Vehicle, control method of vehicle, and computer program

Abstract

A vehicle is provided, which can avoid contact between a following moving body and an oncoming moving body. The vehicle 1 includes a following moving body detection member that detects a following moving body 9a on a rear side of the vehicle, an oncoming moving body detection member that detects an oncoming moving body 9b on a front side of the vehicle, and an autonomous driving ECU that determines whether the following moving body 9a has an overtaking intention for the vehicle based on a detection result of the following moving body detection member, and executes following moving body warning control for the following moving body 9a and oncoming moving body warning control for the oncoming moving body 9b in a case where it is determined that there is an overtaking intention and the oncoming moving body 9b is detected by the oncoming moving body detection member. The autonomous driving ECU determines that the following moving body 9a has an overtaking intention for the vehicle in a case where any one or more of first to fourth conditions are satisfied.

Description

Technical Field

[0001] This invention relates to a vehicle, a vehicle control method, and a computer program. Background Technology

[0002] In recent years, a safe driving support device has been proposed that uses cameras or sensors to monitor moving objects around the vehicle, thereby avoiding not only contact between the vehicle and other moving objects, but also contact between other moving objects around the vehicle and each other (see, for example, Patent Document 1).

[0003] In the safe driving support device shown in Patent Document 1, for example, when the vehicle is stopped at an intersection, if a moving object (hereinafter referred to as "overtaking vehicle") passing to the side of the vehicle is detected by a moving object sensor that detects moving objects around the vehicle, the vehicle's headlights flash on and off. This informs oncoming vehicles (hereinafter referred to as "overtaking vehicles") that are waiting to turn right and are approaching the vehicle that are about to enter the intersection from the side of the vehicle. This prevents contact between overtaking vehicles and oncoming vehicles.

[0004] [Existing Technical Documents]

[0005] [Patent Literature]

[0006] [Patent Document 1] Japanese Patent Application Publication No. 2018-72875 Summary of the Invention

[0007] [The problem the invention aims to solve]

[0008] However, in the safe driving support device shown in Patent Document 1, after the vehicle intending to overtake passes to the side of the vehicle, it only informs the oncoming vehicle, which may result in situations where contact between the overtaking vehicle and the oncoming vehicle cannot be avoided.

[0009] The purpose of this invention is to provide a vehicle, a vehicle control method, and a computer program that can prevent contact between a subsequent moving part of the vehicle and an opposing moving part of the vehicle.

[0010] [Technical means to solve the problem]

[0011] (1) The vehicle of the present invention (e.g., vehicle 1 described below) is characterized by comprising: a subsequent moving body detection component (e.g., an on-board sensor ECU (Electronic Control Unit) described below). The system comprises an electronic control unit (ECU) 22, a rear camera unit 71b, lidar units 72c-72e and radar units 73d-73e, which detects following moving objects (e.g., following moving object 9a, described later); an oncoming moving object detection unit (e.g., onboard sensor ECU 22, front camera unit 71a, lidar units 72a, 72b and radar units 73a-73c, described later), which detects oncoming moving objects (e.g., oncoming moving object 9b, described later); and a warning control unit (e.g., autonomous driving ECU 20, described later), which determines whether the following moving object intends to overtake the vehicle based on the detection results of the following moving object detection unit. If the overtaking intention is determined and the oncoming moving object is detected by the oncoming moving object detection unit, the following moving object warning control and the oncoming moving object warning control are executed.

[0012] (2) Preferably, the warning control component determines that there is an intention to overtake when any one or more of the first, second, third and fourth conditions are met. The first condition is that the following vehicle continues to travel near the center line (e.g., the center line Lc described later) that separates the driving lane of the main vehicle from the driving lane of the oncoming vehicle. The second condition is that the following vehicle keeps the direction indicator on the center line side lit for a second time for a second time for a second time for a third time for a third time for a second time for a third time for a second time for a third time for a third time for a third time for a fourth time for a second time for a third time for a fourth time for a second time for a third time for a second time.

[0013] (3) Preferably, the vehicle also has a rear light (e.g., the rear light 52 and direction indicator 53 described later) located at the rear of the vehicle, and the warning control unit causes the rear light to light up in a predetermined manner during the subsequent moving body warning control.

[0014] (4) Preferably, the vehicle also has a front light (e.g., the front light 51 and direction indicator 53 described later) located in front of the vehicle, and the warning control unit causes the front light to illuminate in a predetermined manner during the oncoming movement warning control.

[0015] (5) Preferably, the vehicle further comprises: a first vehicle-to-vehicle communication component (e.g., the second vehicle-mounted communication device 42 described later), which can communicate with a subsequent mobile body communication device (e.g., the mobile body communication device 91a described later) mounted on the subsequent mobile body, wherein the warning control component sends a first warning notification from the first vehicle-to-vehicle communication component to the subsequent mobile body communication device in the subsequent mobile body warning control.

[0016] (6) Preferably, the vehicle further comprises: a second vehicle-to-vehicle communication component (e.g., the second vehicle-mounted communication device 42 described later), which can communicate with a relative vehicle communication device (e.g., the vehicle communication device 91b described later) mounted on the relative vehicle, wherein the warning control component sends a second warning notification from the second vehicle-to-vehicle communication component to the relative vehicle communication device in the relative vehicle warning control.

[0017] [The effects of the invention]

[0018] (1) In the vehicle of the present invention, the warning control unit determines, based on the detection results of the follower moving body detection unit that detects the follower moving body behind the vehicle, whether the follower moving body intends to overtake the vehicle. If it is determined that the follower moving body intends to overtake and the oncoming moving body detection unit detects an oncoming moving body in front of the vehicle, both follower moving body warning control and oncoming moving body warning control are executed. Thus, the oncoming moving body can identify the presence of a follower moving body that may overtake the vehicle, and therefore can prevent the follower moving body from appearing behind the vehicle and take actions to avoid contact. Furthermore, the follower moving body can identify the presence of an oncoming moving body in front of the vehicle, and therefore can stop overtaking the vehicle. Thus, contact between the follower moving body and the oncoming moving body can be avoided.

[0019] (2) In the vehicle of the present invention, the warning control unit determines that a following vehicle intends to overtake when any one or more of the first, second, third, and fourth conditions are met. The first condition is that the following vehicle continues to travel near the center line separating the vehicle's lane from the lane of the oncoming vehicle for a first time threshold or more. The second condition is that the following vehicle keeps the direction indicator on the center line side illuminated for a second time threshold or more. The third condition is that the following vehicle continues to travel at a speed faster than the vehicle for a third time threshold or more. The fourth condition is that the following vehicle's speed of movement towards the center line along the vehicle width direction is a lateral speed threshold or more. Thus, following vehicle warning control and oncoming vehicle warning control can be performed before the following vehicle crosses the center line to overtake the vehicle, thereby more reliably avoiding contact between the following vehicle and the oncoming vehicle.

[0020] (3) In the vehicle of the present invention, the warning control component illuminates the rear lights in a predetermined manner during subsequent moving object warning control. Thus, subsequent moving object warning control can be performed using existing devices.

[0021] (4) In the vehicle of the present invention, the warning control unit illuminates the front lights in a predetermined manner during oncoming moving object warning control. Thus, oncoming moving object warning control can be performed using existing devices.

[0022] (5) In the vehicle of the present invention, the warning control component sends a first warning notification from the vehicle-to-vehicle communication component to the communication device of the subsequent mobile body mounted on the subsequent mobile body during the subsequent mobile body warning control. Thus, the subsequent mobile body can identify the presence of the opposing mobile body even when it is difficult to see the lights of the vehicle itself.

[0023] (6) In the vehicle of the present invention, during the warning control of an oncoming moving body, the warning control unit sends a second warning notification from the second vehicle-to-vehicle communication unit to the oncoming moving body communication device mounted on the oncoming moving body. Thus, even when the oncoming moving body cannot easily see the lights of its own vehicle, it can still identify the presence of a subsequent moving body. Attached Figure Description

[0024] Figure 1 This diagram schematically illustrates the structure of a vehicle and driving support system according to one embodiment of the present invention.

[0025] Figure 2 This diagram illustrates an example of the relative positional relationship between the vehicle and two moving bodies traveling around it.

[0026] Figure 3 A flowchart illustrating the specific sequence of warning controls for vehicles attempting to overtake. Detailed Implementation

[0027] Hereinafter, the structure of a vehicle and a driving support system including the vehicle according to an embodiment of the present invention will be described with reference to the drawings.

[0028] Figure 1 This diagram schematically illustrates the structure of the vehicle 1 and the driving support system S equipped with the vehicle 1 according to this embodiment. Figure 1 The upper section represents a plan view of vehicle 1. Figure 1The lower section represents a side view. Furthermore, the following description refers to a four-wheeled vehicle with right-hand drive, where the driver's seat is located on the right side of the vehicle width direction when viewed from the direction of travel; however, the invention is not limited to this. The vehicle may also be a four-wheeled vehicle with left-hand drive, where the driver's seat is located on the left side of the vehicle width direction when viewed from the direction of travel. The driving support system S consists of the vehicle 1 and at least two mobile bodies 9a and 9b, which travel around the vehicle 1 and can communicate with the vehicle 1 wirelessly.

[0029] Figure 2 This diagram illustrates an example of the relative positional relationship between vehicle 1 (which is the vehicle itself) and two moving bodies 9a and 9b traveling around the vehicle.

[0030] like Figure 2 As shown, the moving body 9a is, for example, an autonomous two-wheeled vehicle traveling laterally behind and in the same direction as the vehicle in the same driving lane as the vehicle itself; hereinafter also referred to as the successor moving body 9a. Furthermore, the moving body 9b is, for example, a four-wheeled vehicle traveling laterally in front of the vehicle in the opposite direction to the vehicle's driving lane; hereinafter also referred to as the opposing moving body 9b. Figure 2 As shown, this vehicle exists between the subsequent moving body 9a and the opposing moving body 9b. Therefore, it is not easy to identify the existence of the opposing moving body 9b from the subsequent moving body 9a, and it is not easy to identify the existence of the subsequent moving body 9a from the opposing moving body 9b.

[0031] Back Figure 1 The vehicle 1 includes: an electric power steering system 31 for steering the left and right front wheels Wf; a power unit 32 for generating a driving force to rotate the front wheels Wf, which serve as drive wheels; a braking system 33 for generating a braking force to stop the front wheels Wf and the rear wheels Wr; vehicle communication devices 41 and 42 for wireless communication with external communication devices; a lighting array 5 consisting of multiple lights visible from outside the vehicle; a steering wheel 61 for steering by the driver; an accelerator pedal 62 for acceleration and deceleration by the driver; a brake pedal 63 for deceleration by the driver; a lighting switch 64 for turning the lighting array 5 on and off by the driver; a sensor unit 7 installed on the vehicle body; and a control unit 2 for controlling various vehicle devices such as the electric power steering system 31 or the power unit 32 based on the detection signals from the sensor unit 7 or the driver's driving operations.

[0032] The electric power steering system 31 includes: a gearbox 31b, which connects a pinion shaft 31a extending from the steering wheel 61 to the left and right front wheels Wf; an electric motor 31c, which is installed in the gearbox 31b; and a steering sensor 31d, which detects the steering angle or steering speed of the steering wheel 61.

[0033] The gearbox 31b includes a rack shaft extending along the vehicle width direction and meshing with a pinion shaft 31a, and tie rods connecting the two ends of the rack shaft to the left and right front wheels Wf. By converting the rotational motion of the steering wheels 61 caused by the driver's steering operation into motion along the vehicle width direction, the left and right front wheels Wf are turned in the direction of travel. The electric motor 31c rotates according to the control signal output from the steering ECU 21 (described later in the control unit 2), generating a driving force to assist the driver's steering operation or to automatically steer the front wheels Wf. The steering sensor 31d detects the steering angle or steering speed of the steering wheels 61 and sends a signal corresponding to the detected value to the steering ECU 21 of the control unit 2.

[0034] The power unit 32 is a source of driving force, generating a driving force that rotates the front wheels Wf, which are the drive wheels, in order to make the vehicle 1 move forward or backward in the direction of travel. The following describes the case where an engine and transmission are used as the power unit 32. The engine generates driving force corresponding to a control signal output from the control unit 2 by consuming fuel stored in a fuel tank (not shown). The transmission changes the speed of the engine's output and transmits it to the front wheels Wf, but the invention is not limited to this. In addition to an engine and transmission, a drive motor that consumes electricity supplied by a high-voltage battery or fuel cell stack (not shown) to generate the driving force that rotates the front wheels Wf can also be used as the power unit 32.

[0035] The braking device 33 includes a disc brake and a parking brake. The disc brake, based on the driver's deceleration operation on the brake pedal 63 or the control signal output from the control unit 2, mainly tightens the discs on the axles of each wheel Wf and Wr during driving, thereby generating braking force to decelerate or stop the rotation of each wheel Wf and Wr. The parking brake mainly generates braking force to maintain the state of stopping the rotation of each wheel Wr and Wf when the vehicle is parked.

[0036] The lighting group 5 consists of a front lighting unit 51, a rear lighting unit 52, and a direction indicator 53. The front lighting unit 51 consists of headlights or position lights located on both sides of the front of the vehicle 1 in the vehicle width direction. The rear lighting unit 52 consists of taillights or brake lights located on both sides of the rear of the vehicle 1 in the vehicle width direction. The direction indicator 53 includes: a front right-hand direction indicator located on the right side of the front of the vehicle 1 in the direction of travel; a rear right-hand direction indicator located on the right side of the rear of the vehicle 1 in the direction of travel; a front left-hand direction indicator located on the left side of the front of the vehicle 1 in the direction of travel; and a rear left-hand direction indicator located on the left side of the rear of the vehicle 1 in the direction of travel. Therefore, in this embodiment, among the multiple lights constituting the light group 5, the front light located at the front of the vehicle and visible from the opposing moving body 9b consists of a front light 51, a front right direction indicator, and a front left direction indicator; the rear light located at the rear of the vehicle and visible from the following moving body 9a consists of a rear light 52, a rear right direction indicator, and a rear left direction indicator. These front lights 51, rear lights 52, and direction indicators 53 illuminate based on control signals output from the light ECU 27 of the control unit 2.

[0037] The sensor unit 7 includes camera units 71a and 71b, multiple (e.g., 5) lidar units 72a, 72b, 72c, 72d, and 72e, multiple (e.g., 5) radar units 73a, 73b, 73c, 73d, and 73e, a gyroscope sensor 74, and a GPS (Global Positioning System) sensor 75.

[0038] The front camera unit 71a is a camera that captures images of the front of the vehicle 1. For example, the front camera unit 71a is mounted on the interior side of the vehicle 1's roof near the front window. The rear camera unit 71b is a camera that captures images of the rear of the vehicle 1. For example, the rear camera unit 71b is mounted on the interior side of the vehicle 1's roof near the rear window. Images captured by these camera units 71a and 71b are sent to the on-board sensor ECU 22 of the control unit 2 (described later).

[0039] LiDAR units 72a to 72e are Light Detection and Ranging (LIDAR) units that detect objects around vehicle 1 by measuring the scattered light from an object illuminated by a pulsed laser. The first LiDAR unit 72a is positioned at the right corner of the front of vehicle 1 along the direction of travel, detecting objects slightly to the right of the front of vehicle 1. The second LiDAR unit 72b is positioned at the left corner of the front of vehicle 1 along the direction of travel, detecting objects slightly to the left of the front of vehicle 1. The third LiDAR unit 72c is positioned at the center of the rear of vehicle 1 in the width direction, detecting objects behind vehicle 1. The fourth LiDAR unit 72d is positioned at the rear of the right side of vehicle 1, detecting objects slightly behind and to the right of vehicle 1. The fifth LiDAR unit 72e is positioned at the rear of the left side of vehicle 1, detecting objects slightly behind and to the left of vehicle 1. The detection signals from these LiDAR units 72a to 72e are sent to the onboard sensor ECU 22 of control unit 2.

[0040] Radar units 73a to 73e are microwave radars that detect objects around vehicle 1 by measuring the reflected waves from objects irradiated by microwaves. The first radar unit 73a is positioned at the right corner of the front of vehicle 1 along the direction of travel, detecting objects slightly to the right of the front of vehicle 1. The second radar unit 73b is positioned at the left corner of the front of vehicle 1 along the direction of travel, detecting objects slightly to the left of the front of vehicle 1. The third radar unit 73c is positioned at the center of the front of vehicle 1 in the vehicle width direction, detecting objects in front of vehicle 1. The fourth radar unit 73d is positioned at the right corner of the rear of vehicle 1 along the direction of travel, detecting objects slightly to the right of the rear of vehicle 1. The fifth radar unit 73e is positioned at the left corner of the rear of vehicle 1 along the direction of travel, detecting objects slightly to the left of the rear of vehicle 1. The detection signals from these radar units 73a to 73e are sent to the onboard sensor ECU 22 of control unit 2.

[0041] The gyroscope sensor 74 sends a signal corresponding to the rotational movement of the vehicle 1 to the navigation ECU 24 of the control unit 2 (described later). The GPS sensor 75 sends a signal corresponding to the current position of the vehicle 1 to the navigation ECU 24 of the control unit 2.

[0042] The first vehicle communication device 41 wirelessly communicates with a server that provides map information or traffic information, acquires this information, and sends it to the navigation ECU 24 of the control unit 2. The second vehicle communication device 42 wirelessly communicates with the mobile communication devices 91a and 91b mounted on the mobile bodies 9a and 9b traveling around the vehicle 1, and exchanges information between the vehicle 1 and the mobile bodies 9a and 9b.

[0043] The control unit 2 includes multiple ECUs 20-29 that are communicatively connected via an in-vehicle network. Each ECU 20-29 is a computer including a processor (represented by a CPU), memory devices such as semiconductor memory, and interfaces for external devices. The memory devices of each ECU 20-29 store computer programs executed by the processor or data processed by the processor. Each ECU 20-29 may also have multiple processors, memory devices, and interfaces. The functions of each ECU 20-29 will be described below. Furthermore, the number of ECUs or the functions of each ECU 20-29 can be appropriately designed, and can be further subdivided or integrated than in this embodiment.

[0044] The autonomous driving ECU 20 is a computer primarily responsible for controls related to the autonomous driving of vehicle 1. In autonomous driving, it automatically controls at least one of the following: steering, acceleration / deceleration, and activating the lights in the lighting group 5. Specific examples of autonomous driving controls performed by the autonomous driving ECU 20 include: lane keeping control, lane departure mitigation control (road departure mitigation control), lane change control, following vehicle control, collision mitigation braking control, false start prevention control, and overtaking vehicle warning control.

[0045] Lane keeping control is one type of position control for vehicle 1 within a lane, ensuring that vehicle 1 travels automatically (without driver intervention) along a designated path within the lane. Lane departure mitigation control, another type of position control for vehicle 1 within a lane, detects white lines or the central divider and automatically steers the vehicle 1 to prevent it from crossing these lines or dividers. Therefore, lane departure mitigation control and lane keeping control have different functions.

[0046] Lane change control refers to the control that automatically moves vehicle 1 from its current lane to an adjacent lane. Follow-up control refers to the control that automatically follows other vehicles traveling in front of vehicle 1. Collision mitigation braking control refers to the control that automatically brakes to avoid a collision when the probability of a collision with an obstacle in front of vehicle 1 is increased. Accidental start suppression control refers to the control that limits the acceleration of vehicle 1 and suppresses sudden starts when the driver's acceleration operation exceeds a predetermined amount while vehicle 1 is stationary.

[0047] The so-called overtaking vehicle warning control is as follows: It determines whether a following vehicle 9a intends to overtake the vehicle, and if it does, warns both the following vehicle 9a and the oncoming vehicle 9b in front of the vehicle using the lighting array 5 or the second vehicle-mounted communication device 42. The specific sequence of this overtaking vehicle warning control will be discussed later. Figure 3 This will be explained in detail below.

[0048] The steering ECU 21 is a computer primarily responsible for controlling the electric power steering system 31. The steering ECU 21 assists the driver in steering the wheels 61 by inputting control signals generated based on the steering angle or steering speed detected by the steering sensor 31d to the electric motor 31c. Furthermore, when the vehicle 1 is in automatic driving mode, the steering ECU 21 generates driving force for automatic steering of the front wheels Wf by inputting control signals generated according to instructions from the automatic driving ECU 20 to the electric motor 31c, thereby controlling the direction of travel of the vehicle 1.

[0049] The vehicle sensor ECU22 controls the camera units 71a, 71b, lidar units 72a-72e, and radar units 73a-73e in the sensor unit 7 to detect objects around the vehicle 1, and processes the information from the detection results of these units 71a, 71b, 72a-72e, and 73a-73e.

[0050] More specifically, the vehicle sensor ECU22 can analyze images captured by camera units 71a and 71b or detection signals from lidar units 72a-72e and radar units 73a-73e to detect the position of an opposing moving body 9b in front of the vehicle or a subsequent moving body 9a behind the vehicle, or detect the distance from the vehicle to these opposing moving bodies 9b or subsequent moving bodies 9a, or detect the speed of these opposing moving bodies 9b or subsequent moving bodies 9a, or extract the outline of these opposing moving bodies 9b or subsequent moving bodies 9a, or extract lane dividers (white lines, etc.) on the road. Therefore, in this embodiment, the oncoming moving body detection component for detecting the oncoming moving body 9b at the front of the vehicle consists of an on-board sensor ECU22, a front camera unit 71a, lidar units 72a and 72b, and radar units 73a to 73c. ​​The follower moving body detection component for detecting the follower moving body 9a at the rear of the vehicle consists of an on-board sensor ECU22, a rear camera unit 71b, lidar units 72c to 72e, and radar units 73d to 73e.

[0051] The navigation ECU 24 is a computer that controls the gyroscope sensor 74, GPS sensor 75, and the first vehicle communication device 41, and processes the information from the detection or communication results of these sensors. More specifically, the navigation ECU 24 obtains the current route and current driving position of the vehicle 1 based on the detection results of the gyroscope sensor 74 and GPS sensor 75 or from a map information database 78 built in storage devices. Furthermore, the navigation ECU 24 can also perform path exploration from the current location to the destination based on map information or traffic information obtained via the first vehicle communication device 41.

[0052] The vehicle-to-vehicle communication ECU 25 is a computer primarily responsible for controlling the second vehicle-mounted communication device 42. When mobile bodies 9a and 9b exist around the vehicle 1, and these mobile bodies 9a and 9b are equipped with mobile body communication devices 91a and 91b capable of wirelessly communicating with the second vehicle-mounted communication device 42, the vehicle-to-vehicle communication ECU 25 transmits various information to these mobile body communication devices 91a and 91b via wireless communication through the second vehicle-mounted communication device 42. Therefore, in this embodiment, the vehicle-to-vehicle communication component capable of communicating with the mobile body communication devices 91a and 91b mounted on the mobile bodies 9a and 9b around the vehicle consists of the vehicle-to-vehicle communication ECU 25 and the second vehicle-mounted communication device 42.

[0053] The power unit ECU 26 is a computer primarily responsible for controlling the power unit 32. The power unit ECU 26 controls the engine output based on the driver's acceleration / deceleration operations on the accelerator pedal 62, or switches the transmission gears based on information such as vehicle speed detected by a vehicle speed sensor (not shown). Furthermore, when the vehicle 1 is in automatic driving mode, the power unit ECU 26 automatically controls the power unit 32 based on instructions from the automatic driving ECU 20, controlling the acceleration and deceleration of the vehicle 1.

[0054] The lighting control ECU 27 is primarily a computer responsible for controlling the lighting and extinguishing of the lighting group 5. While the vehicle 1 is in motion, the lighting control ECU 27, based on the driver's operation of turning the lighting on and off the lighting switch 64, and based on instructions generated by the automatic driving ECU 20 regarding the warning control of overtaking vehicles, causes the various lights constituting the lighting group 5 to turn on or off.

[0055] The braking system ECU 29 is a computer primarily responsible for controlling the braking system 33 or the parking locking mechanism of the transmission. The braking system ECU 29 controls the disc brake based on the driver's deceleration operation on the brake pedal 63. Furthermore, when the vehicle 1 is in automatic driving mode, the braking system ECU 29 automatically controls the disc brake based on instructions from the automatic driving ECU 20, controlling the deceleration and stopping of the vehicle 1. Moreover, when the vehicle 1 is parked, the braking system ECU 29 activates the parking brake based on the driver's operation of the parking brake button (not shown) and activates the parking locking mechanism located on the transmission based on the driver's operation of the gear shift lever (not shown).

[0056] Mobile bodies 9a and 9b each include: mobile body communication devices 91a and 91b, capable of wireless communication with a second vehicle-to-vehicle communication device 42 of vehicle 1; and notification devices 92a and 92b, connected to these mobile body communication devices 91a and 91b. The notification devices 92a and 92b inform the driver of the content of information received by the mobile body communication devices 91a and 91b in a form recognizable to the driver of the mobile bodies 9a and 9b. Hereinafter, the use of an indicator as the notification device 92a and 92b will be described, which displays a message corresponding to the information received by the mobile body communication devices 91a and 91b or illuminates a warning light, but the invention is not limited thereto. Either or both of the notification devices 92a and 92b may also be configured as a headgear that generates a sound corresponding to the information received by the mobile body communication devices 91a and 91b.

[0057] Figure 3 A flowchart illustrating the specific sequence of warning controls for vehicles attempting to overtake. Figure 3The processing shown is repeatedly executed by the autonomous driving ECU 20 at predetermined cycles while the vehicle 1 is in motion. Furthermore, Figure 3 The steps shown are performed while the vehicle 1 is in motion by executing a computer program stored in a storage device (not shown) by the automatic driving ECU 20.

[0058] First, in step ST1, the autonomous driving ECU 20, based on the detection results of the follower moving object detection component, determines whether there is a follower moving object 9a traveling in the same direction as the vehicle within a predetermined first determination distance behind the vehicle in the direction of travel. The autonomous driving ECU 20 terminates if the determination result of step ST1 is negative (NO). Figure 3 The process shown proceeds to step ST2 if the condition is (YES).

[0059] Next, in step ST2, the autonomous driving ECU 20, based on the detection results of the opposing moving object detection component, determines whether there is an opposing moving object 9b traveling in the opposite direction to the vehicle within a predetermined second determination distance ahead of the vehicle in the direction of travel. If the determination result of step ST2 is negative, the autonomous driving ECU 20 terminates the process. Figure 3 The process shown will proceed to step ST3 if the condition is met.

[0060] Next, in step ST3, the autonomous driving ECU20 determines, based on the detection results of the follower moving body detection component, whether the follower moving body 9a detected in step ST1 has the intention to overtake the vehicle.

[0061] More specifically, the autonomous driving ECU 20 determines whether the first, second, third, and fourth conditions (described below) are met based on the detection results of the subsequent moving body detection component. If any one of these first to fourth conditions is met, it is determined that the subsequent moving body 9a has the intention to overtake the vehicle. If none of these first to fourth conditions are met, it is determined that the subsequent moving body 9a does not have the intention to overtake the vehicle.

[0062] Furthermore, in this embodiment, the autonomous driving ECU 20 determines that the successor vehicle 9a has the intention to overtake when any one of the first to fourth conditions is met, and determines that the successor vehicle 9a does not have the intention to overtake when none of the first to fourth conditions are met. However, the present invention is not limited to this. The autonomous driving ECU 20 may also determine that the successor vehicle 9a has the intention to overtake when two or more of the first to fourth conditions are met, and determine that the successor vehicle 9a does not have the intention to overtake in other cases.

[0063] Here, the so-called first condition is, for example... Figure 2As shown, a first time threshold is set as the condition that the successor moving body 9a continues to travel near the center line Lc, which separates the driving lane of the main vehicle from the driving lane of the oncoming moving body 9b. A second condition is set as the condition that the direction indicator on the center line Lc side of the successor moving body 9a remains illuminated for a second time threshold or more. A third condition is set as the condition that the successor moving body 9a continues to travel at a speed faster than the main vehicle for a third time threshold or more. Furthermore, a fourth condition is set as the condition that the lateral speed of the successor moving body 9a along the vehicle width direction towards the center line Lc is a threshold or more.

[0064] If the determination result of the autonomous driving ECU20 in step ST3 is negative, the process ends. Figure 3 The process is as shown. Furthermore, if the determination results in steps ST1 to ST3 are all yes, the autonomous driving ECU 20 determines that the subsequent moving body 9a has the intention to overtake the vehicle and there is an oncoming moving body 9b, and proceeds to step ST4.

[0065] Next, in step ST4, the autonomous driving ECU 20 performs a follower vehicle warning control to inform the driver of the oncoming vehicle 9b across the vehicle of the following vehicle 9a that is determined to have the intention to overtake, and proceeds to step ST5. More specifically, in the follower vehicle warning control, the autonomous driving ECU 20 illuminates the rear lights visible from the following vehicle 9a in a predetermined pattern, or sends a warning notification from the second vehicle communication device 42 to the vehicle communication device 91a mounted on the following vehicle 9a. The following vehicle 9a's vehicle communication device 91a receives the warning notification, and the notification device 92a displays a message corresponding to the received warning notification or illuminates the warning lights, thereby informing the driver of the following vehicle 9a that an oncoming vehicle 9b exists across the vehicle.

[0066] Next, in step ST5, the autonomous driving ECU 20 executes a warning control for the oncoming moving body 9b, indicating the presence of a subsequent moving body 9a across the vehicle, and then ends the process. Figure 3 The process is as shown. More specifically, in the oncoming vehicle warning control, the autonomous driving ECU 20 illuminates the forward lights visible from the oncoming vehicle 9b in a predetermined manner, or sends a warning notification from the second vehicle communication device 42 to the vehicle communication device 91b mounted on the oncoming vehicle 9b. The oncoming vehicle 9b's vehicle communication device 91b receives the warning notification, and the notification device 92b displays a message corresponding to the received warning notification or illuminates the warning lights, thereby informing the driver of the oncoming vehicle 9b that a subsequent vehicle 9a exists across their vehicle.

[0067] The vehicle 1 and its control method according to this embodiment achieve the following effects.

[0068] (1) In vehicle 1, the automatic driving ECU 20 determines whether the following moving body 9a intends to overtake the vehicle based on the detection results of the following moving body 9a detected behind the vehicle. If it determines that the following moving body 9a intends to overtake and the oncoming moving body detection unit detects an oncoming moving body 9b in front of the vehicle, it executes both following moving body warning control for the following moving body 9a and oncoming moving body warning control for the oncoming moving body 9b. Thus, the oncoming moving body 9b can identify the possibility of the following moving body 9a overtaking the vehicle, and can therefore prevent the following moving body 9a from appearing behind the vehicle and take actions to avoid contact. Moreover, the following moving body 9a can identify the presence of the oncoming moving body 9b in front of the vehicle, and can therefore stop overtaking the vehicle. Thus, contact between the following moving body 9a and the oncoming moving body 9b can be avoided.

[0069] (2) In vehicle 1, the automatic driving ECU 20 determines that the following vehicle 9a intends to overtake if any one or more of the following conditions are met: the first condition is that the following vehicle 9a continues to travel near the center line Lc that separates the driving lane of the vehicle from the driving lane of the oncoming vehicle 9b for a period of time or more; the second condition is that the following vehicle 9a keeps the direction indicator on the side of the center line Lc illuminated for a period of time or more; the third condition is that the following vehicle 9a continues to travel at a speed faster than the vehicle for a period of time or more; and the fourth condition is that the following vehicle 9a's lateral speed towards the center line Lc along the vehicle width direction is a threshold value. Therefore, follower vehicle warning control and oncoming vehicle warning control can be performed before the following vehicle 9a crosses the center line Lc to overtake the vehicle, thus more reliably avoiding contact between the following vehicle 9a and the oncoming vehicle 9b.

[0070] (3) In vehicle 1, the automatic driving ECU 20 illuminates the rear lights in a predetermined manner during the follow-up moving object warning control. Thus, the follow-up moving object warning control can be performed using existing devices.

[0071] (4) In vehicle 1, the automatic driving ECU 20 illuminates the front lights in a predetermined manner during oncoming moving object warning control. Thus, oncoming moving object warning control can be performed using existing devices.

[0072] (5) In vehicle 1, during the follow-up mobile body warning control, the automatic driving ECU 20 sends a warning notification from the second vehicle communication device 42 to the mobile body communication device 91a mounted on the follow-up mobile body 9a. Thus, the follow-up mobile body 9a can recognize the presence of the opposing mobile body 9b even when it is difficult to see the lights of its own vehicle.

[0073] (6) In vehicle 1, during the oncoming mobile body warning control, the automatic driving ECU 20 sends a warning notification from the second vehicle communication device 42 to the mobile body communication device 91b mounted on the oncoming mobile body 9b. Thus, the oncoming mobile body can recognize the presence of the following mobile body 9a even when it is difficult to see the lights of its own vehicle.

[0074] The above description illustrates one embodiment of the present invention, but the invention is not limited thereto. Detailed structural modifications can be made within the scope of the present invention.

[0075] For example, in the described embodiment, in the subsequent moving body warning control or the opposite moving body warning control, by illuminating the existing lights in a predetermined manner, the subsequent moving body 9a and the opposite moving body 9b are informed of the presence of a moving body across the vehicle. However, the present invention is not limited to this. In these subsequent moving body warning controls or the opposite moving body warning controls, the subsequent moving body 9a and the opposite moving body 9b may also be informed of the presence of a moving body across the vehicle by illuminating dedicated lights located at the rear and front of the vehicle 1.

[0076] Figure Labels

[0077] S: Driving Support System

[0078] 1: Vehicle

[0079] 2: Control Unit

[0080] 20: Automated driving ECU (Warning Control Unit)

[0081] 22: On-board sensor ECU (subsequent moving body detection unit, opposite moving body detection unit)

[0082] 42: Second vehicle-mounted communication device (communication components between the first and second vehicles)

[0083] 5: Lighting Equipment Group

[0084] 51: Front light (front light)

[0085] 52: Rear Lighting Device (Rear Lighting Device)

[0086] 53: Directional indicators (forward lights, rear lights)

[0087] 7: Sensor Unit 7

[0088] 71a: Front camera unit (opposite moving object detection component)

[0089] 71b: Rear camera unit (subsequent moving object detection component)

[0090] 72a, 72b: LiDAR unit (detection component for opposing moving objects)

[0091] 72c, 72d, 72e: LiDAR unit (subsequent moving object detection component)

[0092] 73a, 73b, 73c: LiDAR unit (detection component for opposing moving objects)

[0093] 73d, 73e: Radar unit (subsequent moving object detection component)

[0094] 9a: Successor mobile entity

[0095] 9b: Opposite moving bodies

[0096] 91a: Mobile communication device (subsequent mobile communication device)

[0097] 91b: Mobile communication device (opposite mobile communication device)

[0098] 92a, 92b: Notification devices

Claims

1. A vehicle comprising: a following moving body detection means that detects a following moving body on a rear side of the vehicle; and an oncoming moving body detection means that detects an oncoming moving body on a front side of the vehicle, and characterized by comprising: a warning control means that determines whether or not the following moving body has a passing intention with respect to the vehicle on the basis of a detection result of the following moving body detection means, and executes a following moving body warning control with respect to the following moving body and an oncoming moving body warning control with respect to the oncoming moving body in a case where it is determined that the passing intention exists and the oncoming moving body is detected by the oncoming moving body detection means, wherein the warning control means determines that the passing intention exists in a case where a plurality of conditions of a first condition, a second condition, a third condition, and a fourth condition are satisfied, the first condition is that the following moving body continuously travels for a first time threshold value or more in the vicinity of a center line that separates a travel lane of the vehicle and a travel lane of the oncoming moving body, the second condition is that the following moving body continuously turns on a direction indicator on the center line side for a second time threshold value or more, the third condition is that the following moving body continuously travels at a vehicle speed that is faster than the vehicle for a third time threshold value or more, and the fourth condition is that a moving speed of the following moving body in a vehicle width direction toward the center line is a lateral velocity threshold value or more. Further comprising: a rear light provided on a rear side of the vehicle, the warning control means turns on the rear light in a predetermined form in the following moving body warning control. Further comprising: a front light provided on a front side of the vehicle, the warning control means turns on the front light in a predetermined form in the oncoming moving body warning control. Further comprising: a first inter-vehicle communication means that is capable of communicating with a following moving body communication device mounted on the following moving body, the warning control means transmits a first warning notification from the first inter-vehicle communication means to the following moving body communication device in the following moving body warning control. Further comprising: a second inter-vehicle communication means that is capable of communicating with an oncoming moving body communication device mounted on the oncoming moving body, the warning control means transmits a second warning notification from the second inter-vehicle communication means to the oncoming moving body communication device in the oncoming moving body warning control.

2. The vehicle of claim 1, wherein 6. A control method of a vehicle comprising: a following moving body detection means that detects a following moving body on a rear side of the vehicle; and an oncoming moving body detection means that detects an oncoming moving body on a front side of the vehicle, and characterized by comprising the steps of: determining whether or not the following moving body has a passing intention with respect to the vehicle on the basis of a detection result of the following moving body detection means; and executing a following moving body warning control with respect to the following moving body and an oncoming moving body warning control with respect to the oncoming moving body in a case where it is determined that the passing intention exists and the oncoming moving body is detected by the oncoming moving body detection means, wherein in the step of determining whether or not the passing intention exists with respect to the vehicle, ​ ​ 3. The vehicle according to claim 1 or 2, characterized by ​ ​ ​ 4. The vehicle according to claim 1 or 2, characterized by ​ ​ ​ 5. The vehicle of claim 1 or 2, characterized in that ​ ​ ​ ​ ​ ​ ​ ​ ​ In a case where two or more of the first condition, the second condition, the third condition, and the fourth condition are satisfied, the overtaking intention is determined to exist, the first condition is that the following moving body continues to travel for a first time threshold value or more in the vicinity of a center line that separates a travel lane of the subject vehicle from a travel lane of the oncoming moving body, the second condition is that the following moving body continues to turn on a direction indicator on the center line side for a second time threshold value or more, the third condition is that the following moving body continues to travel at a vehicle speed that is faster than the subject vehicle for a third time threshold value or more, and the fourth condition is that a moving speed of the following moving body in a vehicle width direction toward the center line side is a lateral velocity threshold value or more.

7. A storage device storing a computer program for causing an on-vehicle computer of a vehicle to execute steps described below, the vehicle including: a following moving body detection means that detects a following moving body on a rear side of the subject vehicle; and an oncoming moving body detection means that detects an oncoming moving body on a front side of the subject vehicle, and the steps are: determining whether or not the following moving body has an overtaking intention for the subject vehicle based on a detection result of the following moving body detection means; in a case where it is determined that the overtaking intention exists and the oncoming moving body is detected by the oncoming moving body detection means, performing following moving body warning control for the following moving body and oncoming moving body warning control for the oncoming moving body, in the step of determining whether or not the overtaking intention for the subject vehicle exists, in a case where two or more of the first condition, the second condition, the third condition, and the fourth condition are satisfied, the overtaking intention is determined to exist, the first condition is that the following moving body continues to travel for a first time threshold value or more in the vicinity of a center line that separates a travel lane of the subject vehicle from a travel lane of the oncoming moving body, the second condition is that the following moving body continues to turn on a direction indicator on the center line side for a second time threshold value or more, the third condition is that the following moving body continues to travel at a vehicle speed that is faster than the subject vehicle for a third time threshold value or more, and the fourth condition is that a moving speed of the following moving body in a vehicle width direction toward the center line side is a lateral velocity threshold value or more.

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