dedicated hardware for executing each information processing as shown below can also be prepared to constitute the information processing circuit. In addition, a plurality of information processing circuits can also be constituted by a single piece of hardware. The controller 20 has a lane detection unit 21, a front vehicle detection unit 22, a following driving unit 23, a stop judgment unit 24, and an insertion judgment unit 25 as a plurality of information processing circuits.

[0036] The lane detection unit 21 detects the lane in which the vehicle is traveling using the image acquired by the camera 10. Specifically, the lane detection unit 21 extracts the demarcation line from the image and detects the lane in which the vehicle is traveling. In addition to the position information of the vehicle, the lane detection unit 21 may also detect the lane in which the vehicle is traveling.

[0037] The preceding vehicle detection unit 22 detects the preceding vehicle in front of the host vehicle using the image acquired from the camera 10. In addition, the preceding vehicle detection unit 22 detects the inter-vehicle distance between the host vehicle and the preceding vehicle, and the relative speed between the preceding vehicle and the host vehicle using the data acquired from the radar 11. In the present embodiment, the preceding vehicle is defined as a vehicle traveling in the same lane as the lane in which the host vehicle is traveling.

[0038] The following driving unit 23 controls the vehicle so that the vehicle automatically follows the vehicle in front. Specifically, when the user turns on the switch for starting ACC, the following driving unit 23 controls the steering actuator 30, the accelerator pedal actuator 31, and the brake actuator 32 to make the vehicle follow the vehicle in front with the speed set by the user in advance as the upper limit. At this time, the following driving unit 23 also performs vehicle distance control to ensure the vehicle-to-vehicle distance corresponding to the set speed. It should be noted that the user can also specify the vehicle-to-vehicle distance.

[0039] When the user turns on the switch for starting ACC and does not detect the front vehicle, the following driving unit 23 makes the host vehicle travel at a set speed. In addition, when the speed is not set, the following driving unit 23 can automatically travel the host vehicle with the legal speed on the road where the current host vehicle is traveling as the upper limit.

[0040] The stop determination unit 24 determines whether the host vehicle has stopped. Specifically, the stop determination unit 24 determines that the host vehicle has stopped when the speed of the host vehicle measured by the vehicle speed sensor 13 is 0 km / h.

[0041] The insertion judgment unit 25 judges whether another vehicle is inserted between the vehicle and the vehicle in front. The insertion judgment unit 25 judges the insertion in multiple scenarios. For example, when the vehicle automatically follows the vehicle in front, the insertion judgment unit 25 judges the insertion between the vehicle and the vehicle in front. In addition, when the vehicle stops due to waiting for traffic lights, etc., the insertion judgment unit 25 judges the insertion in front of the vehicle. The scenes where the vehicle stops are divided into two categories. One is the scene where the vehicle stops behind the vehicle in front. This scene occurs in situations such as waiting for traffic lights at intersections and traffic jams. The other is the scene where the vehicle stops when the vehicle in front does not exist. This scene occurs when the vehicle stops in front of an intersection.

[0042] Next, refer to Figure 2 to Figure 4 , an example of the determination method performed by the insertion determination unit 25 is described. Figure 2 The scene shown is a scene where the host vehicle 40 follows the front vehicle 41 and drives automatically. Figure 2 Although the scenario shown is described for a highway, it can also be applied to roads other than highways. Figure 2 The area R1 of FIG. 4 represents an area for detecting other vehicles that cut in between the vehicle 40 and the preceding vehicle 41. The area R1 represents the detection range of the camera 10. The size of the area R1 is described below. Figure 2 As shown, the length of the region R1 in the vehicle width direction is the vehicle width W1 of the host vehicle 40. The length of the region R1 in the traveling direction is the length from the front end of the host vehicle 40 to the rear end of the preceding vehicle 41.

[0043] Figure 2P1 to P5 represent the positions of other vehicles 42. When other vehicle 42 at position P1 inserts between host vehicle 40 and front vehicle 41, the movement trajectory of other vehicle 42 is a gentle curve as shown in positions P2 to P5. When other vehicle 42 enters position P5 from position P4, the back of other vehicle 42 enters region R1. Figure 2 50 represents a portion of the back side of the other vehicle 42 entering the region R1 (hereinafter referred to as the back side 50). The back side 50 is photographed by the camera 10. The insertion determination unit 25 calculates the area of ​​the back side 50 acquired by the camera 10. When the area of ​​the back side 50 is greater than or equal to a prescribed value, the insertion determination unit 25 determines that the other vehicle 42 has been inserted between the vehicle 40 and the preceding vehicle 41. In other words, when the area of ​​the back side 50 does not reach or exceed a prescribed value, the insertion determination unit 25 determines that there is no inserted vehicle between the vehicle 40 and the preceding vehicle 41.

[0044] In the present embodiment, the rear surface of the vehicle is defined as a projection view of the vehicle viewed from behind. In addition, the predetermined value (third predetermined value) for comparison with the area of ​​the rear surface 50 is obtained through experiments, simulations, and the like.

[0045] The size of region R1 is not limited to Figure 2 For example, you can Figure 3 As shown in the region R2 of the vehicle width direction, the length in the vehicle width direction is the width W2 of the lane in which the host vehicle 40 is traveling. In this case, since the time until the area of ​​the back surface 50 reaches a predetermined value or more is shortened, Figure 2 Compared with the scene shown in FIG. 1 , the insertion determination unit 25 can determine the insertion of another vehicle 42 in advance. Figure 2 In the scene shown, the insertion determination unit 25 determines that another vehicle 42 has inserted at position P5, whereas Figure 3 In the illustrated scenario, the insertion determination unit 25 can determine that another vehicle 42 has inserted at position P4.

[0046] In addition, if Figure 4 As shown in the region R3 of the vehicle width direction, the length in the vehicle width direction may be a width W3 which is longer than the width W2. The width W3 is set in consideration of the margin. Figure 4 In the scenario shown, the time until the area of ​​the back surface 50 reaches a predetermined value or more is further shortened, so Figure 3 Compared with the scenario shown in FIG. 1 , the insertion determination unit 25 can determine the insertion of the other vehicle 42 earlier. Specifically, in Figure 3 In the scene shown, the insertion determination unit 25 determines that another vehicle 42 has inserted at position P4, whereas Figure 4 In the illustrated scenario, the insertion determination unit 25 can determine that another vehicle 42 has inserted at position P3.

[0047] Next, Figure 2 to Figure 4 The following describes the process of detecting another vehicle 42 cutting in in the scene shown. When detecting another vehicle 42 cutting in, the controller 20 issues a warning to the user of the vehicle 40 to urge attention, or decelerates the vehicle 40. Alternatively, the controller 20 may release the following control. It should be noted that the warning may not be voice, but may be displayed on the monitor.

[0048] In the present embodiment, determining that another vehicle 42 has inserted itself has the same meaning as detecting the insertion of another vehicle 42 .

[0049] Next, refer to Figure 5 , an example of a method for determining whether to interrupt when the host vehicle 40 is stopped is described. Figure 5 The scene shown is a scene where the front vehicle 41 and the host vehicle 40 stop waiting for a traffic light. After the front vehicle 41 stops, the following driving unit 23 automatically stops the host vehicle 40 when it is determined that the inter-vehicle distance is less than a predetermined value. At this time, the following driving unit 23 remains stopped.

[0050] When the host vehicle 40 is stopped, the insertion determination unit 25 determines the insertion in a method different from the determination method when the host vehicle 40 is moving. Specifically, when the host vehicle 40 is moving, the insertion determination unit 25 uses the area of ​​the back side 50 of the other vehicle 42, whereas when the host vehicle 40 is stopped, the insertion determination unit 25 uses the area of ​​the side 60 of the other vehicle 42. Figure 5 P1 to P4 represent the positions of other vehicles 42. When another vehicle 42 at position P1 is inserted between the host vehicle 40 and the preceding vehicle 41, the movement trajectory of the other vehicle 42 is drawn as a curve shown at positions P2 to P4. Figure 2 The moving trajectory (curve) of the other vehicle 42 shown is similar to Figure 5 When compared with the moving trajectory (curve) of the other vehicle 42 shown, Figure 5 The curvature of the curve is large. This is because, since the inter-vehicle distance between the vehicle 40 and the preceding vehicle 41 increases during driving, the angle at which other vehicles 42 enter the lane (the lane in which the vehicle 40 is traveling) decreases, whereas, since the inter-vehicle distance decreases during stopping, the angle at which other vehicles 42 enter the lane increases.

[0051] Thus, the side 60 of the other vehicle 42 entering the area R1 is easily detected by the camera 10. In addition, the side 60 of the other vehicle 42 enters the area R1 earlier than the back 50. Therefore, in the present embodiment, when the vehicle 40 stops, the area of ​​the side 60 of the other vehicle 42 is used to judge the insertion. Thus, compared with the case where the back 50 is used to judge the insertion, the insertion can be detected earlier. In addition, because the side 60 is used when the vehicle 40 stops, the erroneous detection of the side of the vehicle traveling along the adjacent lane on the curve can be reduced. The adjacent lane refers to a lane adjacent to the lane in which the vehicle 40 is traveling.

[0052] exist Figure 5 In the scene shown, when the other vehicle 42 enters the position P4 from the position P3, a part of the side 60 of the other vehicle 42 enters the region R1. The side 60 is photographed by the camera 10. The insertion determination unit 25 calculates the area of ​​the side 60 acquired by the camera 10. When the area of ​​the side 60 is greater than a predetermined value, the insertion determination unit 25 determines that the other vehicle 42 has been inserted between the host vehicle 40 and the preceding vehicle 41.

[0053] In this embodiment, the side of the vehicle is defined as a projection of the vehicle viewed from the side. In addition, the specified value (fourth specified value) used for comparison with the area of ​​the side 60 and the specified value (third specified value) used for comparison with the area of ​​the back 50 may be the same or different. It should be noted that Figure 5 The size of the region R1 shown is defined as Figure 2 The definition of the size of the region R1 shown is the same.

[0054] The size of region R1 is not limited to Figure 5 For example, you can Figure 6 As shown in the region R2 of the vehicle width direction, the length in the vehicle width direction is the width W2 of the lane in which the host vehicle 40 is traveling. In this case, since the time until the area of ​​the side surface 60 reaches or exceeds the prescribed value is shortened, Figure 5 Compared with the scene shown in FIG. 1 , the insertion determination unit 25 can determine the insertion of another vehicle 42 in advance. Figure 5 In the scene shown, the insertion determination unit 25 determines that another vehicle 42 has inserted at position P4, whereas Figure 6 In the illustrated scenario, the insertion determination unit 25 can determine that another vehicle 42 has inserted at position P3.

[0055] In addition, if Figure 7 As shown in the region R3 of the vehicle width direction, the length in the vehicle width direction may be a width W3 which is longer than the width W2. The width W3 is set in consideration of the margin. Figure 7 In the scenario shown, the time until the area of ​​the side surface 60 reaches a predetermined value or more is further shortened, so Figure 6 Compared with the scenario shown in FIG. 1 , the insertion determination unit 25 can determine the insertion of the other vehicle 42 earlier. Specifically, in Figure 6 In the scene shown, the insertion determination unit 25 determines that another vehicle 42 has inserted at position P3, whereas Figure 7 In the illustrated scenario, the insertion determination unit 25 can determine that the other vehicle 42 has inserted at the position P2.

[0056] Next, Figure 5 to Figure 7 1 and 2 will now explain the processing when another vehicle 42 is detected to be intervening in the scene shown. When another vehicle 42 is detected to be intervening, the following travel unit 23 prohibits the following start even if the user inputs a following start instruction. In this case, the user cannot use the following start system, so the user needs to start the host vehicle 40 manually. As a result, the host vehicle 40 can be started while the user is checking the front. The following travel unit 23 can also issue a warning to the user to urge attention when the following start is prohibited. It should be noted that when another vehicle 42 is not detected to be intervening, as long as the front vehicle 41 starts, the following travel unit 23 automatically starts the host vehicle 40 in accordance with the user's following start instruction.

[0057] Next, refer to Figure 8 An operation example of the driving assistance device 1 is described with reference to the flowchart of FIG.

[0058] In step S101, the stop determination unit 24 determines whether the host vehicle 40 has stopped using the speed of the host vehicle 40 measured by the vehicle speed sensor 13. When the speed of the host vehicle 40 is 0 km / h (YES in step S101), the process proceeds to step S103. When the speed of the host vehicle 40 is not 0 km / h (NO in step S101), the process proceeds to step S109.

[0059] In step S103, the insertion determination unit 25 calculates the area of ​​the side 60 of the other vehicle 42 acquired by the camera 10. When the area of ​​the side 60 is greater than the specified value (YES in step S103), the insertion determination unit 25 determines that the other vehicle 42 has been inserted between the host vehicle 40 and the preceding vehicle 41. Then, the process proceeds to step S107, and the following driving unit 23 prohibits the following start. On the other hand, when the area of ​​the side 60 is smaller than the specified value (NO in step S103), the insertion determination unit 25 determines that the other vehicle 42 has not been inserted. Then, the process proceeds to step S105, and the following driving unit 23 automatically starts the host vehicle 40.

[0060] In step S109, the insertion determination unit 25 calculates the area of ​​the back side 50 of the other vehicle 42 acquired by the camera 10. When the area of ​​the back side 50 is greater than the specified value (YES in step S109), the insertion determination unit 25 determines that the other vehicle 42 has been inserted between the host vehicle 40 and the preceding vehicle 41. Thereafter, the process proceeds to step S113, and the controller 20 issues a warning to the user to urge attention, or decelerates the host vehicle 40. On the other hand, when the area of ​​the back side 50 is smaller than the specified value (NO in step S109), the insertion determination unit 25 determines that the other vehicle 42 has not been inserted. Thereafter, the process proceeds to step S111, and the following driving unit 23 continues to cause the host vehicle 40 to follow the preceding vehicle 41.

[0061] (Effect)

[0062] As described above, according to the driving assistance device 1 of the present embodiment, the following effects can be obtained.

[0063] The controller 20 sets the detection range (areas R1 to R3) of the sensor (camera 10) for detecting the other vehicle 42 between the host vehicle 40 and the preceding vehicle 41. When the host vehicle 40 follows the preceding vehicle 41 and the area of ​​the back side 50 of the other vehicle 42 detected within the detection range is greater than a predetermined value, the controller 20 determines that the other vehicle 42 has inserted between the host vehicle 40 and the preceding vehicle 41. The detection range is set between the host vehicle 40 and the preceding vehicle 41.

[0064] When the area of ​​the side 60 of the other vehicle 42 detected within the detection range when the host vehicle 40 is stopped is greater than a specified value, the controller 20 determines that the other vehicle 42 has inserted between the host vehicle 40 and the preceding vehicle 41. As described above, due to the difference in characteristics when traveling and when stopped (difference in entry angle), the side 60 of the other vehicle 42 that enters the detection range is easily detected by the camera 10 when the host vehicle 40 is stopped. In addition, the side 60 of the other vehicle 42 enters the detection range earlier than the back 50. By using the side 60 to determine the insertion, the insertion can be detected earlier when the host vehicle 40 is stopped than when the host vehicle 40 is traveling.

[0065] The controller 20 may also determine whether the host vehicle 40 is located on a motor vehicle-only road based on the position information of the host vehicle 40. A motor vehicle-only road is defined in Japan as a road designated by a road manager on which only motor vehicles are allowed to travel. A typical motor vehicle-only road is an expressway. The insertion determination unit 25 may also determine the insertion only when the host vehicle 40 is determined to be located on a motor vehicle-only road. By determining the insertion only on a straight road such as a motor vehicle-only road or a road with a limited curvature of a curve, it is possible to prevent a misjudgment of the insertion.

[0066] When the host vehicle 40 is traveling following the preceding vehicle 41 and another vehicle 42 is detected to be cutting in, the controller 20 issues a warning to the user or decelerates the host vehicle 40. In addition, when another vehicle 42 is detected to be cutting in when the host vehicle 40 is stopped, the following driving unit 23 prohibits the host vehicle 40 from starting following the preceding vehicle 41. According to the present embodiment, the cutting in can be detected as early as possible, so that emergency braking can be reduced. In addition, following starting can be prevented.

[0067] (First Modification)

[0068] Next, another example of the determination method performed by the insertion determination unit 25 will be described.

[0069] When the host vehicle 40 follows the front vehicle 41, the insertion determination unit 25 may also determine whether there is an insertion based on the change of the back of the front vehicle 41 shown in the camera image. When the other vehicle 42 has inserted, a part of the back of the front vehicle 41 is blocked by the other vehicle 42 when viewed from the camera 10. As a result, the image of the back of the front vehicle 41 changes. When the image of the back of the front vehicle 41 changes, the insertion determination unit 25 may also determine that the other vehicle 42 has inserted between the host vehicle 40 and the front vehicle 41.

[0070] When the host vehicle 40 stops behind the preceding vehicle 41, within the detection range ( Figure 5 to Figure 7 When the distance from the front end of another vehicle 42 detected in the area R1 to R3 (shown in FIG. 1 ) to the vehicle 40 is less than a specified value, the insertion judgment unit 25 may also judge that the other vehicle 42 has been inserted between the vehicle 40 and the preceding vehicle 41. The distance from the front end of another vehicle 42 to the vehicle 40 refers to the shortest distance from the bumper of the other vehicle 42 to the vehicle 40. In addition, the specified value (fifth specified value) mentioned here is different from the specified value (fourth specified value) used for comparison with the side 60. By using the above distance for judgment, insertion can be detected as early as possible.

[0071] (Second Modification)

[0072] The insertion determination unit 25 may also determine the insertion of another vehicle 42 based on the extent to which the other vehicle 42 enters the detection range of the camera 10. The extent to which the other vehicle 42 enters the detection range is defined as the overlapping area of ​​the other vehicle 42 within the detection range. The overlapping area of ​​the other vehicle 42 within the detection range is defined as the overlapping area when the other vehicle 42 is viewed from above in the vertical direction.

[0073] When the insertion determination unit 25 determines that the other vehicle 42 has entered the detection range to a predetermined value (first predetermined value) or more while the host vehicle 40 is traveling, the insertion determination unit 25 determines that the other vehicle 42 has entered the front of the host vehicle 40. When the insertion determination unit 25 determines that the other vehicle 42 has entered the detection range to a predetermined value or more when the host vehicle 40 is stopped, the insertion determination unit 25 determines that the other vehicle 42 has entered the front of the host vehicle 40. Figure 2 as well as Figure 5 , a specific example is given.

[0074] Focus on Figure 2 Position P5, and Figure 5 Position P4. Figure 2 At position P5, the extent to which the other vehicle 42 enters the detection range (region R1) is about 50% of the entire area in a plan view. Figure 5 At position P4, the extent to which the other vehicle 42 enters the detection range (area R1) is about 10% of the total area in a top view. In the second variant, when the insertion judgment unit 25 judges that the other vehicle 42 has entered the detection range (area R1) to be greater than a first specified value (50% as an example) while the vehicle 40 is traveling, the other vehicle 42 is judged to have been inserted in front of the vehicle 40. On the other hand, when the vehicle 40 is stopped, the insertion judgment unit 25 judges that the other vehicle 42 has entered the detection range (area R1) to be greater than a second specified value (10% as an example) that is smaller than the first specified value, the other vehicle 42 is judged to have been inserted in front of the vehicle 40. Here, the above-mentioned numerical values ​​such as 50% and 10% are in principle just examples and are not limited thereto. As long as the condition that the second specified value is smaller than the first specified value is satisfied, the numerical values ​​of the first specified value and the second specified value can be any values.

[0075] According to the second variant, other vehicles 42 that may be inserted in front of the vehicle 40 can be detected when the vehicle 40 stops. In addition, the threshold value used to judge the insertion of other vehicles 42 is smaller when the vehicle 40 stops than when the vehicle 40 is running. That is, the second specified value is smaller than the first specified value, so the insertion can be detected as early as possible when the vehicle 40 stops than when the vehicle 40 is running. It should be noted that the situation in which the second specified value is set to be smaller than the first specified value is also the same in the above-mentioned embodiment, the first variant, and the third variant described later. That is, in the above-mentioned embodiment, the controller 20 sets the first specified value to the area of ​​the back of other vehicles 42 detected within the detection range, that is, the third specified value, and sets the second specified value to the area of ​​the side of other vehicles 42 detected within the detection range, that is, the fourth specified value.

[0076] (Third Modification)

[0077] exist Figure 2 In the scenario of FIG. 4 , the length of the region R1 in the traveling direction is described as the length from the front end of the host vehicle 40 to the rear end of the preceding vehicle 41. However, the length of the region R1 in the traveling direction is not limited to this. Fig. 9 As shown, the length of the region R1 in the direction of travel may be a length that does not reach the rear end of the preceding vehicle 41. However, the length of the region R1 in the direction of travel is preferably longer than the distance for implementing emergency braking based on the automatic driving function. Thus, the insertion can be detected before implementing the emergency braking.

[0078] Then, if Fig. 9 As shown in FIG. 1 , the insertion determination method when the region R1 is set will be described. Fig.10 The scene shown is from Fig. 9 The scene shown is the scene after the time has passed. Figure 9-10 In the scene shown, the vehicle 40 is traveling. Fig.10 As shown, when the insertion determination unit 25 determines that the area of ​​the back side of the other vehicle 42 detected in the region R1 is greater than the specified value (sixth specified value) while the host vehicle 40 is traveling, it can also be determined that the other vehicle 42 has inserted in front of the host vehicle 40. The area of ​​the back side of the other vehicle 42 detected in the region R1 mentioned here refers to the area of ​​the other vehicle 42 overlapping in the region R1 as described in the second modified example.

[0079] like Fig.11 As shown, when the vehicle 40 stops, the length of the region R1 in the direction of travel may also be Fig. 9 The same is the length that does not reach the rear end of the front vehicle 41. Fig.11 Zhong Ye and Fig. 9 Similarly, the length of the priority area R1 in the direction of travel is longer than the distance for implementing emergency braking based on the automatic driving function. Fig.11 As shown, the insertion determination method when the region R1 is set will be described. Fig.11 The scene shown is from Fig.12 The scene shown is the scene after the time has passed. Figure 11-12 In the scene shown, the vehicle 40 has stopped. Fig.12 As shown, when the insertion determination unit 25 determines that the area of ​​the back side of the other vehicle 42 detected in the region R1 is greater than or equal to the seventh predetermined value which is smaller than the sixth predetermined value when the host vehicle 40 is stopped, it can also be determined that the other vehicle 42 has inserted in front of the host vehicle 40. The area of ​​the back side of the other vehicle 42 detected in the region R1 mentioned here refers to the area of ​​the other vehicle 42 overlapping in the region R1 as described in the second modified example.

[0080] According to the third modified example, when the host vehicle 40 is stopped, another vehicle 42 that may cut in front of the host vehicle 40 can be detected. In addition, when the host vehicle 40 is stopped, the threshold for determining the cutting in of another vehicle 42 is reduced compared to when the host vehicle 40 is running. That is, because the seventh prescribed value is smaller than the sixth prescribed value, the cutting in can be detected earlier when the host vehicle 40 is stopped than when the host vehicle 40 is running.

[0081] Each function described in the above embodiments can be implemented by installing one or more processing circuits. The processing circuit includes a programmable processing device such as a processing device with an electronic circuit. The processing circuit also includes a device such as an integrated circuit (ASIC) for a specific purpose, circuit accessories, etc. arranged to perform the functions.

[0082] The embodiments of the present invention have been described above, but the description and drawings constituting a part of the present disclosure should not be understood as limiting the present invention. Various alternative embodiments, examples, and application techniques will be apparent to those skilled in the art based on the present disclosure.

[0083] When the host vehicle 40 stops, the demarcation line (so-called white line) may not be detected due to the presence of vehicles around the host vehicle 40. In this case, the controller 20 may use a virtual demarcation line using past detection results to set the detection range of the camera 10. The lane width of the virtual demarcation line may be the width of the host vehicle 40, or may be a width after adding a margin to the width of the host vehicle 40, or may be a width corresponding to the road type.

[0084] The insertion determination unit 25 may also determine the insertion based on the area of ​​the side of the other vehicle 42. For example, when the host vehicle 40 is traveling, the insertion determination unit 25 may determine that the other vehicle 42 has been inserted in front of the host vehicle 40 when the area of ​​the side of the other vehicle 42 that overlaps within the detection range is greater than a prescribed value (eighth prescribed value). In addition, when the host vehicle 40 is stopped, the insertion determination unit 25 may determine that the other vehicle 42 has been inserted in front of the host vehicle 40 when the area of ​​the side of the other vehicle 42 that overlaps within the detection range is greater than a ninth prescribed value that is smaller than the eighth prescribed value. Thus, the insertion can be detected earlier when the host vehicle 40 is stopped than when the host vehicle 40 is traveling.

[0085] The present invention can be applied regardless of the presence or absence of the preceding vehicle 41. That is, the driving assistance device of the present invention can detect another vehicle that cuts in front of the own vehicle 40 in the lane where the own vehicle 40 is traveling, regardless of the presence or absence of the preceding vehicle 41.

[0086] Description of Reference Numerals

[0087] 1 Driving assistance device; 10 Camera; 11 Radar; 12 Sonar; 13 Vehicle speed sensor; 14 GPS receiver; 15 Switch; 20 Controller; 21 Lane detection unit; 22 Front vehicle detection unit; 23 Following driving unit; 24 Stop determination unit; 25 Insertion determination unit; 30 Steering actuator; 31 Accelerator pedal actuator; 32 Brake actuator

Claims

1. A driving assistance method, comprising a controller for detecting, by means of a sensor, another vehicle that cuts in front of the vehicle in a lane in which the vehicle is traveling, wherein: The controller performs the following actions, The detection range of the sensor is set in front of the host vehicle. When the other vehicle enters the detection range to a degree greater than a first predetermined value while the host vehicle is traveling, it is determined that the other vehicle has cut in front of the host vehicle, When the degree is equal to or greater than a second predetermined value which is smaller than the first predetermined value while the host vehicle is stopped, it is determined that the other vehicle has cut in front of the host vehicle, When the interruption is detected when the host vehicle is stopped, prohibiting the host vehicle from starting to follow the preceding vehicle; When the interruption is not detected when the host vehicle is stopped, the host vehicle is started following the preceding vehicle.

2. The driving assistance method according to claim 1, characterized in that: The controller performs the following actions, The host vehicle is controlled to follow a preceding vehicle in front of the host vehicle. The detection range of the sensor is set between the host vehicle and the preceding vehicle. The first predetermined value is set to a third predetermined value which is the area of ​​the back side of the other vehicle detected within the detection range, The second predetermined value is set to a fourth predetermined value which is an area of ​​the side surface of the other vehicle detected within the detection range.

3. The driving assistance method according to claim 1, characterized in that: The length of the detection range in the traveling direction of the host vehicle is longer than a distance for implementing emergency braking based on the automatic driving function.

4. The driving assistance method according to any one of claims 1 to 3, characterized in that: Obtaining the location information of the vehicle, Based on the position information, determining whether the vehicle is located on a motor vehicle-only road, Only when it is determined that the host vehicle is located on the motor vehicle-only road, the other vehicle cutting in front of the host vehicle is detected.

5. A driving assistance device for detecting another vehicle cutting in front of a vehicle in a lane in which the vehicle is traveling, the driving assistance device comprising: a sensor that detects the other vehicle in front of the host vehicle; A controller for setting a detection range of the sensor; The controller performs the following actions, When the degree to which the other vehicle enters the detection range is greater than a first predetermined value while the host vehicle is traveling, it is determined that the other vehicle has cut in front of the host vehicle, When the degree is equal to or greater than a second predetermined value which is smaller than the first predetermined value when the host vehicle is stopped, it is determined that the other vehicle has cut in front of the host vehicle, When the interruption is detected when the host vehicle is stopped, prohibiting the host vehicle from starting to follow the preceding vehicle; When the interruption is not detected when the host vehicle is stopped, the host vehicle is started following the preceding vehicle.

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