Driving assistance device, vehicle, and driving assistance method

Abstract

The present invention relates to a driving assistance device, a vehicle, and a driving assistance method that can reduce the amount of data used to set a monitoring area for other vehicles during driving assistance. The driving assistance device includes: an acquisition unit that uses vehicle-to-vehicle communication to acquire data related to the driving trajectory of another vehicle from the other vehicle; a determination unit that, based on the data acquired by the acquisition unit, determines the intersection position of the other vehicle's driving trajectory with the vehicle's own driving trajectory; and a selection unit that, when the determination unit determines the intersection position, selects data for setting an area based on the intersection position and the driving trajectory of the other vehicle as a monitoring area for driving assistance. The selection unit selects data obtained by deleting a portion of the data acquired in the acquisition step based on the intersection position.

Description

Technical Field

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

[0002] Devices for preventing collisions with other vehicles at intersections, etc. are well known. Patent Document 1 discloses an on-vehicle device that uses map information to determine the risk of collision with other vehicles.

[0003] Prior art literature

[0004] Patent Literature

[0005] Patent Document 1: Japanese Patent Application Laid-Open No. 2013-33505 Summary of the Invention

[0006] Problems to be solved by the invention

[0007] However, there are devices that provide driving assistance to prevent collisions with other vehicles, etc., without using map information. For example, some such devices use data acquired from other vehicles via vehicle-to-vehicle communication to set monitoring areas for other vehicles, and provide driving assistance when other vehicles are traveling within these areas. To reduce the amount of data stored in the device, it is preferable to appropriately select the data used to set the monitoring areas.

[0008] The present invention provides a technology for reducing the amount of data used in setting a monitoring area of another vehicle in driving assistance.

[0009] Means used to solve problems

[0010] According to one embodiment of the present invention, there is provided a driving assistance device characterized in that:

[0011] The driving assistance device comprises:

[0012] an acquisition unit for acquiring data related to a driving trajectory of another vehicle from the other vehicle by utilizing inter-vehicle communication;

[0013] a determining unit configured to determine an intersection position of the driving trajectory of the other vehicle and the driving trajectory of the own vehicle based on the data acquired by the acquiring unit; and

[0014] a selection unit, which selects data for setting an area based on the intersection position and the driving trajectory of the other vehicle as a monitoring area for driving assistance when the determination unit determines the intersection position;

[0015] The selection unit selects data obtained by deleting a portion of the data acquired by the acquisition unit based on the intersection position.

[0016] According to another aspect of the present invention, there is provided a vehicle equipped with the above-mentioned driving assistance device.

[0017] According to another aspect of the present invention, there is provided a driving assistance method, characterized in that:

[0018] The driving assistance method comprises:

[0019] an acquisition step, in which data related to the driving trajectory of another vehicle is acquired from the other vehicle by utilizing inter-vehicle communication;

[0020] a determining step, in which, based on the data acquired in the acquiring step, an intersection position of the driving track of the other vehicle and the driving track of the own vehicle is determined; and

[0021] a selecting step of selecting, when the intersection position is determined in the determining step, setting data for setting an area based on the intersection position and the driving trajectory of the other vehicle as a monitoring area for driving assistance;

[0022] In the selecting step, data is selected by deleting a portion of the data acquired in the acquiring step based on the intersection position.

[0023] Effects of the Invention

[0024] According to the present invention, it is possible to reduce the amount of data used for setting a monitoring area of another vehicle in driving assistance. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 It is a diagram showing a configuration example of a vehicle according to one embodiment.

[0026] Figure 2 (A) in FIG. 1 is a diagram showing a configuration example of an intersection position DB. Figure 2 (B) in FIG. 1 is a diagram showing a configuration example of a monitoring area DB.

[0027] Figure 3 (A)~ Figure 3 (B) in FIG. 1 is a diagram illustrating the setting of the monitoring area.

[0028] Figure 4 (A) is a flowchart showing a processing example of the processing unit. Figure 4 (B) is a diagram showing an example of a situation in which driving assistance for a vehicle is performed.

[0029] Figure 5 This is a flowchart showing a processing example of the processing unit.

[0030] Figure 6 It is to execute Figure 5 A diagram illustrating the processing status of .

[0031] Figure 7 (A) in FIG. 1 is a diagram illustrating data acquired from other vehicles. Figure 7 (B) in FIG. 1 is a diagram showing the angle difference between each position of another vehicle and the previous position.

[0032] Figure 8 This is a flowchart showing a processing example of the processing unit.

[0033] Figure 9 This is a flowchart showing a processing example of the processing unit.

[0034] Figure 10 This is a flowchart showing a processing example of the processing unit.

[0035] Figure 11 This is a flowchart showing a processing example of the processing unit.

[0036] Figure 12 This is a flowchart showing a processing example of the processing unit.

[0037] Description of Reference Numerals

[0038] 1: Vehicle; 10: Control device; 101: Processing unit; 9: Other vehicles. DETAILED DESCRIPTION

[0039] The following embodiments are described in detail with reference to the accompanying drawings. The following embodiments do not limit the inventions described herein, and not all features described in the embodiments are necessarily essential to the inventions. Furthermore, any combination of two or more of the multiple features described in the embodiments may be used. Identical or similar components are denoted by the same reference numerals, and duplicate descriptions are omitted.

[0040] <1. Overall composition( Figures 1 and 2 (B))

[0041] Figure 1 1 is a diagram showing an example of the configuration of a vehicle 1 according to one embodiment. Figure 1Components related to the features of the embodiments described below are shown. Vehicle 1 is a vehicle capable of performing driving assistance for preventing collisions with other vehicles, etc., without using map information, using control described below. Vehicle 1 includes a control device 10, a sensor group 11, a GPS (Global Positioning System) antenna 12, a vehicle-to-vehicle communication antenna 13, a notification device 14, and a braking device 15.

[0042] The control device 10 is, for example, an ECU (Electronic Control Unit) and functions as a driving assistance device that performs driving assistance control. Details are described below. In this embodiment, the control device 10 performs driving assistance control through inter-vehicle communication with other vehicles and internal processing within the vehicle itself, rather than through server communication. The control device 10 includes a processing unit 101, a storage unit 102, and a communication unit 103, which are connected via a bus (not shown).

[0043] The processing unit 101 is a processor, typically a CPU, that executes programs stored in the storage unit 102. The storage unit 102 is, for example, a RAM, a ROM, or a hard disk, and stores various data in addition to the programs executed by the processing unit 101. The communication unit 103 is a communication interface with external devices.

[0044] In the present embodiment, the storage unit 102 has an intersection position DB 1021 and a monitoring area DB 1022 constructed as databases for executing driving assistance.

[0045] Figure 2 (A) in FIG. 1 is a diagram illustrating an example configuration of intersection position DB 1021. Intersection position DB 1021 stores information related to intersection positions registered through the processing described below. In this embodiment, intersection position DB 1021 stores and associates each intersection position with its intersection position ID, registration date and time, location information, and entry direction.

[0046] The intersection position ID is an identification number for each intersection position. The registration date and time are the date and time when the intersection position of the object is registered in the intersection position DB1021. The position information is information indicating the position of the intersection position, for example, expressed in latitude and longitude. In addition, the position information may also include altitude-related information. The entry direction is the direction (angle) that the vehicle 1 faces when entering the intersection position when registering the intersection position. In this embodiment, the entry direction to the intersection is registered as 0° to the north, 90° to the east, 180° to the south, and 270° to the west.

[0047] also, Figure 2 The information stored in the intersection position DB 1021 shown in (A) is an example, and the information included in the intersection position DB 1021 can be changed as appropriate. In the following description, the intersection position registered in the intersection position DB 1021 is also referred to as a registered intersection position.

[0048] Figure 2 (B) in FIG. 1 is a diagram illustrating an example configuration of the monitoring area DB 1022. The monitoring area DB 1022 stores information related to monitoring areas set through the processing described below. Here, a monitoring area is an area that is targeted for monitoring other vehicles whenever the control device 10 performs driving assistance. In other words, the control device 10 performs driving assistance when another vehicle is traveling in the monitoring area. In this embodiment, the monitoring area DB 1022 stores and associates a monitoring area ID, an intersection location ID, and monitoring area setting information with each monitoring area.

[0049] The monitoring area ID is an identification number for each monitoring area. Furthermore, in this embodiment, since monitoring areas are set for registered intersection locations, the monitoring area DB 1022 also includes the intersection location IDs of the intersection locations corresponding to the monitoring areas identified by the monitoring area IDs. Monitoring area information is information used to set monitoring areas. For example, monitoring area information includes time-series data on the positions of other vehicles used in setting monitoring areas.

[0050] The communication unit 103 includes a GPS module 1031 that receives position information of the vehicle 1 from an artificial satellite (GPS satellite) via the GPS antenna 12 , and an inter-vehicle communication module 1032 that receives information from other vehicles via the inter-vehicle communication antenna 13 .

[0051] Furthermore, the functions of the control device 10 can be implemented by either hardware or software. For example, the functions of the control device 10 can be implemented by a CPU (Central Processing Unit) using a memory to execute a predetermined program. Alternatively, at least a portion of the functions of the control device 10 can be implemented by a well-known semiconductor device such as a PLD (Programmable Logic Device) or an ASIC (Application Specific Integrated Circuit). Furthermore, although the control device 10 is shown here as a single element, the control device 10 can be divided into two or more elements as needed.

[0052] The sensor group 11 includes various sensors required for driving assistance installed on the vehicle 1. For example, the sensor group 11 may include an acceleration sensor for detecting the acceleration of the vehicle 1 and a vehicle speed sensor for detecting the vehicle's speed. Alternatively, the sensor group 11 may include external detection sensors such as cameras, millimeter-wave radar, and optical radar (LIDAR) capable of detecting objects around the vehicle 1. The sensor group 11 outputs its detection results to the control device 10.

[0053] The GPS antenna 12 receives radio waves for position measurement, transmitted from GPS satellites. The inter-vehicle communication antenna 13 is an antenna for transmitting and receiving various data with other vehicles. For example, the inter-vehicle communication antenna 13 can receive data related to the driving trajectory of other vehicles.

[0054] The notification device 14 is a device that notifies the occupants. For example, the notification device 14 includes a display unit such as a monitor, and notifies the occupants by displaying information such as the possibility of a collision with another vehicle on the display unit. Alternatively, the notification device 14 includes an audio output unit such as a speaker, and notifies the occupants of information such as the possibility of a collision through audio.

[0055] The braking device 15 is, for example, a brake and is a device for braking the vehicle 1. When the vehicle 1 is likely to collide with another vehicle, the control device 10 can operate the braking device 15 as a driving assistance to avoid a collision with the other vehicle.

[0056] <2. Overview of the operation of the control device 10 ( Figure 3 (A)~ Figure 4 (B))

[0057] In this embodiment, the control device 10 of vehicle 1 performs driving assistance without using map information. The actions performed by the control device 10 are primarily divided into setting a monitoring area and performing driving assistance. Specifically, the control device 10 determines the intersection location where the driving trajectory of vehicle 1, which is the vehicle itself, and the driving trajectory of other vehicles intersect, and sets a monitoring area based on the determined intersection location. Then, when vehicle 1 approaches the determined intersection location, the control device 10 performs driving assistance, monitoring other vehicles traveling in the monitoring area. The following describes an overview of the setting of the monitoring area and driving assistance.

[0058] <2.1. Setting of monitoring area>

[0059] Figure 3 (A)~ Figure 3 (B) in FIG. 1 is a diagram illustrating the setting of a monitoring area. Here, a case where the travel track of the vehicle 1 as the host vehicle intersects the travel track of the vehicle 9 as another vehicle will be described.

[0060] Figure 3 (A) in FIG. 1 shows a state before the travel paths of the vehicles 1 and 9 intersect. Specifically, the vehicle 9 is about to cross the front of the vehicle 1 while the vehicle 1 is stopped in front of the stop line.

[0061] Figure 3 (B) in the figure represents the state after the driving trajectories of vehicle 1 and vehicle 9 intersect. As will be described in detail below, the control device 10 determines the intersection position 5 of the driving trajectories of vehicle 9 and vehicle 1. For example, the control device 10 calculates the driving trajectory 98 of vehicle 9 based on the information of multiple positions 97 obtained from vehicle 9. In addition, the control device 10 calculates the driving trajectory 18 of vehicle 1 based on the information of multiple positions 17 of vehicle 1 obtained via the GPS antenna 12. Then, the intersection point of the driving trajectories 98 and 18 is determined as the intersection position 5. In addition, the control device 10 stores information related to the determined intersection position 5 in the intersection position DB 1021.

[0062] In addition, Figure 3 (B) in FIG. 1 shows monitoring area 99 set based on the driving trajectory of vehicle 9 and intersection location 5. As described in detail below, control device 10 sets a portion of driving trajectory 98 forward of intersection location 5, with a predetermined width at the center of driving trajectory 98, as monitoring area 99. The predetermined width can be set to, for example, several meters, taking into account typical lane widths. Control device 10 also stores information related to the set monitoring area 99 in monitoring area DB 1022.

[0063] <2.2. Driving Assistance>

[0064] Figure 4 (A) in FIG. 1 is a flowchart showing an example of processing by the processing unit 101. Figure 4 (A) in FIG. 1 shows an example of processing performed by the processing unit 101 during driving assistance. For example, this flowchart is implemented by the processing unit 101 calling and executing a program stored in the storage unit 102. Furthermore, for example, this flowchart is repeatedly executed while the vehicle 1 is traveling.

[0065] in addition, Figure 4 (B) in FIG. 1 is a diagram showing an example of a situation in which driving assistance is performed by the vehicle 1. Here, the vehicle 1 enters an intersection registered in the intersection position DB 1021.

[0066] In step S91 (hereinafter referred to as S91, and the same applies to other steps), the processing unit 101 searches for registered intersection positions around the vehicle 1. For example, based on the current position of the vehicle 1 acquired by the GPS module 1031 and the position information of the intersection positions registered in the intersection position DB 1021, the processing unit 101 searches for registered intersection positions that exist within a predetermined range from the vehicle 1. Figure 4 In the case of the situation shown in (B) in FIG, the processing unit 101 searches for intersection positions that exist in the search range R in front of or on the side of the vehicle 1 and are registered in the intersection position DB 1021 .

[0067] In S92, based on the search result of S91, the processing unit 101 proceeds to S93 if there is a registered intersection position around the vehicle 1, and ends the flowchart if there is no registered intersection position around the vehicle 1. Figure 4 In the case of the situation shown in (B), the processing unit 101 proceeds to S93 because the intersection position 5 is included in the search range R.

[0068] In S93, the processing unit 101 confirms whether there are other vehicles in the monitoring area. If there are other vehicles, the process proceeds to S94. If there are no other vehicles, the process ends. For example, the processing unit 101 confirms whether there are other vehicles in the monitoring area based on the position information of other vehicles acquired by the vehicle-to-vehicle communication module 1032 using vehicle-to-vehicle communication. For example, the processing unit 101 confirms whether there are other vehicles in the monitoring area based on the detection results of the external detection sensor that can detect objects around the vehicle 1. Figure 4 In the case of the situation shown in (B), the processing unit 101 proceeds to S94 because the vehicle 9 is traveling in the monitoring area 99 .

[0069] In S94, the processing unit 101 performs driving assistance. For example, the processing unit 101 determines the possibility of a collision between vehicle 1 and vehicle 9 based on information such as the position and speed of vehicle 1, the host vehicle, and the position and speed of vehicle 9, the other vehicle. If the collision possibility exceeds a threshold, the processing unit 101 notifies the occupants of the possibility of a collision via the notification device 14. Alternatively, if the collision possibility exceeds the threshold, the processing unit 101 may also perform an emergency stop of vehicle 1 using the braking device 15. Furthermore, known techniques can be appropriately employed for the driving assistance method.

[0070] Thus, in this embodiment, the control device 10 is configured to provide driving assistance when another vehicle is present in the monitoring area. Therefore, the control device 10 can provide driving assistance based on the set monitoring area. Furthermore, since the control device 10 provides notification to the occupants of the vehicle as driving assistance, the occupants can be encouraged to understand the surrounding conditions of the vehicle.

[0071] <3. Control example( Figures 5 to 8 )>

[0072] As described above, the control device 10 performs driving assistance based on the set intersection position 5 and monitoring area 99. On the other hand, from the perspective of reducing the amount of data stored in the storage unit 102, it is preferable to appropriately select the data used for setting the monitoring area 99. Therefore, in this embodiment, the amount of data used for setting the monitoring area 99 is reduced by deleting part of the data acquired from other vehicles through the processing described below.

[0073] <3.1. Registration of Intersection Positions>

[0074] Figure 5 1 is a flowchart showing a processing example of the processing unit 101 , and shows a processing example of the registration process of the intersection position. Figure 6 It is to carry out Figure 5 This figure illustrates the processing status of . For example, Figure 5 The flowchart is realized by calling and executing the program stored in the storage unit 102 by the processing unit 101. In addition, for example, this flowchart is repeatedly executed while the vehicle 1 is traveling, and can be used together with the vehicle 1 to realize the operation of the vehicle 1. Figure 4 The driving assistance processing shown in (A) is executed together.

[0075] In S10, the processing unit 101 obtains data about other vehicles. Specifically, the processing unit 101 obtains data about the driving trajectory of the other vehicle, vehicle 9, from the other vehicle, vehicle 9, using vehicle-to-vehicle communication. For example, the other vehicle, vehicle 9, uses vehicle-to-vehicle communication to periodically transmit data about the driving trajectory to surrounding vehicles, etc. The processing unit 101 receives the data about the driving trajectory periodically transmitted from the surrounding vehicles 9. Figure 7 (A) in FIG is an example of data obtained from other vehicles. Figure 7 (A) includes data on the positions 970 to 977 of the vehicle 9 and the directions 960 to 967 of the vehicle 9 at time t0 to t7 (see Figure 6 ). That is, the data acquired by the processing unit 101 in S10 may also include data indicating the position and direction of other vehicles in a time series. Figure 7(A) in the figure includes data related to the vehicle speed v0 to v7 of the vehicle 9 and whether the direction indicator is lit during the time period t0 to t7. That is, the data acquired by the processing unit 101 in S10 may also include data related to the lighting status of the direction indicators of other vehicles. In addition, the time periods t0 to t7 may not be a fixed time interval. For example, the vehicle 9 may also use information on the steering angle to acquire and save position and direction data at a shorter time interval when traveling on a curve than when traveling straight. In this way, data related to the driving trajectory can be stored with higher accuracy when traveling on a curve, etc. The processing unit 101 temporarily stores the acquired data in the storage unit 102. In addition, when data cannot be acquired from other vehicles because there are no other vehicles in the surrounding area, the processing unit 101 ends the flowchart.

[0076] Furthermore, the number of data representing the positions included in data D1 can be set as appropriate. Furthermore, the number of data representing the positions included in data D1 can be variable. For example, the time at which vehicle 9 transmits data D1 may be used as a reference time, and data representing positions acquired within a predetermined period up to that reference time may be included in data D1. Alternatively, as another embodiment of varying the number of data representing the positions included in data D1, the position at which vehicle 9 transmits data D1 may be used as a reference position, and data representing positions acquired within a predetermined distance from that reference position may be included in data D1.

[0077] In S11, the processing unit 101 identifies the driving trajectories of vehicles 1 and 9. For example, the processing unit 101 calculates vehicle 9's driving trajectory 981 based on the data acquired in S10. More specifically, the processing unit 101 identifies driving trajectory 981 by drawing a straight line connecting the positions 970 to 977 of vehicle 9 acquired in S11 in a time-sequential manner. Furthermore, the processing unit 101 calculates the driving trajectory 181 of the vehicle itself based on data acquired from the GPS module 1031 or the sensor group 11. For example, the processing unit 101 can obtain data from the GPS module 1031 or the sensor group 11 at a predetermined interval to identify the position of vehicle 1 in a time-sequential manner and calculate vehicle 1's driving trajectory 181. More specifically, the processing unit 101 identifies driving trajectory 181 by drawing a straight line connecting the acquired positions 170 to 172 of vehicle 1 in a time-sequential manner.

[0078] In S12, the processing unit 101 determines the intersection position. The processing unit 101 determines the above intersection position based on the driving trajectories of vehicle 1 and vehicle 9 identified in S11. That is, the processing unit 101 determines the intersection position of the driving trajectories of other vehicles and the driving trajectory of the own vehicle based on the data obtained in S11. Specifically, the processing unit 101 can determine the intersection position by calculating the coordinates (latitude, longitude) of the intersection of a straight line connecting the positions 970 to 977 of vehicle 9 obtained in S11 in time series and a straight line connecting the positions 170 to 172 of vehicle 1 in time series.

[0079] In S13 , the processing unit 101 proceeds to S14 if the intersection position has been determined in S12 , and proceeds to S17 if the intersection position has not been determined.

[0080] In S14 , the processing unit 101 stores the information of the identified intersection position in the intersection position DB 1021 of the storage unit 102 .

[0081] In S15, the processing unit 101 performs data selection processing. Specifically, if the intersection position is determined in S12, the processing unit 101 selects data for setting an area based on the intersection position and the vehicle 9's travel trajectory as a monitoring area for driving assistance. In this case, the processing unit 101 selects data obtained by deleting a portion of the data acquired in S10 based on the intersection position. Details of this step will be described later.

[0082] In S16, the processing unit 101 stores the data selected in S15. Furthermore, the processing unit 101 stores the data temporarily stored in the storage unit 102, after some of the data has been deleted in S15, as monitoring area information in the monitoring area DB 1022 of the storage unit 102. The processing unit 101 then terminates the flowchart.

[0083] In S17, processing unit 101 deletes the data temporarily stored in storage unit 102. Specifically, if the intersection position is not determined in S12, processing unit 101 deletes all data acquired in S10. This deletes data not used in setting the monitoring area, reducing the amount of data stored in storage unit 102. Processing unit 101 then terminates the flowchart.

[0084] As described above, by selecting data obtained by deleting part of the data acquired in S10 based on the intersection position in S15 , the amount of data used for setting the monitoring area in driving assistance can be reduced.

[0085] <3.2. Example of data selection processing>

[0086] Figure 8 is a flowchart showing an example of processing by the processing unit 101. Figure 5 A specific processing example of S15.

[0087] In S1501, the processing unit 101 obtains the angle difference between the orientation and the previous position. Further, the processing unit 101 uses the data obtained in S10, takes the intersection position 51 as the starting point, and obtains the angle difference between the orientation at the position 971 to 976 and the orientation at the previous position in time sequence. Here, Figure 7 (B) in the figure shows the angular difference from the previous position at each position of other vehicles. For example, the orientation of vehicle 9 at intersection position 51 and position 976 is 90°, so the angular difference from the previous position at position 977 is 0°. For another example, the orientation of vehicle 9 at position 975 is 80°, so the angular difference from the previous position at position 976 is 10°. Thus, processing unit 101 obtains the angular difference from the previous position for each position 971 to 976 and intersection position 51.

[0088] Here, the processing unit 101 can estimate the orientation at the intersection position 51 based on position 976 and position 977. For example, the processing unit 101 can set the orientation of the vector starting from position 976 and ending at position 977 as the orientation at the intersection position 51. Alternatively, the processing unit 101 can estimate the orientation at the intersection position 51 based on the value of orientation 966 or orientation 967. For example, the processing unit 101 can adopt orientation 966 at position 976, which is the data point immediately preceding the intersection position 51, or orientation 967 at position 977, which is the data point immediately following the intersection position 51, as the orientation at the intersection position 51.

[0089] In S1502, the processing unit 101 obtains the cumulative value of the absolute value of the angle difference. Further, the processing unit 101 takes the intersection position 51 as the starting point, and calculates and obtains the cumulative value of the absolute value of the angle difference from the previous position in a time series. Figure 7 (B) in the figure.

[0090] In S1503, processing unit 101 checks whether the cumulative value obtained in S1502 exceeds the threshold. If so, the process proceeds to S1504; if not, the process proceeds to S1506. For example, the threshold here can be set within the range of 60 to 210°. Furthermore, the threshold can be set within the range of 90 to 180°, 120 to 150°, or even 135°.

[0091] In S1504, the processing unit 101 deletes the data before the position that exceeds the threshold. For example, when the threshold is set to 135 degrees, the cumulative value of the absolute value of the angle difference at position 972 exceeds the threshold. Therefore, the processing unit 101 deletes the data before position 972 ( Figure 7 (A) Data No. 9000 to 9001).

[0092] In S1505, the processing unit 101 selects the remaining data. Further, the processing unit 101 selects the data ( Figure 7 The data of (A) No. 9002 to 9007) is set as the data of the monitoring area during driving assistance. After that, the processing unit 101 ends this flowchart and enters Figure 5 Therefore, Figure 7 The data of data No. 9002 to 9007 in (A) is registered in the monitoring area DB 1022. Therefore, in this case, Figure 6 surveillance area 991.

[0093] On the other hand, when entering S1506, the processing unit 101 deletes all the data acquired from the vehicle 9 and temporarily stored in the storage unit 102. Thereafter, the processing unit 101 ends this flowchart and enters Figure 5 However, since the selected data does not exist, the processing unit 101 does not store the data in the monitoring area DB 1022 and ends. Figure 5 Flowchart of the process.

[0094] In this way, the processing unit 101 deletes part of the data acquired from the vehicle 9 based on the change in orientation at each position 970 to 977 of the vehicle 9. Since the data used for setting the monitoring area is selected based on the change in orientation of other vehicles, a more appropriate monitoring area can be set while reducing the amount of data.

[0095] Furthermore, in this embodiment, data related to positions preceding the position where the cumulative value of the absolute value of the angle difference exceeds a threshold value is deleted by tracing back from the intersection position 51. Deleting data related to positions preceding the position where the cumulative value exceeds the threshold value allows for more appropriate setting of the monitoring area and reduction of the data volume.

[0096] Furthermore, in this embodiment, the control device 10 performs driving assistance based on data acquired through inter-vehicle communication. Therefore, driving assistance for the host vehicle can be performed without using map information. Furthermore, when driving assistance for the host vehicle is performed without using map information, the amount of data used to perform driving assistance can be reduced.

[0097] In this embodiment, the processing unit 101 deletes data related to positions before the position where the cumulative value of the absolute value of the angle difference exceeds the threshold, but may also delete data related to positions before the position where the cumulative value of the absolute value of the angle difference exceeds the threshold.

[0098] <4. Modifications>

[0099] <4.1. Modification of Data Selection Process>

[0100] <4.1.1. First Modification ( Figure 9 )>

[0101] Figure 9 is a flowchart showing an example of processing by the processing unit 101. Figure 5 A specific processing example of S15.

[0102] In S1511, processing unit 101 obtains the time when vehicle 9, which is another vehicle, passes through intersection position 51 (hereinafter sometimes referred to as passing time T). For example, processing unit 101 calculates passing time T based on positions 977, 976, and the positions of intersection position 51, as well as the passing times of position 977 and position 976 of vehicle 9.

[0103] In S1512, processing unit 101 checks whether there is data outside the predetermined period based on the time at which vehicle 9 passed through intersection location 51 acquired in S1511. If there is data outside the predetermined period, processing proceeds to S1513; if there is no data outside the predetermined period, processing proceeds to S1515. For example, the predetermined period may be the period from a predetermined time before passing time T to passing time T. The predetermined period may range from several seconds to several tens of seconds, for example.

[0104] In S1513, the processing unit 101 deletes data outside the predetermined period. More specifically, the processing unit 101 deletes data outside the predetermined period based on the time when the vehicle 9, which is another vehicle, is at the intersection position 51, that is, the passing time T, from the data acquired in S10. Figure 7(A) in the figure is specifically described. The predetermined period in S1512 is set to be the period from 30 seconds before the passage time T to the passage time T. Furthermore, time t3 is set to be 27 seconds before the passage time T, and time t2 is set to be 32 seconds before the passage time T. In this case, data No. 9003 is data for a time within the predetermined period, and data before data No. 9002 is data for a time outside the predetermined period. Therefore, the processing unit 101 deletes the data before data No. 9002 (data Nos. 9000 to 9002).

[0105] In S1514, processing unit 101 selects the remaining data. Specifically, processing unit 101 selects the data acquired in S10 that was not deleted in S1513. For example, if data before data No. 9002 (data Nos. 9000 to 9001) was deleted in S1513, processing unit 101 selects the data after data No. 9002 (data Nos. 9002 to 9007).

[0106] In S1515, the processing unit 101 selects the entire data. That is, if the data acquired in S10 is data acquired at all times within the predetermined period, the processing unit 101 selects the entire data acquired in S10.

[0107] As described above, according to this modification, since data at times outside the predetermined period are deleted, the monitoring area can be set more appropriately and the amount of data can be reduced.

[0108] <4.1.2. Second Modification Example ( Figure 10 )>

[0109] Figure 10 is a flowchart showing an example of processing by the processing unit 101. Figure 5 A specific processing example of S15.

[0110] In S1521, the processing unit 101 checks whether there is a lighting history of the direction indicator in the data obtained from the vehicle 9 as another vehicle in S10, and if there is a lighting history, it proceeds to S1522, and if there is no lighting history, it proceeds to S1524. Figure 7 In the example of (A), since there is a history that the vehicle 9 has turned on the left direction indicator at the position 971, the processing unit 101 proceeds to S1522.

[0111] In S1522, the processing unit 101 deletes the data before the direction indicator is lit from the data acquired in S10. Figure 7In the example (A) in FIG, since data No. 9001 includes data indicating that the direction indicator has been lit, the processing unit 101 deletes the data before the direction indicator is lit, that is, the data No. 9000. In addition, in this embodiment, although the data before the direction indicator is lit is deleted, the data when the direction indicator is lit can also be deleted. That is, it can also be deleted. Figure 7 In the example (A), data No. 9001 is used.

[0112] In S1523, processing unit 101 selects the remaining data. In other words, processing unit 101 selects the data acquired in S10 that was not deleted in S1522. For example, if data No. 9000 was deleted in S1522, processing unit 101 selects data No. 9001 and below (data Nos. 9001 to 9007).

[0113] In S1524, the processing unit 101 selects the entire data. That is, if the data acquired in S10 does not include data indicating that the direction indicator has been illuminated, the processing unit 101 selects the entire data acquired in S10.

[0114] According to this embodiment, since the data before the direction indicator is lit is deleted, the monitoring area can be set more appropriately and the amount of data can be reduced.

[0115] <4.2. Modification of the Intersection Position Registration Process>

[0116] <4.2.1. First Modification ( Figure 11 )>

[0117] Figure 11 1 is a flowchart showing an example of processing of the processing unit 101, showing an example of processing of registering the intersection position. Figure 5 The same processing steps in the flowchart are denoted by the same reference numerals and their description is omitted.

[0118] In the branch of S13 , when the intersection position is determined in S12 , the processing unit 101 proceeds to S21 .

[0119] In S21, the processing unit 101 determines whether the road traveled by vehicle 1 is a priority road. Furthermore, if the intersection location is determined in S12, the processing unit 101 determines whether the road traveled by vehicle 1 is a priority road. The processing unit 101 can determine whether the road traveled by vehicle 1 is a priority road based on the driving history of vehicle 1. For example, if vehicle 1 stops shortly before the intersection location, the processing unit 101 determines that the road traveled by vehicle 1 is not a priority road. Thus, the processing unit 101 can determine whether a priority road is a priority road based on the driving history of the vehicle. Alternatively, the processing unit 101 can determine whether the road traveled by vehicle 1 is a priority road based on the surrounding conditions of the intersection location. For example, the processing unit 101 can determine whether the road traveled by vehicle 1 is a priority road based on the detection results of the external detection sensors included in the sensor group 11 by identifying stop lines and signs, comparing the vehicle width between the driving road and the intersection road, and other methods.

[0120] In S22, based on the determination result in S21, if vehicle 1, acting as the host vehicle, is not traveling on a priority road, processing unit 101 proceeds to S14. If vehicle 1 is traveling on a priority road, processing unit 101 proceeds to S17. Thus, if S21 determines that the road traveled by vehicle 1, acting as the host vehicle, is not a priority road, processing unit 101 deletes a portion of the data acquired from vehicle 9 in S10 in S15. On the other hand, if S21 determines that the road traveled by vehicle 1, acting as the host vehicle, is a priority road, processing unit 101 deletes all of the data acquired from vehicle 9 in S10 in S17.

[0121] According to this modification, since a monitoring area is not set when the vehicle is traveling on a priority road, it is possible to suppress the execution of driving assistance in situations where the need for driving assistance is low. In addition, since a monitoring area is not set in areas where the need for driving assistance is low, the amount of data stored in the storage unit 102 can be reduced.

[0122] <4.2.2. Second Modification Example ( Figure 12 )>

[0123] Figure 12 1 is a flowchart showing an example of processing of the processing unit 101, showing an example of processing of registering the intersection position. Figure 5 The same processing steps in the flowchart are denoted by the same reference numerals and their description is omitted.

[0124] In the branch of S13 , when the intersection position is specified in S12 , the processing unit 101 proceeds to S21 .

[0125] In S31, the processing unit 101 determines whether a traffic light is present. Furthermore, if the intersection location is determined in S12, the processing unit 101 determines whether a traffic light is installed at the determined intersection location. The processing unit 101 can determine the presence of a traffic light at the intersection location based on the detection results of the external detection sensors included in the sensor group 11.

[0126] In S32, if S31 determines that there is no traffic light at the intersection, the processing unit 101 proceeds to S14. If S31 determines that there is a traffic light at the intersection, the processing unit 101 proceeds to S17. Thus, if S31 determines that there is no traffic light at the intersection, the processing unit 101 proceeds to S15 to delete a portion of the data acquired from the vehicle 9 in S10. On the other hand, if S31 determines that there is a traffic light at the intersection, the processing unit 101 deletes all of the data acquired from the vehicle 9 in S10.

[0127] According to this embodiment, since a monitoring area is not set when a traffic light is installed at an intersection, it is possible to suppress the execution of driving assistance in situations where the need for driving assistance is low. In addition, since a monitoring area is not set in areas where the need for driving assistance is low, the amount of data stored in the storage unit 102 can be reduced.

[0128] <5. Other Implementation Methods>

[0129] In the above embodiment, the control device 10 functioning as a driving assistance device is mounted on the four-wheeled vehicle 1. However, the control device 10 may be mounted on other types of vehicles capable of traveling on roads, such as straddle-type vehicles and work machines.

[0130] <6. Summary of Implementation Methods>

[0131] The above-described embodiments disclose at least the following driving assistance device, vehicle, and driving assistance method.

[0132] 1. The driving assistance device (10) of the above embodiment includes:

[0133] an acquisition unit (101, S10) for acquiring data related to the driving trajectory of another vehicle from the other vehicle by utilizing vehicle-to-vehicle communication;

[0134] a determining unit (101, S12) that determines an intersection position of the driving track of the other vehicle and the driving track of the own vehicle based on the data acquired by the acquiring unit; and

[0135] a selection unit (101, S15) that selects data for setting an area based on the intersection position and the driving trajectory of the other vehicle as a monitoring area for driving assistance when the determination unit determines the intersection position,

[0136] The selection unit selects data obtained by deleting a portion of the data acquired by the acquisition unit based on the intersection position.

[0137] According to this embodiment, since data obtained by the acquisition unit with part of the data acquired by the acquisition unit deleted is selected based on the intersection position, the amount of data used for setting the monitoring area of other vehicles in driving assistance can be reduced.

[0138] 2. According to the above embodiment,

[0139] The driving assistance device further includes a deletion unit (101, S16) for deleting all of the data acquired by the acquisition unit when the determination unit fails to determine the intersection position.

[0140] According to this embodiment, since the data used for setting the monitoring area is deleted, the amount of data stored in the device can be reduced.

[0141] 3. According to the above embodiment,

[0142] The data acquired by the acquisition unit includes data indicating the position and direction of the other vehicle in time series.

[0143] The selection unit deletes a portion of the data acquired by the acquisition unit based on the change in the orientation ( S1504 ).

[0144] According to this embodiment, since the data used for setting the monitoring area is selected according to changes in the directions of other vehicles, the monitoring area can be set more appropriately while reducing the amount of data.

[0145] 4. According to the above embodiment,

[0146] The selection unit acquires, for each position of the other vehicle, an angular difference in orientation from a previous position in a time series.

[0147] The selection unit traces back from the intersection position and deletes data related to a position before the position where the cumulative value of the absolute value of the angle difference exceeds a threshold (S1504).

[0148] According to this embodiment, since data related to a position before the position where the cumulative value exceeds the threshold is deleted, the monitoring area can be set more appropriately and the amount of data can be reduced.

[0149] 5. According to the above embodiment,

[0150] The selection unit deletes data at a time outside a predetermined period from the data acquired by the acquisition unit based on the time when the other vehicle is located at the intersection position ( S1513 ).

[0151] According to this embodiment, since data at times outside the predetermined period is deleted, the monitoring area can be set more appropriately and the amount of data can be reduced.

[0152] 6. According to the above embodiment,

[0153] The data acquired by the acquisition unit includes data related to the lighting state of the direction indicator of the other vehicle,

[0154] The selection unit deletes the data before the direction indicator is turned on from the data acquired by the acquisition unit (S1522).

[0155] According to this embodiment, since the data before the direction indicator is lit is deleted, the monitoring area can be set more appropriately and the amount of data can be reduced.

[0156] 7. According to the above embodiment,

[0157] The driving assistance device further includes an assistance unit (101, S94) capable of performing driving assistance when another vehicle is present in the monitoring area.

[0158] According to this embodiment, driving assistance can be performed based on the set monitoring area.

[0159] 8. According to the above embodiment,

[0160] The assistance unit notifies the occupant of the host vehicle as the driving assistance ( S94 ).

[0161] According to this embodiment, it is possible to encourage the occupant to understand the surrounding conditions of the vehicle.

[0162] 9. According to the above embodiment,

[0163] The driving assistance device further includes a first judgment unit (101, S21) for judging whether the road on which the host vehicle traveled is a priority road when the determination unit determines the intersection position.

[0164] When the first determination unit determines that the road on which the host vehicle traveled is not a priority road, the selection unit deletes part of the data acquired by the acquisition unit (S15).

[0165] When the first determination unit determines that the road on which the host vehicle traveled is a priority road, the deletion unit deletes all of the data acquired by the acquisition unit ( S17 ).

[0166] According to this embodiment, since the monitoring area is not set when the host vehicle is traveling on the priority road, it is possible to suppress the execution of driving assistance in a situation where the necessity for driving assistance is low.

[0167] 10. According to the above embodiment,

[0168] When the host vehicle is stopped immediately before the intersection, the first determination unit determines that the road on which the host vehicle traveled is not a priority road ( S21 ).

[0169] According to this embodiment, the priority road can be determined based on the travel history of the host vehicle.

[0170] 11. According to the above embodiment,

[0171] The driving assistance device further includes a second judgment unit (101, S31) for judging whether a traffic light is provided at the intersection.

[0172] When the second determination unit determines that no traffic light is provided at the intersection, the selection unit deletes part of the data acquired by the acquisition unit (S15).

[0173] When the second determination unit determines that a traffic light is installed at the intersection, the deletion unit deletes all of the data acquired by the acquisition unit ( S17 ).

[0174] According to this embodiment, since a monitoring area is not set when a traffic light is not installed, it is possible to suppress execution of driving assistance in a situation where the need for driving assistance is low.

[0175] 12. According to the above embodiment,

[0176] The driving assistance device further includes a storage unit (102) for storing the data selected by the selection unit.

[0177] According to this embodiment, data selected by the selection unit can be stored.

[0178] 13. According to the above embodiment,

[0179] The driving assistance device performs driving assistance for the host vehicle without using map information.

[0180] According to this embodiment, driving assistance can be performed based on the driving data of the own vehicle and the driving data acquired from other vehicles by vehicle-to-vehicle communication without using map information.

[0181] 14. The vehicle (1) of the above embodiment is equipped with the driving assistance device (10) described in 1 to 13 above.

[0182] According to this embodiment, there is provided a vehicle equipped with a driving assistance device capable of reducing the amount of data used for setting a monitoring area of another vehicle during driving assistance.

[0183] 15. The driving assistance method of the above embodiment includes:

[0184] an acquisition step (S10), in which driving trajectory data related to the driving trajectory of the other vehicle is acquired from the other vehicle by using inter-vehicle communication;

[0185] a determining step (S12), in which, based on the data acquired in the acquiring step, an intersection position of the driving track of the other vehicle and the driving track of the own vehicle is determined; and

[0186] a selection step (S15) in which, when the intersection position is determined in the determination step, setting data for setting an area based on the intersection position and the driving trajectory of the other vehicle as a monitoring area for driving assistance is selected;

[0187] In the selecting step, data is selected by deleting a portion of the data acquired in the acquiring step based on the intersection position.

[0188] According to this embodiment, since data obtained by the acquisition unit with part of the data acquired by the acquisition unit deleted is selected based on the intersection position, the amount of data used for setting the monitoring area of other vehicles in driving assistance can be reduced.

[0189] The present invention is not limited to the above-described embodiment, and various modifications and changes can be made within the scope of the gist of the present invention.

Claims

1. A driving assistance device, characterized in that: The driving assistance device comprises: an acquisition unit for acquiring data related to a driving trajectory of another vehicle from the other vehicle by utilizing inter-vehicle communication; a determining unit configured to determine an intersection position of the driving trajectory of the other vehicle and the driving trajectory of the own vehicle based on the data acquired by the acquiring unit; a selection unit configured to select, when the determination unit determines the intersection position, setting data for setting an area based on the intersection position and the travel trajectory of the other vehicle as a monitoring area for driving assistance and deletion data for deletion; as well as a deleting unit, which deletes the entire data acquired by the acquiring unit if the determining unit fails to determine the intersection position. The selection unit selects the deletion data based on the intersection position.

2. The driving assistance device according to claim 1, wherein: The data acquired by the acquisition unit includes data indicating the position and direction of the other vehicle in time series. The selection unit selects the deletion data based on the change in the orientation.

3. The driving assistance device according to claim 2, wherein: The selection unit acquires, for each position of the other vehicle, an angle difference in orientation from a previous position in a time series. The selection unit traces back from the intersection position and selects data related to a position before the position where the cumulative value of the absolute value of the angle difference exceeds a threshold as the deletion data.

4. The driving assistance device according to claim 1, wherein: The selection unit selects, as the deletion data, data at a time outside a predetermined period based on a time when the other vehicle is located at the intersection position from among the data acquired by the acquisition unit.

5. The driving assistance device according to claim 1, wherein: The data acquired by the acquisition unit includes data related to the lighting state of the direction indicator of the other vehicle, The selection unit selects data before the direction indicator is turned on as the deletion data from the data acquired by the acquisition unit.

6. The driving assistance device according to claim 1, wherein: The driving assistance device further includes an assistance unit capable of performing driving assistance when another vehicle is present in the monitoring area.

7. The driving assistance device according to claim 6, wherein: The assistance unit notifies the occupant of the host vehicle as the driving assistance.

8. The driving assistance device according to claim 1, wherein: The driving assistance device further includes a first determination unit that determines whether the road on which the host vehicle traveled is a priority road when the determination unit determines the intersection position. When the first determination unit determines that the road on which the host vehicle traveled is not a priority road, the selection unit selects a portion of the data acquired by the acquisition unit as the deletion data, The deleting unit deletes all of the data acquired by the acquiring unit when the first determining unit determines that the road on which the host vehicle traveled is a priority road.

9. The driving assistance device according to claim 8, characterized in that: When the host vehicle is stopped immediately before the intersection, the first determination unit determines that the road on which the host vehicle traveled is not a priority road.

10. The driving assistance device according to claim 1, wherein: The driving assistance device further includes a second determination unit configured to determine whether a traffic light is installed at the intersection. When the second determination unit determines that no traffic light is provided at the intersection, the selection unit selects a portion of the data acquired by the acquisition unit as the deletion data. When the second determination unit determines that a traffic light is installed at the intersection, the deletion unit deletes all of the data acquired by the acquisition unit.

11. The driving assistance device according to claim 1, wherein: The driving assistance device further includes a storage unit that stores the setting data selected by the selection unit.

12. The driving assistance device according to claim 1, wherein: The driving assistance device performs driving assistance for the host vehicle without using map information.

13. A driving assistance device, characterized in that: The driving assistance device comprises: an acquisition unit for acquiring data related to a driving trajectory of another vehicle from the other vehicle by utilizing inter-vehicle communication; a determining unit configured to determine an intersection position of the driving trajectory of the other vehicle and the driving trajectory of the own vehicle based on the data acquired by the acquiring unit; as well as a selection unit configured to select, when the determination unit determines the intersection position, setting data for setting an area based on the intersection position and the driving trajectory of the other vehicle as a monitoring area for driving assistance and deletion data for deletion; The selection unit selects the deletion data based on the content of the data acquired by the acquisition unit and the intersection position.

14. A driving assistance device, characterized in that: The driving assistance device comprises: an acquisition unit for acquiring data related to a driving trajectory of another vehicle from the other vehicle by utilizing inter-vehicle communication; a determining unit configured to determine an intersection position of the driving trajectory of the other vehicle and the driving trajectory of the own vehicle based on the data acquired by the acquiring unit; as well as a selection unit configured to select, when the determination unit determines the intersection position, setting data for setting an area based on the intersection position and the driving trajectory of the other vehicle as a monitoring area for driving assistance and deletion data for deletion; The selection unit selects the deletion data based on the surrounding environment of the host vehicle and the intersection position.

15. A vehicle, characterized in that: The driving assistance device according to any one of claims 1 to 14 is mounted thereon.

16. A driving assistance method, characterized in that: The driving assistance method comprises: an acquisition step, in which data related to the driving trajectory of another vehicle is acquired from the other vehicle by utilizing inter-vehicle communication; a determining step, in which, based on the data acquired in the acquiring step, an intersection position of the driving trajectory of the other vehicle and the driving trajectory of the own vehicle is determined; a selecting step of selecting, when the intersection position is determined in the determining step, setting data for setting an area based on the intersection position and the travel trajectory of the other vehicle as a monitoring area for driving assistance and deleting data for deletion; as well as a deleting step, in which, when the intersection position is not determined in the determining step, the entire data acquired in the acquiring step is deleted; In the selecting step, the deletion data is selected based on the intersection position.

17. A driving assistance method, characterized in that: The driving assistance method comprises: an acquisition step, in which data related to the driving trajectory of another vehicle is acquired from the other vehicle by utilizing inter-vehicle communication; a determining step, in which, based on the data acquired in the acquiring step, an intersection position of the driving trajectory of the other vehicle and the driving trajectory of the own vehicle is determined; as well as a selection step of selecting, in which, when the intersection position is determined in the determination step, setting data for setting an area based on the intersection position and the driving trajectory of the other vehicle as a monitoring area for driving assistance and deletion data for deletion are selected; In the selecting step, the deletion data is selected based on the content of the data acquired in the acquiring step and the intersection position.

18. A driving assistance method, characterized in that: The driving assistance method comprises: an acquisition step, in which data related to the driving trajectory of another vehicle is acquired from the other vehicle by utilizing inter-vehicle communication; a determining step, in which, based on the data acquired in the acquiring step, an intersection position of the driving trajectory of the other vehicle and the driving trajectory of the own vehicle is determined; as well as a selection step of selecting, in which, when the intersection position is determined in the determination step, setting data for setting an area based on the intersection position and the driving trajectory of the other vehicle as a monitoring area for driving assistance and deletion data for deletion are selected; In the selecting step, the deletion data is selected based on the surrounding environment of the host vehicle and the intersection position.

Images